WorldWideScience

Sample records for nonproliferation arms control

  1. Arms control, nonproliferation, and US national security

    International Nuclear Information System (INIS)

    Pilat, J.F.

    1985-01-01

    The continuation of the arms race and the failure of arms control and disarmament negotiations lend support to the belief that US and Soviet power, prestige, and security depend upon nuclear weapons. Therefore, the argument goes, the non-nuclear-weapon states (particularly those that are not allied with nuclear-weapon states and do not share their nuclear shield) may conclude that they would be well served by possession of these weapons. In this sense, the failure of nuclear arms reductions could create incentives for further proliferation

  2. Nuclear Arms Control, Nonproliferation, and Counterterrorism: Impacts on Public Health

    Science.gov (United States)

    Pregenzer, Arian

    2014-01-01

    Reducing the risks of nuclear war, limiting the spread of nuclear weapons, and reducing global nuclear weapons stockpiles are key national and international security goals. They are pursued through a variety of international arms control, nonproliferation, and counterterrorism treaties and agreements. These legally binding and political commitments, together with the institutional infrastructure that supports them, work to establish global norms of behavior and have limited the spread of weapons of mass destruction. Beyond the primary security objectives, reducing the likelihood of the use of nuclear weapons, preventing environmental releases of radioactive material, increasing the availability of safe and secure nuclear technology for peaceful purposes, and providing scientific data relevant to predicting and managing the consequences of natural or human-caused disasters worldwide provide significant benefits to global public health. PMID:24524501

  3. Computer Language Choices in Arms Control and Nonproliferation Regimes

    International Nuclear Information System (INIS)

    White, G K

    2005-01-01

    The U.S. and Russian Federation continue to make substantive progress in the arms control and nonproliferation transparency regimes. We are moving toward an implementation choice for creating radiation measurement systems that are transparent in both their design and in their implementation. In particular, the choice of a programming language to write software for such regimes can decrease or significantly increase the costs of authentication. In this paper, we compare procedural languages with object-oriented languages. In particular, we examine the C and C++ languages; we compare language features, code generation, implementation details, and executable size and demonstrate how these attributes aid or hinder authentication and backdoor threats. We show that programs in lower level, procedural languages are more easily authenticated than are object-oriented ones. Potential tools and methods for authentication are covered. Possible mitigations are suggested for using object-oriented programming languages

  4. Supporting the President's Arms Control and Nonproliferation Agenda: Transparency and Verification for Nuclear Arms Reductions

    International Nuclear Information System (INIS)

    Doyle, James E.; Meek, Elizabeth

    2009-01-01

    The President's arms control and nonproliferation agenda is still evolving and the details of initiatives supporting it remain undefined. This means that DOE, NNSA, NA-20, NA-24 and the national laboratories can help define the agenda, and the policies and the initiatives to support it. This will require effective internal and interagency coordination. The arms control and nonproliferation agenda is broad and includes the path-breaking goal of creating conditions for the elimination of nuclear weapons. Responsibility for various elements of the agenda will be widely scattered across the interagency. Therefore an interagency mapping exercise should be performed to identify the key points of engagement within NNSA and other agencies for creating effective policy coordination mechanisms. These can include informal networks, working groups, coordinating committees, interagency task forces, etc. It will be important for NA-20 and NA-24 to get a seat at the table and a functional role in many of these coordinating bodies. The arms control and nonproliferation agenda comprises both mature and developing policy initiatives. The more mature elements such as CTBT ratification and a follow-on strategic nuclear arms treaty with Russia have defined milestones. However, recent press reports indicate that even the START follow-on strategic arms pact that is planned to be complete by the end of 2009 may take significantly longer and be more expansive in scope. The Russians called for proposals to count non-deployed as well as deployed warheads. Other elements of the agenda such as FMCT, future bilateral nuclear arms reductions following a START follow-on treaty, nuclear posture changes, preparations for an international nuclear security summit, strengthened international safeguards and multilateral verification are in much earlier stages of development. For this reason any survey of arms control capabilities within the USG should be structured to address potential needs across the

  5. Cooperative Remote Monitoring, Arms control and nonproliferation technologies: Fourth quarter 1995

    Energy Technology Data Exchange (ETDEWEB)

    Alonzo, G M [ed.

    1995-01-01

    The DOE`s Cooperative Remote Monitoring programs integrate elements from research and development and implementation to achieve DOE`s objectives in arms control and nonproliferation. The contents of this issue are: cooperative remote monitoring--trends in arms control and nonproliferation; Modular Integrated Monitoring System (MIMS); Authenticated Tracking and Monitoring Systems (ATMS); Tracking and Nuclear Materials by Wide-Area Nuclear Detection (WAND); Cooperative Monitoring Center; the International Remote Monitoring Project; international US and IAEA remote monitoring field trials; Project Dustcloud: monitoring the test stands in Iraq; bilateral remote monitoring: Kurchatov-Argonne-West Demonstration; INSENS Sensor System Project.

  6. Developing Effluent Analysis Technologies to Support Nonproliferation Initiatives, Arms Control and Nonproliferation Technologies, Third quarter 1995

    Energy Technology Data Exchange (ETDEWEB)

    Schubert, S A; Staehle, G; Alonzo, G M [eds.

    1995-01-01

    This issue provides an overview of the Effluent Research Program of the DOE Office of Research and Development, highlighting a number of representative projects within this program in support of nonproliferation initiatives. Technologies reported include portable instruments for on-site inspections, standoff detectors, fieldable, real-time instruments, field collection techniques, and ultrasensitive laboratory techniques.

  7. Arms control and nonproliferation technologies. First quarter 1995

    Energy Technology Data Exchange (ETDEWEB)

    Staehle, G; Alonzo, G M; Sanford, N M [eds.

    1995-01-01

    This first quarter issue for 1995 highlights the Small Business Innovation Research (SBIR) program. The SBIR program is managed by the DOE`s Basic Energy Sciences program within the Office of Energy Research. Each year, the SBIR program solicits research ideas of interest to the DOE. Articles contained in this issue include: The Small Business Innovation Research Program supported by the Office of Nonproliferation and National Security; Automated cueing to man-made objects via multispectral image; Security systems get smart with advanced processing and thermal imaging; A breakthrough in cooling system technology; The APSTNG neutron probe; Lithium-doped fullerene neutron detector; Miniature GC-MS for on-site chemical analysis; and Winner of Sandia President`s Quality Award.

  8. Nonproliferation and arms control assessment of weapons-usable fissile material storage and excess plutonium disposition alternatives

    International Nuclear Information System (INIS)

    1997-01-01

    This report has been prepared by the Department of Energy's Office of Arms Control and Nonproliferation (DOE-NN) with support from the Office of Fissile Materials Disposition (DOE-MD). Its purpose is to analyze the nonproliferation and arms reduction implications of the alternatives for storage of plutonium and HEU, and disposition of excess plutonium, to aid policymakers and the public in making final decisions. While this assessment describes the benefits and risks associated with each option, it does not attempt to rank order the options or choose which ones are best. It does, however, identify steps which could maximize the benefits and mitigate any vulnerabilities of the various alternatives under consideration

  9. Nonproliferation and arms control assessment of weapons-usable fissile material storage and excess plutonium disposition alternatives

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-01-01

    This report has been prepared by the Department of Energy`s Office of Arms Control and Nonproliferation (DOE-NN) with support from the Office of Fissile Materials Disposition (DOE-MD). Its purpose is to analyze the nonproliferation and arms reduction implications of the alternatives for storage of plutonium and HEU, and disposition of excess plutonium, to aid policymakers and the public in making final decisions. While this assessment describes the benefits and risks associated with each option, it does not attempt to rank order the options or choose which ones are best. It does, however, identify steps which could maximize the benefits and mitigate any vulnerabilities of the various alternatives under consideration.

  10. Nonproliferation, arms control and disarmament and extended deterrence in the new security environment

    Energy Technology Data Exchange (ETDEWEB)

    Pilat, Joseph F [Los Alamos National Laboratory

    2009-01-01

    With the end of the Cold War, in a dramatically changed security environment, the advances in nonnuclear strategic capabilities along with reduced numbers and roles for nuclear forces has altered the calculus of deterrence and defense, at least for the United States. For many, this opened up a realistic possibility of a nuclear-free world. It soon became clear that the initial post-Cold War hopes were exaggerated. The world did change fundamentally, but it did not become more secure and stable. In place of the old Soviet threat, there has been growing concern about proliferation and terrorism involving nuclear and other weapons of mass destruction (WMD), regional conflicts, global instability and increasingly serious new and emerging threats, including cyber attacks and attacks on satellites. For the United States at least, in this emerging environment, the political rationales for nuclear weapons, from deterrence to reassurance to alliance management, are changing and less central than during the Cold War to the security of the United States, its friends and allies. Nuclear weapons remain important for the US, but for a far more limited set of roles and missions. As the Perry-Schlesinger Commission report reveals, there is a domestic US consensus on nuclear policy and posture at the highest level and for the near term, including the continued role of nuclear arms in deterring WMD use and in reassuring allies. Although the value of nuclear weapons has declined for the United States, the value of these weapons for Russia, China and so-called 'rogue' states is seen to be rising. The nuclear logic of NATO during Cold War - the need for nuclear weapons to counter vastly superior conventional capabilities of the Soviet Union and the Warsaw Pact - is today heard from Russians and even some proliferants. Moreover, these weapons present a way for rogues to achieve regional hegemony and possibly to deter interventions by the United States or others. While the

  11. Nonproliferation, arms control and disarmament and extended deterrence in the new security environment

    International Nuclear Information System (INIS)

    Pilat, Joseph F.

    2009-01-01

    With the end of the Cold War, in a dramatically changed security environment, the advances in nonnuclear strategic capabilities along with reduced numbers and roles for nuclear forces has altered the calculus of deterrence and defense, at least for the United States. For many, this opened up a realistic possibility of a nuclear-free world. It soon became clear that the initial post-Cold War hopes were exaggerated. The world did change fundamentally, but it did not become more secure and stable. In place of the old Soviet threat, there has been growing concern about proliferation and terrorism involving nuclear and other weapons of mass destruction (WMD), regional conflicts, global instability and increasingly serious new and emerging threats, including cyber attacks and attacks on satellites. For the United States at least, in this emerging environment, the political rationales for nuclear weapons, from deterrence to reassurance to alliance management, are changing and less central than during the Cold War to the security of the United States, its friends and allies. Nuclear weapons remain important for the US, but for a far more limited set of roles and missions. As the Perry-Schlesinger Commission report reveals, there is a domestic US consensus on nuclear policy and posture at the highest level and for the near term, including the continued role of nuclear arms in deterring WMD use and in reassuring allies. Although the value of nuclear weapons has declined for the United States, the value of these weapons for Russia, China and so-called 'rogue' states is seen to be rising. The nuclear logic of NATO during Cold War - the need for nuclear weapons to counter vastly superior conventional capabilities of the Soviet Union and the Warsaw Pact - is today heard from Russians and even some proliferants. Moreover, these weapons present a way for rogues to achieve regional hegemony and possibly to deter interventions by the United States or others. While the vision of a

  12. Authentication of monitoring systems for non-proliferation and arms control

    International Nuclear Information System (INIS)

    Fuller, J.L.; Kouzes, R.T.

    2001-01-01

    Full text: Radiation measurement and systems are central to the affirmation of compliance with nuclear material control agreements associated with a variety of arms control and non-proliferation regimes. A number of radiation measurement systems are under development for this purpose, and the correct functioning of these systems will be authenticated. Authentication is the process by which a monitoring party to an agreement is assured that measurement systems are assembled as designed, function as designed, and do not contain hidden features that allow the passing of material inconsistent with an accepted declaration. Attribute measurement systems are specific examples of radiation measurement systems that are being developed in the United States and the Russian Federation. Under one bilateral agreement, the U.S. Department of Defense, Defense Threat Reduction Agency, Cooperative Threat Reduction (DoD DTRA/CTR) Program is constructing a Fissile Material Storage Facility (FMSF) at Mayak to hold up to 50 tons of plutonium from the disassembly of Russian Federation nuclear weapons. Negotiations are being held between the U.S. and the Russian Federation for cooperative development of attribute measurement systems to provide confidence that the material is of weapons origin and other purposes. Pacific Northwest National Laboratory is leading the authentication effort for U.S. interests at FMSF. There are two basic requirements for an attribute measurement system: protection of classified information, and assurance of credible performance of the system for the measurement. The technology used to protect classified information is referred to as an information barrier. An information barrier consists of technology and procedures that prevent the release of host-country classified information to a monitoring party during a joint inspection of a sensitive item. Information barriers are used on monitoring systems that are exposed to host-party classified materials

  13. Arms Control and nonproliferation technologies: Technology options and associated measures for monitoring a Comprehensive Test Ban, Second quarter

    Energy Technology Data Exchange (ETDEWEB)

    Casey, Leslie A.

    1994-01-01

    This newsletter contains reprinted papers discussing technology options and associated measures for monitoring a Comprehensive Test Ban Treaty (CTBT). These papers were presented to the Conference on Disarmament (CD) in May and June 1994. An interagency Verification Monitoring Task Force developed the papers. The task force included participants from the Arms Control and Disarmament Agency, the Department of Defense, the Department of Energy, the Intelligence Community, the Department of Interior, and the Department of State. The purpose of this edition of Arms Control and Nonproliferation Technologies is to share these papers with the broad base of stakeholders in a CTBT and to facilitate future technology discussions. The papers in the first group discuss possible technology options for monitoring a CTBT in all environments (underground, underwater, atmosphere, and space). These technologies, along with on-site inspections, would facilitate CTBT monitoring by treaty participants. The papers in the second group present possible associated measures, e.g., information exchanges and transparency measures, that would build confidence among states participating in a CTBT.

  14. Some possible applications of measurements on mu mesons to nuclear safeguards, nonproliferation, and arms control activities

    International Nuclear Information System (INIS)

    Kane, W.R.; Vanier, P.E.

    1997-01-01

    In the nuclear safeguards and arms control areas, well-developed methodologies exist for determining the properties of nuclear materials via measurements of the gamma rays and neutrons emitted from these materials, or in the arms control area, by the use of radiography. In certain favorable instances, it may by feasible to perform comparable measurements with the use of a ubiquitous, naturally-occurring radiation--cosmic ray mu mesons (muons). At the earth's surface these charged particles have a broad energy distribution peaking at about 500 MeV with a flux of approximately 10 -2 /cm 2 -sec-steradian. In traversing matter, muons lose energy at a rate of approximately 2 MeV/gram almost independent of atomic number. Muons can readily be detected by either plastic scintillators or wire planes. While the flux is small, a scintillator of one meter area, for example, will register about 20,000 events/min. these particles should have utility in the detection and imaging of objects with sectional densities of a few hundred grams/cm 2 . The degree of intrusiveness of the imaging can be controlled through the detector configuration. Some possible applications include: (1) mass measurements on large UF 6 cylinders, (2) determination of the size of treaty-limited objects, e.g., missiles, in rail cars or other containment; (3) verification of single or multiple warheads or components; (4) the detection of concealed, underground cavities. Examples will be presented

  15. Airborne Multisensor Pod System, Arms control and nonproliferation technologies: Second quarter 1995

    Energy Technology Data Exchange (ETDEWEB)

    Alonzo, G M; Sanford, N M [eds.

    1995-01-01

    This issue focuses on the Airborne Multisensor Pod System (AMPS) which is a collaboration of many of the DOE national laboratories to provide a scientific environment to research multiple sensors and the new information that can be derived from them. The bulk of the research has been directed at nonproliferation applications, but it has also proven useful in environmental monitoring and assessment, and land/water management. The contents of this issue are: using AMPS technology to detect proliferation and monitor resources; combining multisensor data to monitor facilities and natural resources; planning a AMPS mission; SAR pod produces images day or night, rain or shine; MSI pod combines data from multiple sensors; ESI pod will analyze emissions and effluents; and accessing AMPS information on the Internet.

  16. Nuclear non-proliferation and arms control: Are we making progress? 7 November 2005, Washington, DC, Carnegie International Non-Proliferation Conference

    International Nuclear Information System (INIS)

    ElBaradei, M.

    2005-01-01

    ) establish a framework for multilateral management and control of the 'back end' of the fuel cycle (i.e. spent fuel reprocessing and waste disposal); and 4) create a similar framework for multilateral management and control of the 'front end' of the fuel cycle (i.e. enrichment and fuel production). Regarding the protection of nuclear material it is reported that multiple international and regional initiatives are underway to help countries to improve the physical protection of such material. The International Convention on the Suppression of Acts of Nuclear Terrorism was adopted by the UN General Assembly in April 2005. Many governments have also responded to UN Security Council resolution 1540, adopted in April 2004. Both the Convention and resolution 1540 call on countries to criminalize the illicit possession and use of radioactive material, and aim to enhance efforts to detect and combat illicit trafficking. And in July, parties to the Convention on the Physical Protection of Nuclear Material agreed on major changes that would make it legally binding for countries to protect nuclear facilities and material in domestic use, storage and transport. With strong support from the IAEA, Russia and the US, multiple countries are also taking steps to convert their research reactors from HEU to LEU fuel, and to return the HEU to the country of origin. For nuclear non-proliferation commitments to be effective, they must be backed by credible mechanisms to deal with cases of compliance. The potential for being referred to the UN Security Council has clearly acted as an inducement for compliance in some cases; however, we should recall that the referral of North Korea to the Council, in 1992 and again in 2003, resulted in little to no action. To be effective, the UN Security Council must be ready at all times to engage, in order to cope with emerging threats to international peace and security. On the nuclear disarmament front, no mechanism exists to monitor compliance with

  17. Arms control and disarmament

    International Nuclear Information System (INIS)

    Acton, P.

    1992-01-01

    Article VI of the Non-Proliferation Treaty commits each party to work towards nuclear disarmament and to negotiations to stop the nuclear arms race. All parties to the Treaty are included and a wide range of arms control and disarmament issues are covered. However the main focus at Treaty review conferences has been on nuclear disarmament by the nuclear weapon states which are party to the Treaty. This has led to bilateral United States - Soviet Union negotiations resulting in the Intermediate-range Nuclear Forces Treaty in December 1987 and the Strategic Arms Reduction Treaty (START) in July followed by unilateral arms control measures in September and October 1991. (UK)

  18. Scientists of Russian Federal Nuclear Centre - ARSRITP and arms control and nuclear weapons non-proliferation problems

    International Nuclear Information System (INIS)

    Avrorin, E.N.; Andrusenko, B.A.; Voznyuk, R.I.; Voloshin, N.P.

    1994-01-01

    The activity of scientists of Russian Federal Nuclear Centre (RFNC) -ARSRITP in the field of nuclear disarmament control for the period of 1974 -1993 is discussed. RFNC - ARSRITP scientists in collaboration with american specialists have developed and employed in practice the techniques and equipment to control the bilateral Treaty on the limitation of Nuclear -Weapon Test. Experience of control over nuclear tests of threshold power and realization of new RFNC - ARSRITP scientific and technical projects have made a basis for development of measures and means of possible control methods to observe complete nuclear test ban

  19. Nonproliferation issues. Hearings before the Subcommittee on Arms Control, International Organizations and Security Agreements of the Committee on Foreign Relations, United States Senate, Ninety-Fourth Congress, First and Second Sessions

    International Nuclear Information System (INIS)

    Anon.

    1976-01-01

    Twelve days of hearings were held over an 18-month period to discuss issues relating to the Nonproliferation Treaty and its effectiveness. Nuclear weapons are no longer confined to those nations with economic and technical capability, a fact which jeopardizes the security of all nations. Critics of the treaty felt that it was more the result of maneuvering than negotiation. The committee examined issues raised by the Vladivostok Accords, which limits the nuclear arms race, promotes detente, and allows progress in arms control. Witnesses responded to criticism that the Accords (1) did not limit a qualitative arms race, (2) allowed both sides to modernize all 2,400 permitted delivery vehicles, (3) did not equalize throw weight, and (4) allow extensive new deployment of MIRV's, especially in the Soviet Union. Witnesses representing government, universities, industry, and foreign countries considered the range of weapons, safeguards and control agreements, estimates of war damage, and the Treaty's intended benefits of security assurance and information exchange

  20. Remote sensing and geoinformation technologies in support of nuclear non-proliferation and arms control verification regimes

    Energy Technology Data Exchange (ETDEWEB)

    Niemeyer, Irmgard [Forschungszentrum Juelich GmbH, Institut fuer Energie- und Klimaforschung, IEK-6: Nukleare Entsorgung und Reaktorsicherheit (Germany)

    2013-07-01

    A number of international agreements and export control regimes have been concluded in order to reduce the risk and proliferation of weapons of mass destruction. In order to provide confidence that Member States are complying with the agreed commitments, most of the treaties and agreements include verification provisions. Different types of verification measures exist, e.g. cooperative measures; national technical means; technical monitoring or measurement devices placed at or near sites; on-site inspections; intelligence information; open-source information, such as commercial internet data and satellite imagery. The study reviews the technical progress in the field of satellite imaging sensors and explores the recent advances in satellite imagery processing and geoinformation technologies as to the extraction of significant observables and signatures. Moreover, it discusses how satellite data and geoinformation technologies could be used complementary for confirming information gathered from other systems or sources. The study also aims at presenting the legal and political aspects and the cost benefits of using imagery from both national and commercial satellites in the verification procedure. The study concludes that satellite imagery and geoinformation technologies are expected to enhance the verification efficiency and effectiveness.

  1. Some major challenges: Nuclear non-proliferation, nuclear arms control and nuclear terrorism. Vienna, 29 October 2001. Statement to the symposium on international safeguards: Verification and nuclear material security

    International Nuclear Information System (INIS)

    ElBaradei, M.

    2001-01-01

    The main topics dealt with the ensuring of an effective, universal and adequately financed system for the verification of nuclear non-proliferation, namely as follows: Effectiveness of the system; Participation in the system ; Financing of the system; Making Progress in Nuclear Arms Control; Protection Against Nuclear Terrorism. In the Safeguards Implementation Report (SIR) for 2000, the Agency was able to conclude that for all 140 states with safeguards agreements in place the nuclear material and other items placed under safeguards remained in peaceful nuclear activities or were otherwise adequately accounted for. The Agency currently safeguards over 900 facilities in 70 countries on a regular safeguards budget of approximately US $80 million per year. Turning to the major recent challenge, protection against nuclear terrorism, the IAEA has long been active in encouraging States to make security an integral part of the management of their nuclear programmes. The recent attacks in the United States were, however, a wake-up call to all that more can and must be done. In the week immediately following the tragedy, the IAEA General Conference adopted a resolution which requested a thorough review of Agency activities and programmes relevant to preventing acts of nuclear terrorism

  2. US-Russian relations: the arms control agenda

    Energy Technology Data Exchange (ETDEWEB)

    Potter, W

    2001-07-01

    At a time when US-Russian relations are widely regarded to be in a state of flux, it is appropriate to examine the degree of continuity and change in the sphere of nuclear arms control. More specifically, this brief essay identifies a number of propositions about nuclear weapons, arms control, and nonproliferation that increasingly reflect the conventional wisdom in Washington, although these propositions may be neither true nor wise; and assesses the prospects for arms control progress in the areas of strategic and non-strategic nuclear weapons and nonproliferation in light of these prevailing views. (author)

  3. US-Russian relations: the arms control agenda

    International Nuclear Information System (INIS)

    Potter, W.

    2001-01-01

    At a time when US-Russian relations are widely regarded to be in a state of flux, it is appropriate to examine the degree of continuity and change in the sphere of nuclear arms control. More specifically, this brief essay identifies a number of propositions about nuclear weapons, arms control, and nonproliferation that increasingly reflect the conventional wisdom in Washington, although these propositions may be neither true nor wise; and assesses the prospects for arms control progress in the areas of strategic and non-strategic nuclear weapons and nonproliferation in light of these prevailing views. (author)

  4. The arms race control

    International Nuclear Information System (INIS)

    Nemo, J.

    2010-01-01

    Written in 1961, this paper presents the content of a book entitled 'The arms race control' where the author outlined the difference between disarmament and arms control, described the economic and moral role of arms race, the importance of force balance for international security. He wandered whether arms control could ensure this balance and whether nuclear balance meant force balance. Force balance then appears to be a precarious and unsteady component of international security. He commented the challenges of disarmament, recalled some arguments for a nuclear disarmament. Then he discussed what would be an arms control with or without disarmament (either nuclear or conventional)

  5. Powered manipulator control arm

    International Nuclear Information System (INIS)

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

    1975-01-01

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

  6. Security and arms control

    International Nuclear Information System (INIS)

    Kolodziej, E.A.; Morgan, P.M.

    1989-01-01

    This book attempts to clarify and define selected current issues and problems related to security and arms control from an international perspective. The chapters are organized under the following headings. Conflict and the international system, Nuclear deterrence, Conventional warfare, Subconventional conflict, Arms control and crisis management

  7. The nonproliferation predicament

    International Nuclear Information System (INIS)

    Pilat, J.F.

    1985-01-01

    This book presents papers on the non-proliferation policy being advocated by the U.S. Topics considered include political aspects, proliferation, national security, government policies, NATO, arms control, nuclear disarmament, the balance of power, U.S. foreign policy, dealing with the problem countries, international cooperation, the nuclear marketplace, the Nuclear Nonproliferation Act, legislation, congressional interest and input, ethical aspects, military strategy, public opinion, and terrorist groups

  8. Nuclear Non-Proliferation and Export Control in the Republic of Croatia

    International Nuclear Information System (INIS)

    Valcic, I.; Prah, M.; Mikec, N.

    2006-01-01

    In accordance with its internationally accepted obligations, the Republic of Croatia is actively implementing principles of non-proliferation and export control of nuclear materials and/or equipment. The article deals with treaties, conventions, agreements and other international arrangements that are creating certain obligation for Republic of Croatia related to nuclear non-proliferation. The most important are the Treaty on the Non-proliferation of Nuclear Weapons, the Convention on the Physical Protection of Nuclear Material, the Agreement between the Republic of Croatia and the International Atomic Energy Agency for the Application of Safeguards with Protocol, the Protocol Additional to the Agreement Between the Republic of Croatia and the International Atomic Energy Agency for the Application of Safeguards, the Comprehensive Nuclear Test-Ban Treaty, the NSG Guidelines for the Export of Nuclear Material, Equipment and Technology and NSG Guidelines for Transfers of Nuclear-Related Dual-Use Equipment, Materials, Software and Related Technology. In addition the article describes a national regulative framework, the basis for conducting activities in nuclear material control, export control of dual-use items as well as non-proliferation of the weapons of mass destruction. Details are given about the Nuclear Safety Act, the Act on Liability for Nuclear Damage, the Act on Export of Dual-Use Items, the Decree on the List of Dual-Use Items, the Law on Production, Repair and Trade in Arms and Military Equipment and the Decree specifying goods subject to export and import licenses. (author)

  9. Beyond arms control? Looking for the lost paradigm.

    International Nuclear Information System (INIS)

    Dahan, P.

    2002-01-01

    Since the tragic events of September 11, 2001, the international relations have become more complex and the arms control concept, born during the cold war and implemented during the 3 last decades is today marking time. Disarmament and non-proliferation, which were the keystones of arms control and international negotiations, are today undergoing erosion. This article analyzes the change of situation between the end of the 20. century and the beginning of the 21. century. Three steps are defined by the author: a 'flux' step with the signature of a huge number of international agreements about non-proliferation and arms control, a stagnation step marked by the difficulties of implementing some of the existing treaties and by the violation by some states of some of them, and a 'reflux' step marked by a freezing up of the bilateral US-Russian disarmament process and a general renouncement of the multilateral arms control concept. (J.S.)

  10. Arms control agency faces uncertain future

    International Nuclear Information System (INIS)

    Ember, L.

    1993-01-01

    National security cognoscenti are busy sifting tea leaves trying to puzzle out the fate of arms control and nonproliferation policy in the new Administration. Of special concern to these policy gurus is the future of the semiautonomous Arms Control and Disarmament Agency (ACDA). ACDA's existence as a separate entity on the executive branch's organization chart is precarious. The agency has never functioned as intended since Congress created it in 1961. Its stock over the decades has ebbed and flowed, paralleling the prominence and clout of its director. And except for a few notable successes--the conclusion of the chemical weapons treaty being one--the agency's authority has plummeted in the past 14 years. Today, almost every interested party agrees that something has to be done, that the agency cannot continue as it now functions. Several recent studies have called for its rejuvenation. Still other studies have suggested that ACDA be dismantled, and those activities relevant to national security in a post-Cold War environment be shifted to and integrated into the State Department. Observers expect ACDA to evolve into an agency whose primary focus is on problems of proliferation. In a world in which tighter export controls on dual-use technologies, restraint on arms transfers, and economic assistance conditional on a recipients's security behavior will be the norm for security and stability, a role for ACDA as the U.S.'s nonproliferation nanny is not a bad one

  11. The purposes, achievements, and priorities of arms control

    International Nuclear Information System (INIS)

    Brown, P.S.

    1987-09-01

    Arms control purposes include strengthening the framework of deterrence and reducing the threat of the use of nuclear weapons, reducing the dangers of attack and accidental nuclear war, and allowing more resources for the civilian economy. The paper briefly describes achievements in arms control since World War II. These include the Limited Test Ban Treaty (LTBT), Nonproliferation Treaty (NPT), Anti-Ballistic Missile Treaty (ABMT)-SALT I, SALT II, Threshold Test Ban Treaty (TTBT), Peaceful Nuclear Explosions Treaty (PNET), and Nuclear-Free Zones treaties. The author also discusses his views on what the priorities of arms control activities should be

  12. Safeguarding arms control

    International Nuclear Information System (INIS)

    Flanagan, S.J.

    1988-01-01

    This essay reviews the evolution of various safeguards concepts associated with U.S. Soviet arms control negotiations over the past twenty-five years. It explore in some detail the origins, nature, and effectiveness of the safeguards packages associated with six agreements: the Limited Test Ban Treaty (1963), the SALT I Interim Agreement (1972), the Anti-Ballistic Missile (ABM) Treaty (1972), the Threshold Test Ban Treaty (1974), the Peaceful Nuclear Explosions Treaty (1976) and the SALT II Treaty (1979). Finally, the implications of this historical record for developing future nuclear and conventional arms control accords and for shoring up existing pacts, such as the ABM Treaty, are assessed with a view towards practicable prescriptions for Western policymakers. The treaty eliminating intermediate-range nuclear forces (INF) incorporates several verification safeguards, and it is very likely that analogous measures would be attached to any accord constraining conventional forces in Europe

  13. International scientific collaboration in nonproliferation

    International Nuclear Information System (INIS)

    Travelli, A.

    1998-01-01

    International collaboration is a vital component of every serious nonproliferation effort. Several examples of the experiences that the Argonne Arms Control and Nonproliferation Program has had in this area are given and, in the process, important components of the program come to light. Some of the main principles that the program has learned to follow while pursuing international collaboration projects are shared, as are the pitfalls that the program has learned to avoid. (author)

  14. Disarmament and arms control

    International Nuclear Information System (INIS)

    Elzen, B.

    1979-01-01

    This report discusses how far science and technology can provide methods of making arms control and disarmament agreements more controlable in an objective way. Two case studies have been considered, the test ban treaty and the verification of the number of strategic nuclear weapons. These lead to the conclusion that both science and politics are closely interwoven and that within what appear to be scientific arguments, political positions are being defended. Consequently scientists and technologists and the contexts in which they work, play a prominent role. (C.F.)

  15. JPRS Report Arms Control

    National Research Council Canada - National Science Library

    1993-01-01

    Table of Contents: (1) COMMONWEALTH OF INDEPENDENT STATES - (A) GENERAL Flaws in U.S.-Russian SSD Agreement Viewed, Khariton - Espionage Not Crucial in Soviet Nuclear Arms Development, Further on Espionage Role in Nuclear Arms Projects...

  16. Non-proliferation and the control of atomic energy

    International Nuclear Information System (INIS)

    Goldschmidt, B.

    1977-01-01

    The non-proliferation problem has never ceased to haunt and to influence those responsible for the development of atomic energy. During and after the Second World War, Anglo-American co-operation was reflected in restrictions on the exchange of enrichment and reprocessing know-how. Between 1945 and 1955, the Anglo-Saxon powers continued with the policy of secrecy and uranium monopoly decided on in 1943 at the Quebec summit conference. Starting in 1955, the failure of this policy led - at the suggestion of the United States of America - to a freer flow of information and to the creation of the International Atomic Energy Agency with its safeguards, which permitted widespread application of the policy of technical assistance subject to controls and widespread commerce in research and power reactors - mainly fuelled with enriched uranium and manufactured in the USA. There followed periods characterized by general legal blocks, with two unilateral renunciation treaties - the Partial Test Ban Treaty of 1963, covering non-underground tests, and the Treaty on the Non-Proliferation of Nuclear Weapons, of 1968, covering nuclear explosive devices and the entire fuel cycle. The Indian atomic explosion and the acceleration of nuclear programmes owing to the oil crisis prompted - in 1974 - efforts by supplier countries to limit the transfer of sensitive technology and the possession of plants capable of producing substances which could be used in the production of nuclear weapons; the USA has even proposed the curtailment of plutonium extraction and of breeder construction, although these are considered by many countries to be essential to the independence of their energy development programmes. This policy of reserving the sensitive stages of the fuel cycles to a few advanced countries and the questioning of existing nuclear agreements have created, in the relations between supplier and recipient countries, a regrettable intensification of the distrust which must be dispelled

  17. Arms control verification costs: the need for a comparative analysis

    International Nuclear Information System (INIS)

    MacLean, G.; Fergusson, J.

    1998-01-01

    The end of the Cold War era has presented practitioners and analysts of international non-proliferation, arms control and disarmament (NACD) the opportunity to focus more intently on the range and scope of NACD treaties and their verification. Aside from obvious favorable and well-publicized developments in the field of nuclear non-proliferation, progress also has been made in a wide variety of arenas, ranging from chemical and biological weapons, fissile material, conventional forces, ballistic missiles, to anti-personnel landmines. Indeed, breaking from the constraints imposed by the Cold War United States-Soviet adversarial zero-sum relationship that impeded the progress of arms control, particularly on a multilateral level, the post Cold War period has witnessed significant developments in NACD commitments, initiatives, and implementation. The goals of this project - in its final iteration - will be fourfold. First, it will lead to the creation of a costing analysis model adjustable for uses in several current and future arms control verification tasks. Second, the project will identify data accumulated in the cost categories outlined in Table 1 in each of the five cases. By comparing costs to overall effectiveness, the application of the model will demonstrate desirability in each of the cases (see Chart 1). Third, the project will identify and scrutinize 'political costs' as well as real expenditures and investment in the verification regimes (see Chart 2). And, finally, the project will offer some analysis on the relationship between national and multilateral forms of arms control verification, as well as the applicability of multilateralism as an effective tool in the verification of international non-proliferation, arms control, and disarmament agreements. (author)

  18. Worldwide Report, Arms Control

    Science.gov (United States)

    1986-02-28

    NACHRICHTEN , 18 Oct 85) 39 Presummit Polish Reporting on SDI Issues (Warsaw RZECZPOSPOLITA, 19-20 Oct 85; Warsaw ZYCIE WARSZAWY, 15 Oct 85) 42...28 February 1986 SDI AND SPACE ARMS MEETING REVEALS SOME SUPPORT FOR EUREKA LINK TO MILITARY Puesseldbrf VDI NACHRICHTEN in German 18 Oct 85 p 10

  19. Worldwide Report, Arms Control.

    Science.gov (United States)

    1986-02-04

    8217Unpredictable Consequences’ of SDI (Moscow PRAVDA, 7 Dec 85) 22 Moscow TV on ASTEC Meeting, Military Monopolies, SDI (Tomas Kolesnichenko; Moscow...planet. /8309 CSO: 5200/1228 22 JPRS-TAO86*014 4 February 1986 SDI AND SPACE ARMS MOSCOW TV ON ASTEC MEETING, MILITARY MONOPOLIES, SDI

  20. International security and arms control

    International Nuclear Information System (INIS)

    Ekeus, R.

    2000-01-01

    The end of the cold war also ended the focus on the bilateral approach to arms control and disarmament. Key concepts of security needed to be revisited, along with their implications for the disarmament and arms control agenda. Though there is currently a unipolar global security environment, there remain important tasks on the multilateral arms control agenda. The major task is that of reducing and eliminating weapons of mass destruction, especially nuclear weapons. The author contends that maintaining reliance on the nuclear-weapons option makes little sense in a time when the major Powers are strengthening their partnerships in economics, trade, peacemaking and building. (author)

  1. Worldwide Report, Arms Control.

    Science.gov (United States)

    1985-11-22

    dinosaurs (and a large number of other species which disappeared "simultaneously") might have become extinct because a large comet hit the earth’s...clear yet aeain the reasons why Washington is in such haste in the arms race for "star wars" and why it refuses to assume a commitment not to be...Kolesnichenko says: [Begin Kolesnichenko recording in Russian with English translation] In an effort to calm the American public and provide a logical reason

  2. Worldwide Report, Arms Control

    Science.gov (United States)

    1985-09-21

    Intersoft- ware, Logic Control Control y Aplicaciones , Dielsa, Eliop, EISA, Sainco CTNE, Fagor Electronica, Standard CTNE, Fagor Electronica, Piher...regulation systems Industrial turbine of advanced design Alfa Sewing Machines Control y Aplicaciones , Danobat, Etxe-Tar C02, CO and ultraviolet lasers

  3. Development of Computer-Aided Learning Programs on Nuclear Nonproliferation and Control

    International Nuclear Information System (INIS)

    Kim, Hyun Chul

    2011-01-01

    The fulfillment of international norms for nuclear nonproliferation is indispensable to the promotion of nuclear energy. The education and training for personnel and mangers related to the nuclear material are one of crucial factors to avoid unintended non-compliance to international norms. Korea Institute of Nuclear Nonproliferation and Control (KINAC) has been providing education and training on nuclear control as its legal duty. One of the legally mandatory educations is 'nuclear control education' performed since 2006 for the observation of the international norms on nuclear nonproliferation and the spread of the nuclear control culture. The other is 'physical protection education' performed since 2010 for maintaining the national physical protection regime effectively and the spread of the nuclear security culture. The 2010 Nuclear Security Summit was held in Washington, DC to enhance international cooperation to prevent nuclear terrorism. During the Summit, the South Korea was chosen to host the second Nuclear Summit in 2012. South Korean President announced that South Korea would share its expertise and support the Summit's mission by setting up an international education and training center on nuclear security in 2014. KINAC is making a full effort to set up the center successfully. An important function of the center is education and training in the subjects of nuclear nonproliferation, nuclear safeguards, nuclear security, and nuclear export/import control. With increasing importance of education and training education on nuclear nonproliferation and control, KINAC has been developing computer-aided learning programs on nuclear nonproliferation and control to overcome the weaknesses in classroom educations. This paper shows two learning programs. One is an e-learning system on the nuclear nonproliferation and control and the other is a virtual reality program for training nuclear material accountancy inspection of light water reactor power plants

  4. Development of Computer-Aided Learning Programs on Nuclear Nonproliferation and Control

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Hyun Chul [Korea Institute of Nuclear Nonproliferation and Control, Daejeon (Korea, Republic of)

    2011-10-15

    The fulfillment of international norms for nuclear nonproliferation is indispensable to the promotion of nuclear energy. The education and training for personnel and mangers related to the nuclear material are one of crucial factors to avoid unintended non-compliance to international norms. Korea Institute of Nuclear Nonproliferation and Control (KINAC) has been providing education and training on nuclear control as its legal duty. One of the legally mandatory educations is 'nuclear control education' performed since 2006 for the observation of the international norms on nuclear nonproliferation and the spread of the nuclear control culture. The other is 'physical protection education' performed since 2010 for maintaining the national physical protection regime effectively and the spread of the nuclear security culture. The 2010 Nuclear Security Summit was held in Washington, DC to enhance international cooperation to prevent nuclear terrorism. During the Summit, the South Korea was chosen to host the second Nuclear Summit in 2012. South Korean President announced that South Korea would share its expertise and support the Summit's mission by setting up an international education and training center on nuclear security in 2014. KINAC is making a full effort to set up the center successfully. An important function of the center is education and training in the subjects of nuclear nonproliferation, nuclear safeguards, nuclear security, and nuclear export/import control. With increasing importance of education and training education on nuclear nonproliferation and control, KINAC has been developing computer-aided learning programs on nuclear nonproliferation and control to overcome the weaknesses in classroom educations. This paper shows two learning programs. One is an e-learning system on the nuclear nonproliferation and control and the other is a virtual reality program for training nuclear material accountancy inspection of light water

  5. Arms Control and Nonproliferation: A Catalog of Treaties and Agreements

    Science.gov (United States)

    2014-07-21

    United States, Japan, the European Union, and Russia established the International Science and Technology Center ( ISTC ) in Moscow. A similar center...at their primary jobs. The Russian government announced in August 2010 that it would withdraw from the agreement on the establishing of the ISTC ...and from the protocol on temporary application of the ISTC foundation agreement. The ISTC Board decided in December 2010 that all current projects

  6. The Implications of a New ERa in Arms Control -- Perspectives and Analysis

    International Nuclear Information System (INIS)

    Mladineo, Stephen V.; Durbin, Karyn R.; Indusi, Joseph P.; Smoot, John L.; Vannoni, Michael G.; Satkowiak, Lawrence J.

    2004-01-01

    On November 13, 2003 the INMM hosted a workshop in Washington, DC entitled 'The Implications of a New Era in Arms Control on Regional Nonproliferation and Nuclear Materials Management'. In this paper we summarize the workshop's highlights and provide our analysis of the dominant themes. Ambassador Linton Brooks, Administrator of the National Nuclear Security Agency (NNSA), delivered the keynote address and focused on four points that are key to understanding the new era: (1) The demise of traditional East/West arms control; (2) The new strategic relationship between Russia and the United States; (3) The blurring of the distinction between nonproliferation and counter-terrorism; (4) The growing recognition that the nonproliferation regime is no longer adequate and needs to be strengthened. He issued a set of challenges to the workshop participants: if his premises were right, what should replace the lexicon of arms control? He described a four-part strategy for nuclear materials protection in Russia, and asked if that model should be replicated globally - potentially by leveraging the new relationship with Russia. Should it be through the IAEA, bilaterally, or some other mechanism? Asserting that the old Nonproliferation Treaty regime was inadequate, he asked what should replace it, and how do we bring it about? Three panel discussions were presented: (1) Implications of a New Era in US/Russia Arms Control Agreements; (2) Implications of a New in Arms Control Upon Regional Nuclear Nonproliferation: South Asia/East Asia/Middle East; and (3) Nuclear Materials Management in a New Era of Arms Control In the first panel, Daryl Kimball, Executive Director of the Arms Control Association argued that arms control agreements provided predictability in the reduction of arms, and had been successful in advancing the methods of verification. Lucas Fischer, the Deputy Assistant Secretary for Arms Control at the US State Department acknowledged that INF and START provide a basis

  7. Nuclear physicist, arms control advocate

    CERN Multimedia

    Chang, K

    2002-01-01

    Victor F. Weisskopf, a nuclear physicist who worked on the Manhattan Project to build the first atomic bomb in World War II and later became an ardent advocate of arms control, died Monday at his home in Newton, MA, USA. He was 93 (1 page).

  8. Borehole tool outrigger arm displacement control mechanism

    International Nuclear Information System (INIS)

    Lee, A.G.

    1985-01-01

    As the outrigger arms of a borehole logging tool are flexed inwardly and outwardly according to the diameter of the borehole opening through which they pass, the corresponding axial displacements of the ends of the arms are controlled to determine the axial positions of the arms relative to the tool. Specifically, as the arm ends move, they are caused to rotate by a cam mechanism. The stiffness of the arms causes the arm ends to rotate in unison, and the exact positions of the arms on the tool are then controlled by the differential movements of the arm ends in the cams

  9. Dual arm master controller concept

    International Nuclear Information System (INIS)

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

    1984-01-01

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

  10. Dual arm master controller development

    Science.gov (United States)

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

    1985-01-01

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

  11. New Horizons and New Strategies in Arms Control

    Energy Technology Data Exchange (ETDEWEB)

    Brown, J. editor

    1998-12-04

    In the last ten years, since the break-up of the Soviet Union, remarkable progress in arms control and disarmament has occurred. The Nuclear Non-Proliferation Treaty (NPT), the completion of the Comprehensive Test Ban Treaty (CTBT), and the Chemical Weapons Treaty (CWC) are indicative of the great strides made in the non- proliferation arena. Simultaneously, the Intermediate Nuclear Forces Treaty (INF), the Conventional Forces Treaty in Europe (CFE), and the Strategic Arms Reduction Treaties (START), all associated with US-Soviet Union (now Russia) relations have assisted in redefining European relations and the security landscape. Finally, it now appears that progress is in the offing in developing enhanced compliance measures for the Biological and Toxin Weapons Convention (BTWC). In sum, all of these achievements have set the stage for the next round of arms control activities, which may lead to a much broader, and perhaps more diffused multilateral agenda. In this new and somewhat unpredictable international setting, arms control and disarmament issues will require solutions that are both more creative and innovative than heretofore.

  12. Dual arm master controller development

    International Nuclear Information System (INIS)

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

    1985-01-01

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

  13. Beyond arms control? Looking for the lost paradigm..; Au-dela de l'arms control? A la recherche du paradigme perdu..

    Energy Technology Data Exchange (ETDEWEB)

    Dahan, P

    2002-07-01

    Since the tragic events of September 11, 2001, the international relations have become more complex and the arms control concept, born during the cold war and implemented during the 3 last decades is today marking time. Disarmament and non-proliferation, which were the keystones of arms control and international negotiations, are today undergoing erosion. This article analyzes the change of situation between the end of the 20. century and the beginning of the 21. century. Three steps are defined by the author: a 'flux' step with the signature of a huge number of international agreements about non-proliferation and arms control, a stagnation step marked by the difficulties of implementing some of the existing treaties and by the violation by some states of some of them, and a 'reflux' step marked by a freezing up of the bilateral US-Russian disarmament process and a general renouncement of the multilateral arms control concept. (J.S.)

  14. Regional dialogue and multilateral arms control efforts today

    International Nuclear Information System (INIS)

    Graham, T. Jr.

    1994-01-01

    The significance of arms control and non-proliferation tasks is stressed emphasising what has been done, and-more important-what must still be done. Although tangible developments at the regional level may seem at times to be slow in coming, it is important to remember that the United States-Soviet transition from voluntary declarations to detailed arms control agreements with intrusive verification regimes spanned the entire length of cold war. Given the instabilities afflicting these regions, establishing a regional dialogue is itself a confidence-building measure. The experience of the United States and the former Soviet Union amply demonstrates that mere existence of regular dialogue can reduce tension by providing a platform for communication among military and Government participants even when political crisis prevents diplomatic contacts at senior levels. The international community should be encouraged by the progress that has been made to date to address regional instabilities. Such steps are an integral part of the international effort, carried out both at the United Nations and elsewhere, to adopt acceptable levels of conventional military forces and to eliminate weapons of mass destruction. Given the instabilities afflicting these regions, establishing a regional dialogue is itself a confidence-building measure. World changes, while potentially dangerous and certainly challenging, offer the hope of replacing antagonism with cooperation, creating a progressively more democratic global environment, preventing proliferation, and dampening regional conflicts. Continuing to make effective use of the entire mix of arms control and confidence-building tools will help to realize these hopes

  15. Development and current trends in the international nonproliferation regime

    International Nuclear Information System (INIS)

    Sessoms, A.L.

    1984-01-01

    The IAEA and its safeguards system is placed into a historical perspective. A personal perspective on the nonproliferation regime and on the Agency's role in it is then presented. This is done initially by discussing some of the landmark events in the history of the nonproliferation regime. Subsequently some of the history of arms control agreements and of the role of the IAEA are noted. Then political motivations of state and ways the Agency has an impact in the political nonproliferation sphere are addressed

  16. Who's bound by the former Soviet Union's arms control treaties?

    International Nuclear Information System (INIS)

    Rhinelander, J.B.; Bunn, G.

    1991-01-01

    A crucial issue raised by the disintegration of the Soviet central government is what happens to Soviet arms control obligations. As the Soviet government transforms or collapses in the wake of the failed August coup, which of the resulting entities will be bound by the treaties the Soviet Union entered into? Under international law, the obligations of a state are not affected by even such dramatic changes in government. No one yet knows, however, what the end result of the ongoing devolution of power in the erstwhile Soviet Union will be. As illustrations of what could happen to Soviet arms control obligations - not predictions of the future - the authors pose two alternative scenarios. In the first, they assume that most of the current 12 republics, including all of the big four where substantial nuclear forces and the largest conventional forces are located (Russia, Ukraine, Khazakhstan, and Belarus), ultimately form a loose confederation with sufficient central authority to be called a nation-state and to carry out the essence of Soviet obligations under major arms control treaties. In the second, they assume that the union disintegrates further, with these four key republics seceding entirely and recognizing one another as independent states - a step which is apparently one of the US criteria for granting its own recognition. In this scenario, the Russian republic maintains its basic territory and replaces the central government as the power center for military and foreign affairs. In each of these cases, they will describe the general issues affecting the Soviet Union's international obligations, and consider specifically the two most important arms control agreements now in force - the multilateral nuclear Non-proliferation Treaty (NPT) and the bilateral Antiballistic Missile (ABM) Treaty

  17. Sensory-Feedback Exoskeletal Arm Controller

    Science.gov (United States)

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

    2004-01-01

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

  18. Application of U.S. export controls to DOE technical exchanges: New guidelines on export control and nonproliferation

    International Nuclear Information System (INIS)

    Lisann, E.G.; Hollander, Z.; Rudolph, R.R.

    1995-01-01

    As the Department of Energy's nuclear weapon's complex shrinks, concern regarding the proliferation of nuclear weapons technology through the release of export-controlled equipment, materials and information has come to the fore. In November, 1994 Under Secretary Charles Curtis issued new guidelines on export control and nonproliferation. The new policies and procedures are designed to help Department of Energy Headquarters Offices, Operations Offices, Area Offices, laboratories and contractors implement a consistent and technologically sound policy regarding DOE transfers of unclassified equipment, materials and information that could adversely affect US nuclear nonproliferation objectives or national security. The DOE Export Control Division has developed a multi-faceted program of guidelines and training materials to sensitize DOE and DOE-contractors to their responsibilities and to teach them how to evaluate the proliferation risks of their activities

  19. Systems Approach to Arms Control Verification

    Energy Technology Data Exchange (ETDEWEB)

    Allen, K; Neimeyer, I; Listner, C; Stein, G; Chen, C; Dreicer, M

    2015-05-15

    Using the decades of experience of developing concepts and technologies for verifying bilateral and multilateral arms control agreements, a broad conceptual systems approach is being developed that takes into account varying levels of information and risk. The IAEA has already demonstrated the applicability of a systems approach by implementing safeguards at the State level, with acquisition path analysis as the key element. In order to test whether such an approach could also be implemented for arms control verification, an exercise was conducted in November 2014 at the JRC ITU Ispra. Based on the scenario of a hypothetical treaty between two model nuclear weapons states aimed at capping their nuclear arsenals at existing levels, the goal of this exercise was to explore how to use acquisition path analysis in an arms control context. Our contribution will present the scenario, objectives and results of this exercise, and attempt to define future workshops aimed at further developing verification measures that will deter or detect treaty violations.

  20. Neurobiology: motor control of flexible octopus arms.

    Science.gov (United States)

    Sumbre, Germán; Fiorito, Graziano; Flash, Tamar; Hochner, Binyamin

    2005-02-10

    Animals with rigid skeletons can rely on several mechanisms to simplify motor control--for example, they have skeletal joints that reduce the number of variables and degrees of freedom that need to be controlled. Here we show that when the octopus uses one of its long and highly flexible arms to transfer an object from one place to another, it employs a vertebrate-like strategy, temporarily reconfiguring its arm into a stiffened, articulated, quasi-jointed structure. This indicates that an articulated limb may provide an optimal solution for achieving precise, point-to-point movements.

  1. Fuzzy Control of Robotic Arm

    Science.gov (United States)

    Lin, Kyaw Kyaw; Soe, Aung Kyaw; Thu, Theint Theint

    2008-10-01

    This research work investigates a Self-Tuning Proportional Derivative (PD) type Fuzzy Logic Controller (STPDFLC) for a two link robot system. The proposed scheme adjusts on-line the output Scaling Factor (SF) by fuzzy rules according to the current trend of the robot. The rule base for tuning the output scaling factor is defined on the error (e) and change in error (de). The scheme is also based on the fact that the controller always tries to manipulate the process input. The rules are in the familiar if-then format. All membership functions for controller inputs (e and de) and controller output (UN) are defined on the common interval [-1,1]; whereas the membership functions for the gain updating factor (α) is defined on [0,1]. There are various methods to calculate the crisp output of the system. Center of Gravity (COG) method is used in this application due to better results it gives. Performances of the proposed STPDFLC are compared with those of their corresponding PD-type conventional Fuzzy Logic Controller (PDFLC). The proposed scheme shows a remarkably improved performance over its conventional counterpart especially under parameters variation (payload). The two-link results of analysis are simulated. These simulation results are illustrated by using MATLAB® programming.

  2. Robot-Arm Dynamic Control by Computer

    Science.gov (United States)

    Bejczy, Antal K.; Tarn, Tzyh J.; Chen, Yilong J.

    1987-01-01

    Feedforward and feedback schemes linearize responses to control inputs. Method for control of robot arm based on computed nonlinear feedback and state tranformations to linearize system and decouple robot end-effector motions along each of cartesian axes augmented with optimal scheme for correction of errors in workspace. Major new feature of control method is: optimal error-correction loop directly operates on task level and not on joint-servocontrol level.

  3. Strengthening the nuclear non-proliferation regime

    International Nuclear Information System (INIS)

    Carlson, J.

    2003-01-01

    Although the nuclear non-proliferation regime has enjoyed considerable success, today the regime has never been under greater threat. Three states have challenged the objectives of the NPT, and there is a technology challenge - the spread of centrifuge enrichment technology and know-how. A major issue confronting the international community is, how to deal with a determined proliferator? Despite this gloomy scenario, however, the non-proliferation regime has considerable strengths - many of which can be developed further. The regime comprises complex interacting and mutually reinforcing elements. At its centre is the NPT - with IAEA safeguards as the Treaty's verification mechanism. Important complementary elements include: restraint in the supply and the acquisition of sensitive technologies; multilateral regimes such as the CTBT and proposed FMCT; various regional and bilateral regimes; the range of security and arms control arrangements outside the nuclear area (including other WMD regimes); and the development of proliferation-resistant technologies. Especially important are political incentives and sanctions in support of non-proliferation objectives. This paper outlines some of the key issues facing the non-proliferation regime

  4. Arms Control, Disarmament, and Peace Newsletters.

    Science.gov (United States)

    Atkins, Stephen

    1986-01-01

    Considers the research value of four types of newsletters on arms control, disarmament, and peace: direct-action, informational, scholarly, and single-issue. An annotated list of 58 newsletters includes those considered most significant of their type and recommended for library collections. (EM)

  5. Preventive arms control. Case study: plutonium disposition. Final report

    International Nuclear Information System (INIS)

    Liebert, W.

    2001-01-01

    Plutonium stored in separated form poses a severe threat of nuclear weapons proliferation. While options for the disposition of military plutonium stockpiles have been studied for several years, similar work has hardly been undertaken for plutonium stockpiles in the civilian sector. In the framework of this project, the various options to dispose of stockpiles of separated plutonium in the civilian sector were to be investigated. The project was embedded in the FONAS-project network on Preventive Arms Control, and the findings of this study were to be considered for the development of a concept of Preventive Arms Control. As a first step, the internationally available information on different options for plutonium disposition (MOX-use, immobilization together with radioactive wastes, elimination) were collected and compiled to allow further assessment of the different options. For some of the options, technical questions were examined in more detail. For this purpose, neutron transport and fuel burnup calculations were performed. In particular, the analysis focused on concepts for the elimination of plutonium by the use of uranium-free fuel in existing light-water reactors, since they are particularly attractive from the point of view of non-proliferation. The calculations were performed for a reference fuel based on yttrium-stabilized zirconia, with parameters like the initial plutonium content or the use of burnable neutron poisons varying. A systematic and complete analysis of the performed calculations, however, could not be undertaken due to project time restrictions. On the basis of assessment criteria for Preventive Arms Control developed by the project network, a specific set of criteria for the assessment of the pros and cons of different plutonium disposition methods has been defined. These criteria may then be used as part of a concept of prospective technology assessment. The project findings present a starting base for a comprehensive assessment of the

  6. Disarmament through regional dialogue: United States arms control and disarmament policies

    International Nuclear Information System (INIS)

    Holum, J.D.

    1994-01-01

    Less than fifty years ago, Japan and the United States faced one another in history's deadliest conflict. Since that world war, the competition has been limited to a mature-if spirited-contest for customers. The two countries have become firm friends for peace-and leaders in the international community's campaign against weapons of mass destruction. This friendship is too important to be shaken by momentary upsets. The countries that learned the most from the last great war are today among the most resolutely peaceful in the world. To my mind, it is no coincidence that Japan and Germany, two nations which transformed defeat in that war into remarkable economic success following it-which have sought prosperity and harmony with their neighbours instead of dominion over them-are the two nations the United States would like to see added as permanent members to the United Nations Security Council. There is hope that, some day, countries may be judged not by the arms but the commitments they keep-and the values they uphold. All responsible nations must affirm that nuclear non-proliferation is an enduring value, not a passing policy. United States Arms Control and Disarmament Agency underlines that its highest priority in the coming year is indefinite and unconditional extension of the Non-proliferation Treaty

  7. Monitoring and Controlling an Underwater Robotic Arm

    Science.gov (United States)

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

    2009-01-01

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

  8. Gorbachev’s Arms Control Strategy.

    Science.gov (United States)

    1987-01-22

    on- site inspection for verifying nuclear tests as well as for dismantling missiles on Soviet territory. Clearlv Gorbachev wants an arms , -4- control...bring its seismological test equipment to what he called the "holy of holies", the area adjoining the Soviet proving ground near Semipalatinsk to offer...prenotification and observation of military exercises including on- site inspection on Soviet territory. But on the big issues--- nuclear testing , strategic weapons

  9. Analysis of nuclear export control system and implementing international nonproliferation regime in China

    International Nuclear Information System (INIS)

    Kim, J. S.; Lee, J. S.; Ahn, J. S.; Kim, B. G.; Min, K. S.

    2000-01-01

    China's exporting behaviour of nuclear items had been disconnected from the international non-proliferation regime such as IAEA safeguards and export control related with peaceful use of nuclear energy since 1970s. Especially, China had been one of principle suppliers of nuclear facility and technologies to Pakistan and Iran which had developed nuclear weapon programs. On the other hand, according to the rapid growth of economic scale after China began to open to the world, an active program for nuclear power plant as an electricity source had established. This means that China have surfaced as a big market to Korean nuclear industries. Regarding this, the paper dealt with the nuclear export control matters, i.e. the history of nuclear export control system and analyzed on background of enforcement of U.S.-China Nuclear Cooperation Agreement that had been apolitical issue between U.S. and China. Prospects toward conforming its nuclear export policies, laws and regulations to international standards also analyzed in results

  10. Nuclear non-proliferation: Global security in a rapidly changing world. Carnegie International Non-Proliferation Conference, 21 June 2004, Washington, DC, USA

    International Nuclear Information System (INIS)

    ElBaradei, M.

    2004-01-01

    This statement outlines what the IAEA and the international community has learned, what are the problems faced and the nature of the required reforms in the field of non-proliferation, security, safeguards inspection. The proposals are mostly fucued on international/collective cooperation in arms control, improvements of security and effectiveness of safeguards

  11. Nuclear non-proliferation: Global security in a rapidly changing world. Carnegie International Non-Proliferation Conference, 21 June 2004, Washington, DC, USA

    Energy Technology Data Exchange (ETDEWEB)

    ElBaradei, M

    2004-06-21

    This statement outlines what the IAEA and the international community has learned, what are the problems faced and the nature of the required reforms in the field of non-proliferation, security, safeguards inspection. The proposals are mostly fucued on international/collective cooperation in arms control, improvements of security and effectiveness of safeguards.

  12. Nuclear non-proliferation

    International Nuclear Information System (INIS)

    Anon.

    1984-01-01

    DOE's nuclear non-proliferation responsibilities are defined by the provisions of the Atomic Energy Act of 1954, as amended, and of the Nuclear Non-Proliferation Act of 1978 (NNPA). The Department's major responsibilities in this area are to: (1) provide technical assistance to the Department of State in negotiating agreements for civil cooperation in the peaceful uses of nuclear energy with other countries and international organizations; (2) join with other agencies to reach executive branch judgments with respect to the issuance of export licenses by the Nuclear Regulatory Commission; (3) be responsible for processing subsequent arrangements with other agencies as required by the Nuclear Non-Proliferation Act; (4) control the distribution of special nuclear materials, components, equipment, and nuclear technology exports; (5) participate in bilateral and multilateral cooperation with foreign governments and organizations to promote the peaceful uses of nuclear energy; and (6) act as a primary technical resource with respect to US participation in the International Atomic Energy Agency

  13. Nonproliferation Education at the University of Washington

    International Nuclear Information System (INIS)

    Jones, Chris D.; Leek, K.M.

    2006-01-01

    decades ago, the UW has not supported hard science faculty positions that require knowledge of the theoretical and practical dimensions of the nonproliferation of nuclear technologies. Among U.S. National laboratories, PNNL has special strengths in technologies critical to the implementation of arms control treaties and to the detection of activities associated with the production, deployment, and dismantlement of weapons of mass destruction (WMD). PNNL plays a central role in the management of US-Russian programs for protection of fissile materials. In 2000, the PNWCGS initiated outreach to universities and NGOs. The Pacific Northwest Center for Global Security and the Jackson School have sought to bring PNNL expertise to the UW campus and the PNWCGS currently funds several IGRSS course instructors. The PNWCGS has arranged for Russian scientists to teach an experimental course in the IGRSS curriculum. In partnership with the Pacific Northwest Center for Global Security, IGRSS is presently seeking to engage scholars and scientists from other countries in joint teaching programs with the UW. IGRSS permits students to combine their disciplinary and professional specialties with the interdisciplinary and international IGRSS curriculum and its specialized courses on nonproliferation and WMD threats. IGRSS now offers three core courses and several occasional courses on special topics related to WMD issues. The core courses will serve as the requirements for a planned Graduate Certificate and Undergraduate Minor. The three core courses discussed are: (1) Arms control and international law; (2) Weapons of mass destruction; and (3) Arms control simulation.

  14. Non-proliferation through effective international control, with particular reference to peaceful uses of nuclear material as a result of nuclear disarmament and international control of plutonium

    International Nuclear Information System (INIS)

    Imai, Ryukichi

    1993-01-01

    The role of nuclear factors in the international political situation has changed. The emphasis is now on the new circumstance of the post cold-war world. Non-proliferation is dealt with through effective international control, with particular reference to peaceful uses of nuclear material as a result of nuclear weapons dismantling and international control of plutonium

  15. An Approach to Naval Arms Control

    Science.gov (United States)

    1989-07-01

    commentary pro and con on the control of SLCM’s has 9 I: been uttered by people not known to be expert on maritime strategy and the roles of navies in crisis ... transcultural misunderstanding is indeed deep and widespread (e.g., witness the surprise on the part of America’s leading television pundits that China’s...force on behalf of (U.S definition of) international order in situations short of war; 0 alliance cohesion; 37 i * crisis , arms race, and political

  16. Arms control is everyone`s business: The United States and the United Nations at the mid-point of the 1990`s

    Energy Technology Data Exchange (ETDEWEB)

    Lehman, R.F. II

    1993-03-01

    This presentation encourages current efforts in arms control, non- proliferation, and peacekeeping. Verification is heralded as a confidence building method to bring about more openness in international relations. It is purported that openness has already enhanced democratic forces around the world. The insistence on strict compliance with the decisions of the United Nations Security Council is a show of support for international law. It is recommended that international norms on human rights, non-proliferation, and non-aggression be strengthened.

  17. Non-proliferation through effective international control. Report of working group I

    International Nuclear Information System (INIS)

    Miller, S.E.

    1993-01-01

    Working Group I focused on two issues: the nuclear non-proliferation regime and the Missile Technology Regime (MTCR). There was wide agreement within the Group on a number of factors that will strongly influence the prospects for the Non-proliferation Treaty (NPT) extension Conference. Two points stood out as particularly important: first, emphasis on the obligations for nuclear Powers to move in good faith in direction of nuclear disarmament; and second, inadequacy of security guarantees to non-nuclear States associated with the NPT

  18. Europe, arms control and American security

    International Nuclear Information System (INIS)

    Burns, W.F.

    1992-01-01

    What has come to be called the Revolution of 1989 has swept away longstanding political and economic arrangements in Eastern Europe. Perhaps more important, it has also called into question the fundamental underpinnings of European security created during the nonpeace that followed World War II. In June 1990, the Warsaw Treaty Organization abandoned the notion that NATO was the ideological enemy. At the same time, NATO ministers agreed at Tunberry, Scotland, to consider defining the Atlantic Alliance as more of a partner of the Soviet Union than as an enemy. The Washington summit of May 1990 between president Mikhail Gorbachev and president George Bush further highlighted the recent changes in the Soviet Union and its former satellites. Issues going to the heart of the viability of the Soviet Union and the communist system of political and economic organization competed with German reunification as central themes. Arms control issues, particularly as they pertain in European military stability, became contingent and dependent on the development of a broader political and economic framework for a new Europe. Whether this framework is viable remains an open question as Gorbachev's role is challenged more and more within the Soviet Union. This paper deals with European arms control issues from the point of view of the United States and its own security interests. The United States involved its security inextricably with that of Western Europe as a conscious decision in the turmoil following World War II

  19. Controlling robot arm with the mind

    National Science Foundation

    2017-05-31

    Full Text Available Research test subjects at the University of Minnesota who were fitted with a specialized noninvasive brain cap were able to move a robotic arm just by imagining moving their own arms.

  20. The control of non-proliferation of nuclear weapons and nuclear development - present uncertainties

    International Nuclear Information System (INIS)

    Machado de Faria, N.G.; Amaral Barros, E.

    1983-01-01

    This report gives the views of Brazilian lawyers on the non-proliferation of nuclear weapons. It deals with the present situation and future prospects concerning the uses of nuclear energy. In particular, it proposes the preparation of a protocol prohibiting the use of nuclear weapons. (NEA) [fr

  1. The politics of arms control treaty ratification

    International Nuclear Information System (INIS)

    Krepon, M.; Caldwell, D.

    1991-01-01

    This book presents a critical examination of executive-congressional relations and the domestic politics of arms control treaty ratification within the United States during the twentieth century. The staring point of this study is the hypothesis that the politics of treaty ratification can be as important as the negotiations leading up to agreements. Benefits to international peace and security sought in years of painstaking diplomatic effort can be lost without Senate consent, as was the case with the Treaty of Versailles and the second treaty arising from the Strategic Arms Limitation Talks (SALT II). The authors of the case studies were requested to present first a brief, historical introduction to the case indicating why the case was important, the background concerning the origins of the treaty, and the treaty's major provisions. The purpose of the introduction to the case was not to provide a complete picture of the negotiating record but to set the stage for a more in-depth discussion of the events that followed after the treaty was signed. The authors address five substantive areas: the international political context of the treaty, the domestic political context, the role of the president, executive-congressional relations, and public opinion and the role of interest groups. The questions and issues concerning each of these areas are briefly summarized

  2. Research on ARM Numerical Control System

    Science.gov (United States)

    Wei, Xu; JiHong, Chen

    Computerized Numerical Control (CNC) machine tools is the foundation of modern manufacturing systems, whose advanced digital technology is the key to solve the problem of sustainable development of machine tool manufacturing industry. The paper is to design CNC system embedded on ARM and indicates the hardware design and the software systems supported. On the hardware side: the driving chip of the motor control unit, as the core of components, is MCX314AL of DSP motion control which is developed by NOVA Electronics Co., Ltd. of Japan. It make convenient to control machine because of its excellent performance, simple interface, easy programming. On the Software side, the uC/OS-2 is selected as the embedded operating system of the open source, which makes a detailed breakdown of the modules of the CNC system. Those priorities are designed according to their actual requirements. The ways of communication between the module and the interrupt response are so different that it guarantees real-time property and reliability of the numerical control system. Therefore, it not only meets the requirements of the current social precision machining, but has good man-machine interface and network support to facilitate a variety of craftsmen use.

  3. Robust coordinated control of a dual-arm space robot

    Science.gov (United States)

    Shi, Lingling; Kayastha, Sharmila; Katupitiya, Jay

    2017-09-01

    Dual-arm space robots are more capable of implementing complex space tasks compared with single arm space robots. However, the dynamic coupling between the arms and the base will have a serious impact on the spacecraft attitude and the hand motion of each arm. Instead of considering one arm as the mission arm and the other as the balance arm, in this work two arms of the space robot perform as mission arms aimed at accomplishing secure capture of a floating target. The paper investigates coordinated control of the base's attitude and the arms' motion in the task space in the presence of system uncertainties. Two types of controllers, i.e. a Sliding Mode Controller (SMC) and a nonlinear Model Predictive Controller (MPC) are verified and compared with a conventional Computed-Torque Controller (CTC) through numerical simulations in terms of control accuracy and system robustness. Both controllers eliminate the need to linearly parameterize the dynamic equations. The MPC has been shown to achieve performance with higher accuracy than CTC and SMC in the absence of system uncertainties under the condition that they consume comparable energy. When the system uncertainties are included, SMC and CTC present advantageous robustness than MPC. Specifically, in a case where system inertia increases, SMC delivers higher accuracy than CTC and costs the least amount of energy.

  4. SIPRI's new conceptual approach to arms control and disarmament

    International Nuclear Information System (INIS)

    Rotfeld, Adam Daniel

    2000-01-01

    The end of the cold war deprioritized arms control and disarmament, and progress in the field was no longer a measure of relations among the major powers. In that context, the future of arms control and disarmament was discussed at the Nobel Symposium in October 1999. Stockholm International Peace Research Institute (SIPRI) views arms control as an instrument for shaping a new inclusive and cooperative security order. The author questions whether arms control challenges today can and should be resolved in the institutions established and the procedures elaborated in the bipolar framework. (author)

  5. Organization of octopus arm movements: a model system for studying the control of flexible arms.

    Science.gov (United States)

    Gutfreund, Y; Flash, T; Yarom, Y; Fiorito, G; Segev, I; Hochner, B

    1996-11-15

    Octopus arm movements provide an extreme example of controlled movements of a flexible arm with virtually unlimited degrees of freedom. This study aims to identify general principles in the organization of these movements. Video records of the movements of Octopus vulgaris performing the task of reaching toward a target were studied. The octopus extends its arm toward the target by a wave-like propagation of a bend that travels from the base of the arm toward the tip. Similar bend propagation is seen in other octopus arm movements, such as locomotion and searching. The kinematics (position and velocity) of the midpoint of the bend in three-dimensional space were extracted using the direct linear transformation algorithm. This showed that the bend tends to move within a single linear plane in a simple, slightly curved path connecting the center of the animal's body with the target location. Approximately 70% of the reaching movements demonstrated a stereotyped tangential velocity profile. An invariant profile was observed when movements were normalized for velocity and distance. Two arms, extended together in the same behavioral context, demonstrated identical velocity profiles. The stereotyped features of the movements were also observed in spontaneous arm extensions (not toward an external target). The simple and stereotypic appearance of the bend trajectory suggests that the position of the bend in space and time is the controlled variable. We propose that this strategy reduces the immense redundancy of the octopus arm movements and hence simplifies motor control.

  6. Control of octopus arm extension by a peripheral motor program.

    Science.gov (United States)

    Sumbre, G; Gutfreund, Y; Fiorito, G; Flash, T; Hochner, B

    2001-09-07

    For goal-directed arm movements, the nervous system generates a sequence of motor commands that bring the arm toward the target. Control of the octopus arm is especially complex because the arm can be moved in any direction, with a virtually infinite number of degrees of freedom. Here we show that arm extensions can be evoked mechanically or electrically in arms whose connection with the brain has been severed. These extensions show kinematic features that are almost identical to normal behavior, suggesting that the basic motor program for voluntary movement is embedded within the neural circuitry of the arm itself. Such peripheral motor programs represent considerable simplification in the motor control of this highly redundant appendage.

  7. Robust Indicators of Nonproliferation Performance

    Energy Technology Data Exchange (ETDEWEB)

    Cowan, Mara R. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Kurzrok, Andrew J. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States)

    2014-02-13

    Understanding how the nuclear industry may benefit from self-regulation is closely linked with understanding how to report compliance activities for nonproliferation and export control objectives, as well as how to distinguish high and low compliance performance. Drawing on the corporate sustainability reporting model, nuclear and dual-use commodities industries can frame socially responsible self-regulatory activities to distinguish themselves as good nonproliferators.

  8. Arms control and the rule of law

    International Nuclear Information System (INIS)

    Tanzman, E.A.

    1995-01-01

    Many who speak of the end of the Cold War emphasize the warming of international relations when they speak of the momentous consequences of this event. According to this image, the half century since Trinity has been a period of sparse international communication during which the Eastern and Western blocs hibernated in their isolated dens of security alliances. Yet it is equally valid to consider the implications of the end of the war footing that has underlain the policies of all of the major military powers during the last fifty years. While meaningful international dialogue was in a state of relative lethargy during much of this period, the military establishments of the Great Powers were actively engaged in using as much force as possible in their efforts to control world affairs, short of triggering a nuclear holocaust. International discourse, at least in English, was rife with such military images as appeasement, containment, crisis stability, and tripwires. From the military posture of the U.S. and Russia a tense peace ironically emerged, but the terms by which decisions were made about controlling weapons of mass destruction (i.e., nuclear, chemical, and biological weapons) were the terms of war. The thesis of this paper is that the end of the Cold War marks a shift away from reliance on military might toward an international commitment to control weapons of mass destruction through the rule of law developed by John Rawls. The progression of agreements during this century to limit weapons of mass destruction testifies to this new development. A review of arms control agreements that the U.S. is a part of show clear growth of the rule of law as the world has left the Cold War

  9. Arms control and the rule of law

    Energy Technology Data Exchange (ETDEWEB)

    Tanzman, E.A.

    1995-03-01

    Many who speak of the end of the Cold War emphasize the warming of international relations when they speak of the momentous consequences of this event. According to this image, the half century since Trinity has been a period of sparse international communication during which the Eastern and Western blocs hibernated in their isolated dens of security alliances. Yet it is equally valid to consider the implications of the end of the war footing that has underlain the policies of all of the major military powers during the last fifty years. While meaningful international dialogue was in a state of relative lethargy during much of this period, the military establishments of the Great Powers were actively engaged in using as much force as possible in their efforts to control world affairs, short of triggering a nuclear holocaust. International discourse, at least in English, was rife with such military images as appeasement, containment, crisis stability, and tripwires. From the military posture of the U.S. and Russia a tense peace ironically emerged, but the terms by which decisions were made about controlling weapons of mass destruction (i.e., nuclear, chemical, and biological weapons) were the terms of war. The thesis of this paper is that the end of the Cold War marks a shift away from reliance on military might toward an international commitment to control weapons of mass destruction through the rule of law developed by John Rawls. The progression of agreements during this century to limit weapons of mass destruction testifies to this new development. A review of arms control agreements that the U.S. is a part of show clear growth of the rule of law as the world has left the Cold War.

  10. China's position on nuclear non-proliferation

    International Nuclear Information System (INIS)

    Qian Jiadong.

    1986-01-01

    The paper discusses China's position on nuclear non-proliferation, in view of the fact that China does not subscribe to the Non-Proliferation Treaty (NPT). China refuses to accede to the NPT because it considers the treaty to be discriminatory, and reasons are given for this point of view. However its stand for nuclear disarmament and disapproval of nuclear proliferation are declared. Nuclear arms race, prevention of nuclear war, and nuclear disarmament are also considered. (UK)

  11. Arms control: moral, political and historical lesson

    International Nuclear Information System (INIS)

    Thompson, K.W.

    1990-01-01

    Many of the world's most influential policy-makers and analysts view arms control as a scientific and technological problem. They measure a nation's nuclear power exclusively by megatonnage and throw-weights leaving the intangible elements of military and political power to philosophers and historians. They tend to ignore the human and qualitative aspects of power. This is a book that shift the emphasis to aspects of the nuclear problem which are sometimes overlooked. Basically, these elements are bound up in the moral, political, and historical lessons of the nuclear age. Nonquantitative factors have been central to studies of national defense and military power since the rise of the modern nation state system. However, most students of present-day nuclear weapons tend to stress their revolutionary character. Because they are considered wholly unique, analysts tend to write about them in a historical and apolitical terms. One purpose of the collection of papers in this little volume is to redirect attention to the moral, political, and historical lessons that the nuclear age presents. What most distinguishes the writings of contributors to this volume is their use of certain well-established principles and concepts long acknowledged in military and foreign policy analysis. Thus Father Hehir asks many of the same questions that students of ethics and foreign policy have asked for four hundred years

  12. Implementing nuclear non-proliferation in Finland. Regulatory control, international cooperation and the Comprehensive Nuclear-Test-Ban Treaty. Annual report 2011

    Energy Technology Data Exchange (ETDEWEB)

    Okko, O [ed.

    2012-07-01

    The regulatory control of nuclear materials (i.e. nuclear safeguards) is a prerequisite for the peaceful use of nuclear energy in Finland. Safeguards are required for Finland to comply with international agreements on nuclear non-proliferation - mainly the Non-Proliferation Treaty (NPT). This regulatory control is exercised by the Nuclear Materials Section of the Finnish Radiation and Nuclear Safety Authority (STUK). The results of STUK's nuclear safeguards inspection activities in 2011 continued to demonstrate that the Finnish licence holders take good care of their nuclear materials. There were no indications of undeclared nuclear materials or activities and the inspected materials and activities were in accordance with the licence holders' declarations.

  13. Sandia technology. Volume 13, number 2 Special issue: verification of arms control treaties

    International Nuclear Information System (INIS)

    1989-01-01

    Nuclear deterrence, a cornerstone of US national security policy, has helped prevent global conflict for over 40 years. The DOE and DoD share responsibility for this vital part of national security. The US will continue to rely on nuclear deterrence for the foreseeable future. In the late 1950s, Sandia developed satellite-borne nuclear burst detection systems to support the treaty banning atmospheric nuclear tests. This activity has continued to expand and diversify. When the Non-Proliferation Treaty was ratified in 1970, we began to develop technologies to protect nuclear materials from falling into unauthorized hands. This program grew and now includes systems for monitoring the movement and storage of nuclear materials, detecting tampering, and transmiting sensitive data securely. In the late 1970s, negotiations to further limit underground nuclear testing were being actively pursued. In less than 18 months, we fielded the National Seismic Station, an unattended observatory for in-country monitoring of nuclear tests. In the mid-l980s, arms-control interest shifted to facility monitoring and on-site inspection. Our Technical On-site Inspection Facility is the national test bed for perimeter and portal monitoring technology and the prototype for the inspection portal that was recently installed in the USSR under the Intermediate-Range Nuclear Forces accord. The articles in the special issue of Sundiu Technology describe some of our current contributions to verification technology. This work supports the US policy to seek realistic arms control agreements while maintaining our national security.

  14. Nuclear nonproliferation

    International Nuclear Information System (INIS)

    Neubert, M.

    1992-01-01

    The following motion was put before the United Kingdom House of Commons on 3rd February 1992 and agreed; that this House, recognising the potential dangers of the rapidly changing world order, welcomes the recent proposals for substantial reductions in nuclear weaponry, the growing support for the non-proliferation treaty and progress in the implementation of the United Nations Security Council Resolutions concerning the dismantling of Iraqi nuclear, chemical and biological capabilities; urges the Government to play their full part in helping the relevant authorities in the Commonwealth of Independent States to dismantle their nuclear devices, to safeguard their nuclear components and to discourage the proliferation of nuclear expertise; and believes it is of the first importance that Britain retains an effective and credible minimum nuclear deterrent as security in a world where there remain many sources of instability. The record of arguments for and against the motion in the debate is presented. (author)

  15. Kinematic feedback control laws for generating natural arm movements

    International Nuclear Information System (INIS)

    Kim, Donghyun; Jang, Cheongjae; Park, Frank C

    2014-01-01

    We propose a stochastic optimal feedback control law for generating natural robot arm motions. Our approach, inspired by the minimum variance principle of Harris and Wolpert (1998 Nature 394 780–4) and the optimal feedback control principles put forth by Todorov and Jordan (2002 Nature Neurosci. 5 1226–35) for explaining human movements, differs in two crucial respects: (i) the endpoint variance is minimized in joint space rather than Cartesian hand space, and (ii) we ignore the dynamics and instead consider only the second-order differential kinematics. The feedback control law generating the motions can be straightforwardly obtained by backward integration of a set of ordinary differential equations; these equations are obtained exactly, without any linear–quadratic approximations. The only parameters to be determined a priori are the variance scale factors, and for both the two-DOF planar arm and the seven-DOF spatial arm, a table of values is constructed based on the given initial and final arm configurations; these values are determined via an optimal fitting procedure, and consistent with existing findings about neuromuscular motor noise levels of human arm muscles. Experiments conducted with a two-link planar arm and a seven-DOF spatial arm verify that the trajectories generated by our feedback control law closely resemble human arm motions, in the sense of producing nearly straight-line hand trajectories, having bell-shaped velocity profiles, and satisfying Fitts Law. (paper)

  16. Design of a multi-arm randomized clinical trial with no control arm.

    Science.gov (United States)

    Magaret, Amalia; Angus, Derek C; Adhikari, Neill K J; Banura, Patrick; Kissoon, Niranjan; Lawler, James V; Jacob, Shevin T

    2016-01-01

    Clinical trial designs that include multiple treatments are currently limited to those that perform pairwise comparisons of each investigational treatment to a single control. However, there are settings, such as the recent Ebola outbreak, in which no treatment has been demonstrated to be effective; and therefore, no standard of care exists which would serve as an appropriate control. For illustrative purposes, we focused on the care of patients presenting in austere settings with critically ill 'sepsis-like' syndromes. Our approach involves a novel algorithm for comparing mortality among arms without requiring a single fixed control. The algorithm allows poorly-performing arms to be dropped during interim analyses. Consequently, the study may be completed earlier than planned. We used simulation to determine operating characteristics for the trial and to estimate the required sample size. We present a potential study design targeting a minimal effect size of a 23% relative reduction in mortality between any pair of arms. Using estimated power and spurious significance rates from the simulated scenarios, we show that such a trial would require 2550 participants. Over a range of scenarios, our study has 80 to 99% power to select the optimal treatment. Using a fixed control design, if the control arm is least efficacious, 640 subjects would be enrolled into the least efficacious arm, while our algorithm would enroll between 170 and 430. This simulation method can be easily extended to other settings or other binary outcomes. Early dropping of arms is efficient and ethical when conducting clinical trials with multiple arms. Copyright © 2015 Elsevier Inc. All rights reserved.

  17. Arm coordination in octopus crawling involves unique motor control strategies.

    Science.gov (United States)

    Levy, Guy; Flash, Tamar; Hochner, Binyamin

    2015-05-04

    To cope with the exceptional computational complexity that is involved in the control of its hyper-redundant arms [1], the octopus has adopted unique motor control strategies in which the central brain activates rather autonomous motor programs in the elaborated peripheral nervous system of the arms [2, 3]. How octopuses coordinate their eight long and flexible arms in locomotion is still unknown. Here, we present the first detailed kinematic analysis of octopus arm coordination in crawling. The results are surprising in several respects: (1) despite its bilaterally symmetrical body, the octopus can crawl in any direction relative to its body orientation; (2) body and crawling orientation are monotonically and independently controlled; and (3) contrasting known animal locomotion, octopus crawling lacks any apparent rhythmical patterns in limb coordination, suggesting a unique non-rhythmical output of the octopus central controller. We show that this uncommon maneuverability is derived from the radial symmetry of the arms around the body and the simple pushing-by-elongation mechanism by which the arms create the crawling thrust. These two together enable a mechanism whereby the central controller chooses in a moment-to-moment fashion which arms to recruit for pushing the body in an instantaneous direction. Our findings suggest that the soft molluscan body has affected in an embodied way [4, 5] the emergence of the adaptive motor behavior of the octopus. Copyright © 2015 Elsevier Ltd. All rights reserved.

  18. 27 CFR 479.193 - Arms Export Control Act.

    Science.gov (United States)

    2010-04-01

    ..., AND EXPLOSIVES, DEPARTMENT OF JUSTICE FIREARMS AND AMMUNITION MACHINE GUNS, DESTRUCTIVE DEVICES, AND CERTAIN OTHER FIREARMS Other Laws Applicable § 479.193 Arms Export Control Act. For provisions relating to...

  19. The National Ignition Facility (NIF) and the issue of nonproliferation. Final study

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-12-19

    NIF, the next step proposed by DOE in a progression of Inertial Confinement Fusion (ICF) facilities, is expected to reach the goal of ICF capsule ignition in the laboratory. This report is in response to a request of a Congressman that DOE resolve the question of whether NIF will aid or hinder U.S. nonproliferation efforts. Both technical and policy aspects are addressed, and public participation was part of the decision process. Since the technical proliferation concerns at NIF are manageable and can be made acceptable, and NIF can contribute positively to U.S. arms control and nonproliferation policy goals, it is concluded that NIF supports the nuclear nonproliferation objectives of the United States.

  20. The National Ignition Facility (NIF) and the issue of nonproliferation. Final study

    International Nuclear Information System (INIS)

    1995-01-01

    NIF, the next step proposed by DOE in a progression of Inertial Confinement Fusion (ICF) facilities, is expected to reach the goal of ICF capsule ignition in the laboratory. This report is in response to a request of a Congressman that DOE resolve the question of whether NIF will aid or hinder U.S. nonproliferation efforts. Both technical and policy aspects are addressed, and public participation was part of the decision process. Since the technical proliferation concerns at NIF are manageable and can be made acceptable, and NIF can contribute positively to U.S. arms control and nonproliferation policy goals, it is concluded that NIF supports the nuclear nonproliferation objectives of the United States

  1. Paranoids, pygmies, pariahs and nonproliferation

    International Nuclear Information System (INIS)

    Betts, R.K.

    1977-01-01

    The spread of nuclear weapons has finally become a central item on the foreign policy agenda. But the fervor of most opponents of proliferation has been matched only by their reluctance to deal with the causes of the threat. The misplaced focus on ways to isolate weapons-related capabilities obscures the importance of the stickier but more salient problem of the incentives many nations have to get a bomb: fear or ambition. As long as antiproliferation strategy goes no further than schemes to keep the genie in a few bottles, we risk doing both more and less than necessary. Distressingly few arms-control enthusiasts have faced up to the full price of nonproliferation. The needed reorientation in thinking, which is really only a return to the ageless problem of balance of power, has been impeded by prevalent fallacies of emphasis about what causes the threat, who the candidates for proliferation are, and what strategies are applicable to which candidates. The author proceeds to discuss: (1) causes (the moralist fallacy, the economic fallacy, the diseconomic fallacy, and the technicist fallacy); (2) candidates (the pygmy states, the paranoid states, the pariah states, and five options of the U.S.); (3) cures (the fatalist fallacy, the multilateral fallacy, the embargo fallacy, the safeguards fallacy, the umbrella fallacy, the two-wrongs-don't-make-a-right fallacy, and the golden key fallacy); and (4) choices

  2. Trends and challenges in global arms control regimes: Implications for the Mediterranean, North Africa, and the Middle East

    Energy Technology Data Exchange (ETDEWEB)

    Lehman, R.F. II

    1994-06-01

    In another sense, however, the nuclear age and ballistic missiles long ago created a much smaller world in which the distinctions between global and regional security have been lessened. In an age of weapons of mass destruction, any point on the earth can find itself suddenly at the center of world attention. This makes it all the more important that we understand all of the arms control tools available, including global approaches. In discussing global arms control regimes, I will focus primarily on those that are open to universal membership such as the Nuclear Nonproliferation Treaty (NPT) or which have global reach, such as certain export control and supplier regimes. It is important to remember, however, that certain regional, bilateral, and even unilateral arms control measures can have a global impact as well. One need only witness the impact of the Treaty on Conventional Forces in Europe (CFE). Despite its mere {open_quotes}Atlantic to the Urals{close_quotes} focus, the CFE treaty helped change the political and strategic calculations of the entire world. Likewise, the Conference on Security and Cooperation in Europe (CSCE), with its headquarters in Vienna, is centered on Europe but spreads from Vancouver to Vladivostok (or perhaps we should say from Amchitka to Kamchatka), circumnavigating much of the northern hemisphere when measured the long way around via North America. The political significance of its successes and failures outdistance CSCE`s geographical spread.

  3. Four Degree Freedom Robot Arm with Fuzzy Neural Network Control

    Directory of Open Access Journals (Sweden)

    Şinasi Arslan

    2013-01-01

    Full Text Available In this study, the control of four degree freedom robot arm has been realized with the computed torque control method.. It is usually required that the four jointed robot arm has high precision capability and good maneuverability for using in industrial applications. Besides, high speed working and external applied loads have been acting as important roles. For those purposes, the computed torque control method has been developed in a good manner that the robot arm can track the given trajectory, which has been able to enhance the feedback control together with fuzzy neural network control. The simulation results have proved that the computed torque control with the neural network has been so successful in robot control.

  4. The nuclear non-proliferation regime: What it is and how it has evolved

    International Nuclear Information System (INIS)

    Priest, J.

    1999-01-01

    The nuclear non-proliferation regime commonly denotes the legal norms, voluntary undertakings and policies which the international community has developed to deal with the threat of nuclear weapons proliferation. The word 'regime' suggests a legally binding order. Some components of the non-proliferation regime are indeed legally binding. Others represent essentially political rather than legal commitments. This lecture describes the various independent but mutually reinforcing components of the non-proliferation regime. It thus touches on and highlights the particular importance of political incentives - or disincentives - to the acquisition of nuclear weapons; legal undertakings in which non-proliferation commitments are anchored; verification (specifically the IAEA Safeguards System); compliance and enforcement; export controls; physical protection measures; regional nuclear non-proliferation initiatives; and measures taken to curb proliferation in general and to strive for arms control and nuclear disarmament. The purpose of the lecture is to provide an over-arching, tour d'horizon for the more specific and detailed lectures which follow. (author)

  5. EEG Mind Controlled Smart Prosthetic Arm – A Comprehensive Study

    Directory of Open Access Journals (Sweden)

    Taha Beyrouthy

    2017-06-01

    Full Text Available Recently, the field of prosthetics has seen many accomplishments especially with the integration of technological advancements. In this paper, different arm types (robotic, surgical, bionic, prosthetic and static are analyzed in terms of resistance, usage, flexibility, cost and potential. Most of these techniques have some problems; they are extremely expensive, hard to install and maintain and may require surgery. Therefore, our work introduces the initial design of an EEG mind controlled smart prosthetic arm. The arm is controlled by the brain commands, obtained from an electroencephalography (EEG headset, and equipped with a network of smart sensors and actuators that give the patient intelligent feedback about the surrounding environment and the object in contact. This network provides the arm with normal hand functionality, smart reflexes and smooth movements. Various types of sensors are used including temperature, pressure, ultrasonic proximity sensors, accelerometers, potentiometers, strain gauges and gyroscopes. The arm is completely 3D printed built from various lightweight and high strength materials that can handle high impacts and fragile elements as well. Our project requires the use of nine servomotors installed at different places in the arm. Therefore, the static and dynamic modes of servomotors are analyzed. The total cost of the project is estimated to be relatively cheap compared to other previously built arms. Many scenarios are analyzed corresponding to the actions that the prosthetic arm can perform, and an algorithm is created to match these scenarios. Experimental results show that the proposed EEG Mind-controlled Arm is a promising alternative for current solutions that require invasive and expensive surgical procedures.

  6. Reagan outlines nonproliferation policy

    International Nuclear Information System (INIS)

    Walsh, J.

    1981-01-01

    The Reagan Administration wants to shift from efforts to impose direct control over the fuel cycle and nuclear technology to a framework based on cooperation and initiatives for greater political stability. A nuclear-free zone for the Middle East is one area to explore. Congress responded to this announced plan with a counter move to tighten non-proliferation strategies. Reagan's policy will be to restore the US as an aggressive, but reliable nuclear trading partner operating under adequate safeguards. Critics find this approach dangerous and contradictory. The policy is still too general to answer specific questions about bilateral arrangements, generic permits, plutonium recycling, and other matters

  7. The arms race control; Le controle de la course aux armements

    Energy Technology Data Exchange (ETDEWEB)

    Nemo, J.

    2010-07-15

    Written in 1961, this paper presents the content of a book entitled 'The arms race control' where the author outlined the difference between disarmament and arms control, described the economic and moral role of arms race, the importance of force balance for international security. He wandered whether arms control could ensure this balance and whether nuclear balance meant force balance. Force balance then appears to be a precarious and unsteady component of international security. He commented the challenges of disarmament, recalled some arguments for a nuclear disarmament. Then he discussed what would be an arms control with or without disarmament (either nuclear or conventional)

  8. The importance of domestic law to international arms control

    International Nuclear Information System (INIS)

    Lehman, R.F. II.

    1993-11-01

    Studies of arms control and disarmament tend to focus on political, military, and diplomatic processes. Recently, in the context of the conversion of defense activities to civilian use, the economic aspects of arms control have also received renewed interest. The legal dimension, however, is in need of fresh examination. Both international and domestic law are sailing increasingly in uncharted waters. Recent arms control agreements and related developments in international peacekeeping have expanded the scope of international law and altered how one perceives certain fundamentals, including the principle of national sovereignty. Still, the nation state is largely unchallenged as the primary actor in international affairs. National governments retain near absolute sovereign rights and responsibilities even in an age of trans-national economic integration and codified international norms for human rights, freedom of the press, and the peaceful resolution of disputes. Indeed, the role of domestic law in arms control and disarmament may be more significant now than ever before. A brief review of relationships between arms control and domestic law should illustrate ways in which ones thinking has been underestimating the importance of domestic law. Hopefully, this survey will set the stage properly for the excellent, more detailed case studies by Elinor Hammarskjold and Alan Crawford. Toward that end, this paper will highlight a number of more general, and sometimes provocative, themes. These themes should be kept in mind when those two complementary presentations are considered

  9. The importance of domestic law to international arms control

    Energy Technology Data Exchange (ETDEWEB)

    Lehman, R.F. II

    1993-11-01

    Studies of arms control and disarmament tend to focus on political, military, and diplomatic processes. Recently, in the context of the conversion of defense activities to civilian use, the economic aspects of arms control have also received renewed interest. The legal dimension, however, is in need of fresh examination. Both international and domestic law are sailing increasingly in uncharted waters. Recent arms control agreements and related developments in international peacekeeping have expanded the scope of international law and altered how one perceives certain fundamentals, including the principle of national sovereignty. Still, the nation state is largely unchallenged as the primary actor in international affairs. National governments retain near absolute sovereign rights and responsibilities even in an age of trans-national economic integration and codified international norms for human rights, freedom of the press, and the peaceful resolution of disputes. Indeed, the role of domestic law in arms control and disarmament may be more significant now than ever before. A brief review of relationships between arms control and domestic law should illustrate ways in which ones thinking has been underestimating the importance of domestic law. Hopefully, this survey will set the stage properly for the excellent, more detailed case studies by Elinor Hammarskjold and Alan Crawford. Toward that end, this paper will highlight a number of more general, and sometimes provocative, themes. These themes should be kept in mind when those two complementary presentations are considered.

  10. New concepts in nuclear arms control: verified cutoff and verified disposal

    International Nuclear Information System (INIS)

    Donnelly, W.H.

    1990-01-01

    Limiting the numbers of nuclear warheads by reducing military production and stockpiles of fissionable materials has been a constant item on the nuclear arms control agenda for the last 45 years. It has become more salient recently, however, because of two events: the enforced closure for safety reasons of the current United States military plutonium production facilities; and the possibility that the US and USSR may soon conclude an agreement providing for the verified destruction of significant numbers of nuclear warheads and the recovery of the fissionable material they contain with the option of transferring these materials to peaceful uses. A study has been made of the practical problems of verifying the cut off of fissionable material production for military purposes in the nuclear weapon states, as well as providing assurance that material recovered from warheads is not re-used for proscribed military purposes and facilitating its transfer to civil uses. Implementation of such measures would have important implications for non-proliferation. The resultant paper was presented to a meeting of the PPNN Core Group held in Baden, close to Vienna, over the weekend of 18/19th November 1989 and is reprinted in this booklet. (author)

  11. Implementing nuclear non-proliferation in Finland. Regulatory control, international cooperation and the Comprehensive Nuclear-Test-Ban Treaty. Annual report 2011

    Energy Technology Data Exchange (ETDEWEB)

    Okko, O. (ed.)

    2012-07-01

    The regulatory control of nuclear materials (i.e. nuclear safeguards) is a prerequisite for the peaceful use of nuclear energy in Finland. Safeguards are required for Finland to comply with international agreements on nuclear non-proliferation - mainly the Non-Proliferation Treaty (NPT). This regulatory control is exercised by the Nuclear Materials Section of the Finnish Radiation and Nuclear Safety Authority (STUK). The results of STUK's nuclear safeguards inspection activities in 2011 continued to demonstrate that the Finnish licence holders take good care of their nuclear materials. There were no indications of undeclared nuclear materials or activities and the inspected materials and activities were in accordance with the licence holders' declarations.

  12. Control System Design for a Flexible Arm

    National Research Council Canada - National Science Library

    Wang, Li-Sheng

    1987-01-01

    .... He has investigated techniques for compensating the effects of friction and ripple torque. New software was written to use a Metrabyte Data Acquisition and Control board for the real-time implementation...

  13. Visual Recognition and Its Application to Robot Arm Control

    Directory of Open Access Journals (Sweden)

    Jih-Gau Juang

    2015-10-01

    Full Text Available This paper presents an application of optical word recognition and fuzzy control to a smartphone automatic test system. The system consists of a robot arm and two webcams. After the words from the control panel that represent commands are recognized by the robot system, the robot arm performs the corresponding actions to test the smartphone. One of the webcams is utilized to capture commands on the screen of the control panel, the other to recognize the words on the screen of the tested smartphone. The method of image processing is based on the Red-Green-Blue (RGB and Hue-Saturation-Luminance (HSL color spaces to reduce the influence of light. Fuzzy theory is used in the robot arm’s position control. The Optical Character Recognition (OCR technique is applied to the word recognition, and the recognition results are then checked by a dictionary process to increase the recognition accuracy. The camera which is used to recognize the tested smartphone also provides object coordinates to the fuzzy controller, then the robot arm moves to the desired positions and presses the desired buttons. The proposed control scheme allows the robot arm to perform different assigned test functions successfully.

  14. The future of U.S.-Russia nuclear arms control

    Science.gov (United States)

    Pifer, Steven

    2017-11-01

    Nuclear arms control has long made contributions to U.S.-Soviet and U.S.-Russian security, but the current regime is at risk. The 1987 Intermediate-range Nuclear Forces Treaty may be headed for collapse. Both the United States and Russia are modernizing their strategic forces, and the fate of the 2010 New Strategic Arms Reduction Treaty is unclear. In the unlikely case that the sides are prepared to go beyond New START, there are ways to address further reductions and related issues. A collapse of the arms control regime, on the other hand, would mean the end of constraints on U.S. and Russian nuclear forces, a significant loss of transparency, and potential costs to U.S. security.

  15. Hand Gesture Based Wireless Robotic Arm Control for Agricultural Applications

    Science.gov (United States)

    Kannan Megalingam, Rajesh; Bandhyopadhyay, Shiva; Vamsy Vivek, Gedela; Juned Rahi, Muhammad

    2017-08-01

    One of the major challenges in agriculture is harvesting. It is very hard and sometimes even unsafe for workers to go to each plant and pluck fruits. Robotic systems are increasingly combined with new technologies to automate or semi automate labour intensive work, such as e.g. grape harvesting. In this work we propose a semi-automatic method for aid in harvesting fruits and hence increase productivity per man hour. A robotic arm fixed to a rover roams in the in orchard and the user can control it remotely using the hand glove fixed with various sensors. These sensors can position the robotic arm remotely to harvest the fruits. In this paper we discuss the design of hand glove fixed with various sensors, design of 4 DoF robotic arm and the wireless control interface. In addition the setup of the system and the testing and evaluation under lab conditions are also presented in this paper.

  16. Accelerator-driven subcritical systems - An analysis with a focus on non-proliferation and export control

    International Nuclear Information System (INIS)

    Andersson, Per; Nielsen, Fredrik; Sunhede, Daniel

    2013-01-01

    The Department of Nuclear Weapons Related Issues at The Swedish Defence Research Agency, FOI, as commissioned by the Swedish Radiation Safety Authority, SSM, conducted a study concerning Accelerator Driven Subcritical Systems, ADS, with emphasis on non-proliferation and export control. An ADS looks at first glance like a traditional nuclear reactor, but the nuclear core is designed to always remain subcritical, both during normal and off-normal conditions. Neutrons are instead supplied by an external source in the form of an proton accelerator and a spallation target. This report gives a short walk-through to the physical processes that governs the neutron flux and reactivity in the core and how they are affected by the design of the core including the accelerator and spallation target. Furthermore is the results from reactor core simulations presented, where the isotopic nuclear fuel inventory has been studied as a function of burn up and initial configuration. Finally the report contains an analysis of the potential risks involved from the perspective of nuclear proliferation and exports. This study shows that ADS in the future could constitute a proliferation concern. The subsystems and components in question share design and materials with the equivalent components in traditional reactors with the exception of the proton accelerator and spallation target, which is unique for accelerator driven systems

  17. Photoelectric radar servo control system based on ARM+FPGA

    Science.gov (United States)

    Wu, Kaixuan; Zhang, Yue; Li, Yeqiu; Dai, Qin; Yao, Jun

    2016-01-01

    In order to get smaller, faster, and more responsive requirements of the photoelectric radar servo control system. We propose a set of core ARM + FPGA architecture servo controller. Parallel processing capability of FPGA to be used for the encoder feedback data, PWM carrier modulation, A, B code decoding processing and so on; Utilizing the advantage of imaging design in ARM Embedded systems achieves high-speed implementation of the PID algorithm. After the actual experiment, the closed-loop speed of response of the system cycles up to 2000 times/s, in the case of excellent precision turntable shaft, using a PID algorithm to achieve the servo position control with the accuracy of + -1 encoder input code. Firstly, This article carry on in-depth study of the embedded servo control system hardware to determine the ARM and FPGA chip as the main chip with systems based on a pre-measured target required to achieve performance requirements, this article based on ARM chip used Samsung S3C2440 chip of ARM7 architecture , the FPGA chip is chosen xilinx's XC3S400 . ARM and FPGA communicate by using SPI bus, the advantage of using SPI bus is saving a lot of pins for easy system upgrades required thereafter. The system gets the speed datas through the photoelectric-encoder that transports the datas to the FPGA, Then the system transmits the datas through the FPGA to ARM, transforms speed datas into the corresponding position and velocity data in a timely manner, prepares the corresponding PWM wave to control motor rotation by making comparison between the position data and the velocity data setted in advance . According to the system requirements to draw the schematics of the photoelectric radar servo control system and PCB board to produce specially. Secondly, using PID algorithm to control the servo system, the datas of speed obtained from photoelectric-encoder is calculated position data and speed data via high-speed digital PID algorithm and coordinate models. Finally, a

  18. Trends in International Persuasion: Persuasion in the Arms Control Negotiations.

    Science.gov (United States)

    Hopmann, P. Terrence; Walcott, Charles

    An analysis of the bargaining process in international arms control negotiations is possible by developing a framework of interrelated hypotheses, by delineating and practicing interactions study called "Bargaining Process Analysis," and by formulating procedural steps that bridge the gap between laboratory studies and "real world" situations. In…

  19. State Control over Private Military and Security Companies in Armed ...

    African Journals Online (AJOL)

    NWUuser

    State Control over Private Military and Security Companies in Armed Conflict by H Tonkin ... (US) in the Iraqi theatre by 2007 exceeded the number of US troops, and in 2010 .... due diligence to promote PMSC compliance therewith. ... relying on existing accountability frameworks of international law, new domestic and.

  20. Status and prospects of nuclear arms control study

    International Nuclear Information System (INIS)

    Sun Xiangli; Wang Deli

    1995-01-01

    Some main issues and problems involved in nuclear arms control study, such as nuclear policy, NPT regime, verification technologies for a CTBT and disposal of military nuclear materials are introduced, in which both the current state and prospects of these issues are analyzed

  1. Common sense and nonproliferation

    International Nuclear Information System (INIS)

    Kennedy, R.T.

    1985-01-01

    Since the dawn of the nuclear age nearly four decades ago, the United States has been firmly commited to the objective of preventing the spread of nuclear weapons. That principle is embodied in the Nonproliferation Treaty (NPT), support for which has been a basic tenet of US foreign policy and a basic security interest of the world at large ever since. The Reagan administration remains firmly committed to the goal of preventing the spread of nuclear weapons. Such proliferation could trigger new and grave dangers for America's security and well-being and indeed for that of all the world's peoples. Desperate leaders in future high-stakes conflicts might not shrink from nuclear blackmail or even from the use of nuclear weapons if they were available. A conventional clash between nuclear-armed states in a conflict-prone region might escalate by accident or miscalculation to a local nuclear exchange. It cannot be discounted that such a nuclear clash might threaten to involve the superpowers themselves. With proliferation, also, terrorist groups could more easily acquire nuclear weapons to extort concessions. Preventing the spread of nuclear weapons, then, is not solely of interest to the superpowers: it is vital to all countries and regions. The security of the countries in those regions to which nuclear weapons might spread would be most immediately and seriously affected. By their adherence to the NPT, more than 100 countries have recognized this fact

  2. Dual arm master controller concept: consolidated fuel reprocessing program

    International Nuclear Information System (INIS)

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

    1984-04-01

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

  3. A biologically inspired neural network controller for ballistic arm movements

    Directory of Open Access Journals (Sweden)

    Schmid Maurizio

    2007-09-01

    Full Text Available Abstract Background In humans, the implementation of multijoint tasks of the arm implies a highly complex integration of sensory information, sensorimotor transformations and motor planning. Computational models can be profitably used to better understand the mechanisms sub-serving motor control, thus providing useful perspectives and investigating different control hypotheses. To this purpose, the use of Artificial Neural Networks has been proposed to represent and interpret the movement of upper limb. In this paper, a neural network approach to the modelling of the motor control of a human arm during planar ballistic movements is presented. Methods The developed system is composed of three main computational blocks: 1 a parallel distributed learning scheme that aims at simulating the internal inverse model in the trajectory formation process; 2 a pulse generator, which is responsible for the creation of muscular synergies; and 3 a limb model based on two joints (two degrees of freedom and six muscle-like actuators, that can accommodate for the biomechanical parameters of the arm. The learning paradigm of the neural controller is based on a pure exploration of the working space with no feedback signal. Kinematics provided by the system have been compared with those obtained in literature from experimental data of humans. Results The model reproduces kinematics of arm movements, with bell-shaped wrist velocity profiles and approximately straight trajectories, and gives rise to the generation of synergies for the execution of movements. The model allows achieving amplitude and direction errors of respectively 0.52 cm and 0.2 radians. Curvature values are similar to those encountered in experimental measures with humans. The neural controller also manages environmental modifications such as the insertion of different force fields acting on the end-effector. Conclusion The proposed system has been shown to properly simulate the development of

  4. Learning and Control Model of the Arm for Loading

    Science.gov (United States)

    Kim, Kyoungsik; Kambara, Hiroyuki; Shin, Duk; Koike, Yasuharu

    We propose a learning and control model of the arm for a loading task in which an object is loaded onto one hand with the other hand, in the sagittal plane. Postural control during object interactions provides important points to motor control theories in terms of how humans handle dynamics changes and use the information of prediction and sensory feedback. For the learning and control model, we coupled a feedback-error-learning scheme with an Actor-Critic method used as a feedback controller. To overcome sensory delays, a feedforward dynamics model (FDM) was used in the sensory feedback path. We tested the proposed model in simulation using a two-joint arm with six muscles, each with time delays in muscle force generation. By applying the proposed model to the loading task, we showed that motor commands started increasing, before an object was loaded on, to stabilize arm posture. We also found that the FDM contributes to the stabilization by predicting how the hand changes based on contexts of the object and efferent signals. For comparison with other computational models, we present the simulation results of a minimum-variance model.

  5. Flaws in the Non-Proliferation Treaty

    International Nuclear Information System (INIS)

    Leventhal, P.

    1986-01-01

    The Treaty on the Non-Proliferation of Nucler Weapons has the twin objectives of stopping the further spread of nuclear weapons and ending the nuclear arms race on the one hand, and promoting peaceful uses of atomic energy on the other. In quantitative and symbolic terms the NPT is a huge success. More than two-thirds of the world's nations have signed on, making this the most popular arms control agreement on earth. Not a single nation has declared itself to be a nuclear-weapons state beyond the original five members of the ''nuclear club'' who qualified for weapons status under the terms of the Treaty itself: the United States, the Soviet Union, the United Kingdom, France, and China. No party to the Treaty has exercised the permitted option to drop out, and none has been found by the International Atomic Energy Agency (IAEA) to have diverted nuclear material from civil to weapons purposes. Nor has any party been known to have violated NPT prohibitions on developing or assisting other nations to develop nuclear weapons

  6. Passivity-Based Control of Rotational and Translational Timoshenko Arms

    Directory of Open Access Journals (Sweden)

    Minoru Sasaki

    2012-01-01

    Full Text Available It is shown that the alternate passivity-based control schemes can be designed which explicitly exploit the passivity properties of the Timoshenko model. This approach has the advantage over the conventional methods in the respect that it allows one to deal directly with the system's partial differential equations without resorting to approximations. Numerical results for the tracking control of a translational and rotational flexible Timoshenko arm are presented and compared. They verify that the proposed control schemes are effective at controlling flexible dynamical systems.

  7. CONTROL SYSTEM FOR UNMANNED AIRCRAFT EQUIPPED WITH ROBOTICS ARM

    Directory of Open Access Journals (Sweden)

    Alexei A. Margun

    2014-11-01

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

  8. The effect of the development of theatre missile defences on the arms control structure

    International Nuclear Information System (INIS)

    Liu Min

    1998-01-01

    Th arms control structure usually refers to current and past results of the efforts by the USA and former Soviet Union to negotiate strategic arms control agreements. The structure is to be represented by the various arms control agreements, such as the Strategic Arms Limitation Talks (SALT) and the strategic Reduction Talks (START). Whatever the motives of the parties to these agreements, today people commonly regard the structure as the best way to achieve strategic stability. The profile od arms control and the impact of the Anti-Ballistic Missile (ABM) Treaty, to understand how the Theatre Missile Defence (TMD) program affects the arms control structure

  9. An Electromechanical Pendulum Robot Arm in Action: Dynamics and Control

    Directory of Open Access Journals (Sweden)

    A. Notué Kadjie

    2017-01-01

    Full Text Available The authors numerically investigate the dynamics and control of an electromechanical robot arm consisting of a pendulum coupled to an electrical circuit via an electromagnetic mechanism. The analysis of the dynamical behavior of the electromechanical device powered by a sinusoidal power source is carried out when the effects of the loads on the arm are neglected. It is found that the device exhibits period-n T oscillations and high amplitude oscillations when the electric current is at its smallest value. The specific case which considers the effects of the impulsive contact force caused by an external load mass pushed by the arm is also studied. It is found that the amplitude of the impulse force generates several behaviors such as jump of amplitude and distortions of the mechanical vibration and electrical signal. For more efficient functioning of the device, both piezoelectric and adaptive backstepping controls are applied on the system. It is found that the control strategies are able to mitigate the signal distortion and restore the dynamical behavior to its normal state or reduce the effects of perturbations such as a short time variation of one component or when the robot system is subject to noises.

  10. Conventional arms control and the nuclear weapons dilemma in Europe

    International Nuclear Information System (INIS)

    Hopmann, P.T.

    1988-01-01

    This paper sets forth some fundamental propositions about the role of conventional arms control in connection with the nuclear weapons dilemma in Europe. A fundamental underlying premise of this analysis is that nuclear and non-nuclear issues in European security are inextricably linked with one another. Therefore, they should not be separated either conceptually or at the level of policy analysis and prescription. An additional basic assumption is that the attainment of an appropriate security regime in Europe is hindered by the security dilemma, in which measures that enhance the security of one side in the East-West conflict are often perceived by the other as detracting from their own security. Therefore, a regime intended to enhance common security throughout the continent must be designed so as to reduce rather than exacerbate this dilemma. The analysis of the requirements for confidence-building measures and arms control rests on several propositions that have been introduced by numerous other authors in this volume. These propositions will be summarized here briefly in order to lay the foundation for the subsequent analysis of confidence-building and arms control initiatives

  11. Overview: Mechanism and Control of a Prosthetic Arm.

    Science.gov (United States)

    Kulkarni, Tushar; Uddanwadiker, Rashmi

    2015-09-01

    Continuous growth in industrialization and lack of awareness in safety parameters the cases of amputations are growing. The search of safer, simpler and automated prosthetic arms for managing upper limbs is expected. Continuous efforts have been made to design and develop prosthetic arms ranging from simple harness actuated to automated mechanisms with various control options. However due the cost constraints, the automated prosthetic arms are still out of the reach of needy people. Recent data have shown that there is a wide scope to develop a low cost and light weight upper limb prosthesis. This review summarizes the various designs methodologies, mechanisms and control system developed by the researchers and the advances therein. Educating the patient to develop acceptability to prosthesis and using the same for the most basic desired functions of human hand, post amputation care and to improve patient's independent life is equally important. In conclusion it can be interpreted that there is a wide scope in design in an adaptive mechanism for opening and closing of the fingers using other methods of path and position synthesis. Simple mechanisms and less parts may optimize the cost factor. Reduction in the weight of the prosthesis may be achieved using polymers used for engineering applications. Control system will remain never ending challenge for the researchers, but it is essential to maintain the simplicity from the patients perspective.

  12. Future non-proliferation challenges

    International Nuclear Information System (INIS)

    Yelchenko, Volodymyr

    2008-01-01

    Having chaired the Second Session of the Preparatory Committee Mr. Volodymyr Yelchenko noted that the NPT States parties reaffirmed the important role of the Treaty as the cornerstone of the global non-proliferation regime. They stressed that non-compliance with the Treaty provisions by States parties undermined non-proliferation and placed emphasis on the mutually reinforcing nature of disarmament and non-proliferation, and due respect for the right of States parties to the peaceful use of nuclear energy in conformity with the treaty. They reaffirmed the importance of promoting the peaceful uses of nuclear energy and international nuclear cooperation for peaceful purposes in ways consistent with the non-proliferation goal of the Treaty. The universality aspect was brought to the front with the lack of progress in this area. States parties called upon India, Israel and Pakistan to accede to the Treaty as non-nuclear-weapons states, promptly and without conditions and to bring into force comprehensive safeguards agreements, together with Additional Protocols, for ensuring non-proliferation. There is concern that non-States actors could gain access to weapons of mass destruction. One of the underlying themes at the Second Prepcom was the total elimination of nuclear weapons as the only absolute guarantee against their proliferation. Negative consequences to nuclear non-proliferation were also mentioned in the context of the abrogation of the Anti-Ballistic Missile Treaty and the development of missile defense systems, with the risk of a new arms race on Earth and in outer space. The importance of the immediate commencement of negotiations in the Conference of Disarmament on a treaty concerning fissile material for nuclear weapons or other nuclear explosive devices and the urgent conclusion of such a treaty as a beneficial step towards non-proliferation was stressed. The NPT states parties reaffirmed the role of the IAEA as the sole competent authority responsible for

  13. Safety controls according to the non-proliferation treaty in EC countries

    International Nuclear Information System (INIS)

    Pander, J. von.

    1978-01-01

    Above all, content and extent of the duty conferred upon the IAEA according to article III, paragraph 1 of the NP treaty which implies the conducting of safety controls and the consequences resulting here from are examined. Including the peaceful use of nuclear energy developing under international law the agreement on safety control signed on 5th April 1973 between IAEA and EURATOM as well as its seven non-nuclear-weapon member states is discussed, along with its technical and its implicit legal problems. In detail the manifold technical and judicial problems of IAEA safety controls are shown, their realization requiring a well-working cooperation between IAEA and the European Communities. As only the non-nuclear-weapon member states of the EC are subject to the IAEA safety control system within the frame of this agreement the following questions are discussed: 1. effects on the member status after the signing of the EURATOM contract and 2. granting the principle of equal treatment for all member states as against the nuclear-weapon member states of the EC, France and the United Kingdom. (orig./HP) [de

  14. Designing, Fabrication and Controlling Of Multipurpose3-DOF Robotic Arm

    Science.gov (United States)

    Nabeel, Hafiz Muhammad; Azher, Anum; Usman Ali, Syed M.; Wahab Mughal, Abdul

    2013-12-01

    In the present work, we have successfully designed and developed a 3-DOF articulated Robotic Arm capable of performing typical industrial tasks such as painting or spraying, assembling and handling automobiles parts and etc., in resemblance to a human arm. The mechanical assembly is designed on SOLIDWORKS and aluminum grade 6061 -T6 is used for its fabrication in order to reduce the structure weight. We have applied inverse kinematics to determine the joint angles, equations are fed into an efficient microcontroller ATMEGA16 which performs all the calculations to determine the joint angles on the basis of given coordinates to actuate the joints through motorized control. Good accuracy was obtained with quadrature optical encoders installed in each joint to achieve the desired position and a LabVIEW based GUI is designed to provide human machine interface.

  15. Space nonweaponization. An urgent task for arms control

    International Nuclear Information System (INIS)

    Du Xiangwan; Pan Jusheng; Zhang Xinwei; Du Shuhua; Xu Changgen

    1990-05-01

    The authors attempt to expound the basic points of veiw and put forward a proposal on the space nonweaponization. The authors analyse the nature of space weaponry and its impact on arms race and point out that the space nonweaponization is an urgent task for arms control. The relations between prohibition of space and ASAT weapons, between prohibition of space weapons and reduction of nuclear weapons and between space weapon and nuclear test are all analysed. The inadequacy of the existing space treaties is made clear based on the evaluation. It is hoped that a verifiable treaty on the prohibition of space weapons should be made and international cooperation on peaceful use of outer space is necessary

  16. Designing, Fabrication and Controlling Of Multipurpose3-DOF Robotic Arm

    International Nuclear Information System (INIS)

    Nabeel, Hafiz Muhammad; Azher, Anum; Ali, Syed M Usman; Mughal, Abdul Wahab

    2013-01-01

    In the present work, we have successfully designed and developed a 3-DOF articulated Robotic Arm capable of performing typical industrial tasks such as painting or spraying, assembling and handling automobiles parts and etc., in resemblance to a human arm. The mechanical assembly is designed on SOLIDWORKS and aluminum grade 6061 -T6 is used for its fabrication in order to reduce the structure weight. We have applied inverse kinematics to determine the joint angles, equations are fed into an efficient microcontroller ATMEGA16 which performs all the calculations to determine the joint angles on the basis of given coordinates to actuate the joints through motorized control. Good accuracy was obtained with quadrature optical encoders installed in each joint to achieve the desired position and a LabVIEW based GUI is designed to provide human machine interface

  17. U.S.-Russian cooperation in nuclear disarmament and nonproliferation

    Science.gov (United States)

    Podvig, Pavel

    2010-02-01

    The United States and Russia, the two largest nuclear powers, have a special obligation to provide leadership in nuclear disarmament and in strengthening the nuclear non-proliferation regime. In the past year the two countries made an effort to restart the arms control process by concluding a new treaty that would bring their legal disarmament obligations in line with the realities of their post-cold war relationships. The process of negotiating deeper nuclear reductions in the new environment turned out to be rather difficult, since the approaches that the countries used in the past are not well suited to dealing with issues like conversion of strategic nuclear delivery systems to conventional missions, tactical nuclear weapons, or dismantlement of nuclear warheads. This presentation considers the recent progress in U.S.-Russian arms control process and outlines the key issues at the negotiations. It also considers prospects for further progress in bilateral nuclear disarmament and issues that will be encountered at later stages of the process. The author argues that success of the arms reductions will depend on whether the United States and Russia will be able to build an institutional framework for cooperation on a range of issues - from traditional arms control to securing nuclear materials and from missile defense to strengthening the international nuclear safeguards. )

  18. Implementing nuclear non-proliferation in Finland. Regulatory control, international cooperation and the comprehensive nuclear-test-ban treaty. Annual report 2007

    International Nuclear Information System (INIS)

    Haemaelaeinen, M.; Karhu, P.

    2008-04-01

    Regulatory control of nuclear materials (nuclear safeguards) is a prerequisite for the peaceful use of nuclear energy in Finland. In order to uphold our part of the international agreements on nuclear non-proliferation - mainly the Non-Proliferation Treaty (NPT). This regulatory control is exercised by the Nuclear Materials Section of the Finnish Radiation and Nuclear Safety Authority (STUK). Nuclear safeguards are applied to all materials and activities that can lead to the proliferation of nuclear weapons or sensitive nuclear technology. These safeguards include nuclear materials accountancy, control, security and reporting. The results of STUK's nuclear safeguards inspection activities in 2007 continued to demonstrate that Finnish licence holders take good care of their nuclear materials. There were no indications of undeclared nuclear materials or activities and the inspected materials and activities were in accordance with the licence holders' declarations. STUK remarked on the nuclear safeguards systems of two licence holders in 2007, setting required actions for them to correct their reporting and to update the descriptions of their procedures. Neither the IAEA nor the European Commission made any remarks nor did they present any required actions based on their inspections. By their nuclear materials accountancy and control systems, all licence holders enabled STUK to fulfil its own obligations under the international agreements relevant to nuclear safeguards

  19. Cold War Arms Control Motivations and Techniques - A Guide for the Future?

    National Research Council Canada - National Science Library

    White, Elmer

    1996-01-01

    .... This paper provides a brief historical account of some of the arms control agreements between the U.S. and the Soviet Union, examines their major motivations to enter into negotiations, and illustrates some successful negotiation techniques. The author hypothesizes on the utility of this Cold War arms control experience as a useful guide for arms control in a single superpower world.

  20. ARM-based control system for terry rapier loom

    Science.gov (United States)

    Shi, Weimin; Gu, Yeqing; Wu, Zhenyu; Wang, Fan

    2007-12-01

    In this paper, a novel ARM-based mechatronics control technique applied in terry rapier loom was presented. Electronic weft selection, electronic fluff, electronic let-off and take-up motions system, which consists of position and speedcontrolled servomechanisms, were studied. The control system configuration, operation principle, and mathematical models of electronic drives system were analyzed. The synchronism among all mechanical motions and an improved intelligent control algorithm for the warp let-off tension control was discussed. The result indict that, by applying electronic and embedded control techniques and the individual servomechanisms, the electronic weft selection, electronic let-off device and electronic take-up device in HGA732T terry rapier loom have greatly simplified the initial complicated mechanism, kept the warp tension constant from full to empty beam, set the variable weft density, eliminated the start mark effectively, promoted its flexibility, reliability and properties, and improved the fabric quality.

  1. Non-proliferation of nuclear weapons

    International Nuclear Information System (INIS)

    Fischer, D.; Haeckel, E.; Haefele, W.; Lauppe, W.D.; Mueller, H.; Ungerer, W.

    1991-01-01

    During the turbulant transitional events in world politics in the nineties, the control of nuclear weapons plays a major role. While the superpowers are reducing their nuclear arsenal, the danger of nuclear anarchy in the world remains virulent. The NPT of 1968 is up for review soon. The falling apart of the former communist sphere of power, and the regions of conflict in the Third World present new risks for the proliferation of nuclear arms. For unified Germany, which explicitly renounced nuclear weapons, this situation presents difficult questions concerning national safety policies and international responsibility. This volume presents contributions which take a new look at topical and long-term problems of nuclear NP politics. The authors evaluate the conditions under which the NP regime came into being, and assess short- and long-term possibilities and risks. The following papers are included: 1.) Basic controversies during the negotiations concerning the Treaty on non-proliferation of nuclear weapons (Ungerer); 2.) Prologation of the NPT 1995 and appropriate problems concerning safety and control (Haefele/Lauppe); 3.) Consequences of the Iraq case for NP policy (Ficher); 4.) Problems of nuclear technology control (Mueller); 5.) Framework conditions of a nuclear world system (Haeckel). (orig./HP) [de

  2. Nuclear weapon relevant materials and preventive arms control. Uranium-free fuels for plutonium elimination and spallation neutron sources

    International Nuclear Information System (INIS)

    Liebert, Wolfgang; Englert, Matthias; Pistner, Christoph

    2009-01-01

    Today, the most significant barrier against the access to nuclear weapons is to take hold on sufficient amounts of nuclear weapon-relevant nuclear materials. It is mainly a matter of fissionable materials (like highly enriched uranium and plutonium) but also of fusionable tritium. These can be used as reactor fuel in civil nuclear programmes but also in nuclear weapon programmes. To stop or to hinder nuclear proliferation, in consequence, there is not only a need to analyse open or covered political objectives and intentions. In the long term, it might be more decisive to analyse the intrinsic civil-military ambivalence of nuclear materials and technologies, which are suitable for sensitive material production. A farsighted strategy to avoid proliferation dangers should take much more account to technical capabilities as it is done in the political debate on nuclear non-proliferation so far. If a technical option is at a state's disposal, it is extremely difficult and lengthy to revert that again. The dangers, which one has to react to, are stemming from already existing stocks of nuclear weapon-relevant materials - in the military as well as in the civil realm - and from existing or future technologies, which are suitable for the production of such materials (cf. info 1 and 2). Therefore, the overall approach of this research project is to strive for a drastic reduction of the access to nuclear weapon-relevant material and its production capabilities. Thus, on one hand the nuclear proliferation by state actors could be answered more effectively, on the other hand by that approach a decisive barrier against the access on nuclear weapons by sub-national groups and terrorists could also be erected. For this purpose, safeguards of the International Atomic Energy Agency (IAEA) and other measures of physical accountancy will remain indispensable elements of arms control. However, one has to consider that the goal of nuclear non-proliferation could not be achieved and

  3. Nuclear disarmament and non-proliferation in Northeast Asia

    International Nuclear Information System (INIS)

    Han Yong-Sup

    1995-01-01

    This paper attempted to find out ways to facilitate bilateral and regional arms control regarding nuclear issues in Northeast Asia. This is done in order to reduce uncertainties regarding nuclear policy and capabilities of those countries, and thus to enhance transparency and confidence in the region. In order to bring them into the nuclear disarmament and non-proliferation process in an effective way, we revisited the issues that contributed to the acceleration of the arms race. The review provided insights into the future course of China, the two Koreas and Japan regarding their nuclear policy and capabilities. The findings of this study indicate a general likelihood of resistance to outside request for arms control and disarmament in the countries in Northeast Asia. Besides their continuation with the conventional arms race, countries in Northeast Asia are reluctant to go ahead with the programmes to enhance transparency, build confidence in the region, and to forgo intentions to go nuclear. China is slowly but steadily increasing its nuclear arsenals. Its nuclear arms control policy is not well integrated with nuclear policy and strategy, and it is subject to the overarching goal of nuclear policy and strategy to advance China's status and national security interests in the international community. Thus, it will be very difficult for other countries to bring China to the arms control process for the time being. North Korea has intended to develop nuclear weapons in order to hedge against uncertainties. This poses a threat to the NPT regime and the peace and security of Northeast Asia. Clearly, North Korea has shown its reluctance to disclose the entirety of its nuclear programme under the IAEA inspections. Although South Korea has taken a bold initiative to forgo uranium enrichment and reprocessing capabilities, it has still not fully paid off. Japan adds the problem of plutonium surplus to the uncertain security environments surrounding Northeast Asia

  4. Nuclear arbitration: Interpreting non-proliferation agreements

    International Nuclear Information System (INIS)

    Tzeng, Peter

    2015-01-01

    At the core of the nuclear non-proliferation regime lie international agreements. These agreements include, inter alia, the Nuclear Non-proliferation Treaty, nuclear co-operation agreements and nuclear export control agreements.1 States, however, do not always comply with their obligations under these agreements. In response, commentators have proposed various enforcement mechanisms to promote compliance. The inconvenient truth, however, is that states are generally unwilling to consent to enforcement mechanisms concerning issues as critical to national security as nuclear non-proliferation.3 This article suggests an alternative solution to the non-compliance problem: interpretation mechanisms. Although an interpretation mechanism does not have the teeth of an enforcement mechanism, it can induce compliance by providing an authoritative interpretation of a legal obligation. Interpretation mechanisms would help solve the non-compliance problem because, as this article shows, in many cases of alleged non-compliance with a non-proliferation agreement, the fundamental problem has been the lack of an authoritative interpretation of the agreement, not the lack of an enforcement mechanism. Specifically, this article proposes arbitration as the proper interpretation mechanism for non-proliferation agreements. It advocates the establishment of a 'Nuclear Arbitration Centre' as an independent branch of the International Atomic Energy Agency (IAEA), and recommends the gradual introduction of arbitration clauses into the texts of non-proliferation agreements. Section I begins with a discussion of international agreements in general and the importance of interpretation and enforcement mechanisms. Section II then discusses nuclear non-proliferation agreements and their lack of interpretation and enforcement mechanisms. Section III examines seven case studies of alleged non-compliance with non-proliferation agreements in order to show that the main problem in many cases

  5. The structure of German non-proliferation policy - past and future

    International Nuclear Information System (INIS)

    Mueller, H.

    1990-01-01

    West German nonproliferation policy has evolved through four phases: First German policy strived to regain the right to nuclear research and industrial development. Then West Germany struggled for participation in NATO nuclear decision-making. Following the conclusion of the NPT, the full development of a mature nuclear industry, including activities in the full fuel cycle, and the promotion of nuclear exports were the focus of national nuclear policy. Starting in the early eighties, political aspects became more important. International security, arms control and disarmament, and foreign reputation had a more prominent role than pure economic interests. In the future, the united Germany must take care not to repeat the sad scandals of the eighties. Its renunciation of nuclear weapons remains a pillar of European stability and a prerequisite for a European peace system. Together with its European partners, Germany can be expected to take a more active, supportive and effective role in international non-proliferation policy. (orig./HSCH) [de

  6. Light Duty Utility Arm interface control document plan

    International Nuclear Information System (INIS)

    Engstrom, J.W.

    1994-01-01

    This document describes the interface control documents that will be used to identify and control interface features throughout all phases of the Light Duty Utility Arm (LDUA) development and design. After the system is built, delivered and installed in the Cold Test Facility and later at the tank farm, the Interface Control Documents can be used in maintaining the configuration control process. The Interface Control Document will consist of Interface Control Drawings and a data base directly tied to the Interface Control Drawings. The data base can be used as an index to conveniently find interface information. Design drawings and other text documents that contain interface information will appear in the database. The Interface Control Drawings will be used to document and control the data and information that define the interface boundaries between systems, subsystems and equipment. Also, the interface boundaries will define the areas of responsibility for systems and subsystems. The drawing will delineate and identify all the physical and functional interfaces that required coordination to establish and maintain compatibility between the co-functioning equipment, computer software, and the tank farm facilities. An appendix contains the Engineering interface control database system riser manual

  7. Light Duty Utility Arm interface control document plan

    Energy Technology Data Exchange (ETDEWEB)

    Engstrom, J.W.

    1994-12-27

    This document describes the interface control documents that will be used to identify and control interface features throughout all phases of the Light Duty Utility Arm (LDUA) development and design. After the system is built, delivered and installed in the Cold Test Facility and later at the tank farm, the Interface Control Documents can be used in maintaining the configuration control process. The Interface Control Document will consist of Interface Control Drawings and a data base directly tied to the Interface Control Drawings. The data base can be used as an index to conveniently find interface information. Design drawings and other text documents that contain interface information will appear in the database. The Interface Control Drawings will be used to document and control the data and information that define the interface boundaries between systems, subsystems and equipment. Also, the interface boundaries will define the areas of responsibility for systems and subsystems. The drawing will delineate and identify all the physical and functional interfaces that required coordination to establish and maintain compatibility between the co-functioning equipment, computer software, and the tank farm facilities. An appendix contains the Engineering interface control database system riser manual.

  8. A study for collaborative management for nuclear spent fuel control. Seeking for nuclear non-proliferation in East Asia

    International Nuclear Information System (INIS)

    1999-03-01

    Because of the rapid increase of power generation with nuclear fuel in East Asia area, the management and control of nuclear spent fuel from nuclear reactors has become an essential and urgent issue in this area. This study focused on the possibility of forming an intergovernmental collaborative management system for nuclear spent fuel with an emphasize on nuclear non-proliferation among East Asian countries, i.e. China, Korea, Taiwan and Japan who own and operate nuclear power plants. First, we studied the present situation for nuclear spent fuel, including the storage measures, the future fore- cast on the accumulation and the government measures to deal with these spent fuel. Then, based upon first step studies, we examined the pros and cons when the collaborative management is realized particularly from the viewpoint of prevention of nuclear proliferation. Further, we estimated possible means for management and control of nuclear spent fuel, including its system size and cost. Finally, we extracted some technological tasks to be solved and political issues to be discussed. Our findings are as follows. 1. The total amount of the power generation in three East Asian counties (China, Korea and Taiwan) is about 17 million KW presently. This will be tripled to 51 million KW by the year 2010. When Japan's ability is added it is 62 million KW currently and 121 million by 2010. 2. The nuclear spent fuel in Taiwan and Korea will be saturated for their storage capacity. On the other hand, Japan will start to operate her reprocessing plant in Aomori prefecture in 2003 and her new storage capability is completed in 1999. Also in China, a reprocessing pilot plant is under construction and its operation is scheduled in 2001. 3. As their national policy, China and Japan does reprocess from spent fuel but Korea and Taiwan don't. Instead, they take non-reprocessing and direct geological disposal. 4. If the collaborative management of nuclear wastes is realized Multi

  9. European Union's Arms Control Regime and Arms Exports to China: Background and Legal Analysis

    National Research Council Canada - National Science Library

    Grimmett, Richard F; Papademetriou, Theresa

    2005-01-01

    In recent months, discussions have been held within the European Union (EU) on the question of lifting the embargo on arms exports to the People's Republic of China that was imposed on China on June 27, 1989...

  10. Preventing the spread of nuclear weapons : The law of arms control and the international non-proliferation regime

    NARCIS (Netherlands)

    Coppen, T.

    2016-01-01

    The proliferation of nuclear weapons remains a severe threat to international peace, security and stability. In order to counter this threat, the international community has taken numerous measures, legal and otherwise, resulting in a global framework of treaties and political agreements known as

  11. Kinect-Based Sliding Mode Control for Lynxmotion Robotic Arm

    Directory of Open Access Journals (Sweden)

    Ismail Ben Abdallah

    2016-01-01

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

  12. The European dimension in non-proliferation

    International Nuclear Information System (INIS)

    Krause, J.

    1996-01-01

    Europe was for decades the focal point of efforts to prevent or constrain nuclear proliferation and the first region in which non-proliferation efforts failed. Paper deals with current proliferation problems in Europe, namely, diversion of weapons, diversion from dismantling, production over-capacity, security concerns. Legal instruments against proliferation in Europe described here include development of international norms; instruments of security assurance and cooperation; disarmament assistance; fissile material management; assistance in creating export control systems; improving and harmonizing export controls for dual-purpose items. Problems in implementing non-proliferation instruments are described separately

  13. Perception of gain in U.S.-Soviet arms control

    International Nuclear Information System (INIS)

    D'Anieri, P.J.

    1991-01-01

    Most current work in the field of international cooperation focuses on the resolution of the 'prisoners dilemma.' Such work begins by assuming that the issues under consideration are defined by absolute gains, where both sides can gain simultaneously. But the realist strand of international relations literature holds that this assumption is suspect - that international relations are usually characterized by relative gains, where gain for one side comes only at the others expense. The model developed here uses the question of absolute versus relative gains not as a theoretical assumption, but as a variable to be measured empirically. The hypothesis is that whether or not the US and the Soviet Union cooperate to limit arms competition is largely determined by whether the two sides define the issue in question as one of absolute or relative gains. The 'perception of gain' hypothesis is compared to explanations at the levels of the international system (rational choice), domestic politics, and individual belief systems. Three case studies are used to compare the strengths and weaknesses of each hypothesis. The findings confirmed that perception of gain is an important independent variable affecting arms control outcomes, but none of the theories were completely supported or rejected

  14. Real-time statistical quality control and ARM

    International Nuclear Information System (INIS)

    Blough, D.K.

    1992-05-01

    An important component of the Atmospheric Radiation Measurement (ARM) Program is real-time quality control of data obtained from meteorological instruments. It is the goal of the ARM program to enhance the predictive capabilities of global circulation models by incorporating in them more detailed information on the radiative characteristics of the earth's atmosphere. To this end, a number of Cloud and Radiation Testbeds (CART's) will be built at various locations worldwide. Each CART will consist of an array of instruments designed to collect radiative data. The large amount of data obtained from these instruments necessitates real-time processing in order to flag outliers and possible instrument malfunction. The Bayesian dynamic linear model (DLM) proves to be an effective way of monitoring the time series data which each instrument generates. It provides a flexible yet powerful approach to detecting in real-time sudden shifts in a non-stationary multivariate time series. An application of these techniques to data arising from a remote sensing instrument to be used in the CART is provided. Using real data from a wind profiler, the ability of the DLM to detect outliers is studied. 5 refs

  15. “Many Countries Will Have the Bomb: There Will Be Hell”: Edoardo Amaldi and the Italian Physicists Committed to Disarmament, Arms Control and Détente

    International Nuclear Information System (INIS)

    Clavarino, Lodovica

    2017-01-01

    The chapter analyzes Edoardo Amaldi’s commitment to disarmament and détente in Italy during the Cold War and in particular during the debate about the signing of the Non-Proliferation Treaty (NPT). Amaldi (1908-1989) can be considered one of the leading Italian scientists involved in the national and international campaign against nuclear proliferation. In the mid-1960s, a strong civil commitment began to emerge among physicists, as they claimed a voice in Italian security policy, in order to increase public opinion’s awareness about the dangers of the nuclear age and to promote Italian accession to the NPT. While it is difficult to assess to what extent Italian scientists’ efforts in favor of arms control succeeded in influencing Italian politics during the Cold War, their strong involvement in their country’s security policy is in itself a relevant issue for the history of the Italian nuclear experience.

  16. Arms control and disarmament: A new conceptual approach

    International Nuclear Information System (INIS)

    2000-01-01

    In the frame of the Millennium Assembly of the UN, the Secretary-General urged the global community to seize a sense of the occasion that comes from the turning of the century, to step back from today's headlines and take a broader, longer-term view of the state of the world and the challenges it poses. In partnership with the Stockholm International Peace Research Institute (SIPRI), the Department for Disarmament Affairs (DDA) is taking up precisely that challenge. This panel discussion is part of a series of events sponsored by the Department to deepen the discussion on topical disarmament and security related issues. It is also part of the constant search for a new approach, a new concept, a new paradigm or vision for disarmament and arms control since the end of the cold war, the end of the post-cold war period and the beginning of the new century. It is axiomatic that progress in disarmament is closely linked to the evolution of the security environment. Disarmament cannot be separated from the new geo-political and security configurations in Europe, new demonstrations of nuclear capability in Asia, the emergence of new conflicts that are being driven mainly by internal and ethnic strife and that are outrageous in their brutality in Europe, Asia and Africa. Today's agenda is still full and diverse in the traditional areas of disarmament, nuclear, chemical and biological disarmament as well as ballistic missile defense and proliferation and conventional disarmament including landmines. Like many organizations, research institutes, researchers and individuals in the field of security, DDA has set store on the reliability and credibility of the research and publications produced by SIPRI. As an independent international institute for research on problems for peace and conflict, disarmament and arms control founded in 1966, SIPRI's primary research has been consistently objective, timely, comprehensive and clearly presented. SIPRI's Yearbook has been a reference

  17. Perspectives of the nuclear non-proliferation regime

    International Nuclear Information System (INIS)

    Koungou, Leon

    2004-01-01

    To join traditional methods and new approaches of 'non-proliferation'. This is a technical method and the best way to fight against 'non-proliferation' which is facing few preoccupations: knowledge's disseminations; technologies; equipments and weapons that should be stopped. As it's important to note the return of nuclear danger as the end of confrontation between west-east which should be reduce. As the adaptation of mechanisms is necessary today, as it is important to react about states' incitations to violate international engagement of non-proliferation. Areas control allows finding out change and evolution, but more insufficient. Functional difficulties show that the IAEA (International Agency of Atomic Energy) does not work good. Safeguard system does not allow to respect 'non-proliferation' engagements; for instance 'junkies states' that they cannot dissuade traditional methods. The fight of 'non-proliferation' shows new progresses with fearing methods of prevention actions and heaviest international controls of exportation. The target of this is very ambitious. This new method is self-successful because it contributes to re-enforce international security when defeating acquisition of nuclear and mass destruction weapons by non-states factors. Therefore non-proliferation regime and especially 'non-proliferation treaty' remains delicate as long as some militaries state such USA will reject their 'non-proliferation' engagement. (author) [fr

  18. Non-proliferation and nuclear disarmament

    International Nuclear Information System (INIS)

    Shea, M.

    2000-01-01

    Fissionable materials are common to all nuclear weapons and controls on the production, storage, processing and use of fissionable materials provides one means to address non-proliferation and disarmament. In this article, the relevance of such controls is examined and the current situation and future prospects are assessed. (authors)

  19. Working Group 3: Broader Perspectives on Non-proliferation and Nuclear Verification

    International Nuclear Information System (INIS)

    Dreicer, M.; Pregenzer, A.; Stein, G.

    2013-01-01

    This working group (WG) focused on the technical topics related to international security and stability in global nonproliferation and arms control regimes and asked how nonproliferation tools and culture might facilitate verification of future nuclear treaties. The review of existing and future nonproliferation and disarmament regimes (Comprehensive Test Ban Treaty - CTBT, UNSC Resolution 1540, UK/Norway/VERTIC exercise, Fissile Material Cut-off Treaty - FMCT) offered a view on challenges, possibilities, and limitations for future initiatives. The concepts that the WG considered, with potential use in implementing future nuclear verification treaties, are: Triple S Culture (Safety, Security, Safeguards), State-Level Approach, Safeguards-by-Design, risk-based approaches, managed access, inspections, and protection of sensitive information. Under these concepts, many existing tools, considered by the WG could be used for nuclear verification. Export control works to control sensitive technology and expertise. Global implementation is complicated and multi-faceted and would benefit from greater consistency and efficiency. In most cases, international cooperation and development international capability would supplement efforts. This document is composed of the slides and the paper of the presentation. (A.C.)

  20. Intelligent Home Control System Based on ARM10

    Science.gov (United States)

    Chen, G. X.; Jiang, J.; Zhong, L. H.

    2017-10-01

    Intelligent home is becoming the hot spot of social attention in the 21st century. When it is in China, it is a really new industry. However, there is no doubt that Intelligent home will become a new economic growth point of social development; it will change the life-style of human being. To develop the intelligent home, we should keep up with the development trend of technology. This is the reason why I talk about the intelligent home control system here. In this paper, intelligent home control system is designed for alarm and remote control on gas- leaking, fire disaster, earthquake prediction, etc., by examining environmental changes around house. When the Intelligent home control system has detected an accident occurs, the processor will communicate with the GSM module, informing the house keeper the occurrence of accident. User can receive and send the message to the system to cut the power by mobile phone. The system can get access to DCCthrough ARM10 JTAG interface, using DCC to send and receive messages. At the same time, the debugger on the host is mainly used to receive the user’s command and send it to the debug component in the target system. The data that returned from the target system is received and displayed to the user in a certain format.

  1. United States non-proliferation policy

    International Nuclear Information System (INIS)

    Scheinman, L.

    1978-01-01

    U.S. non-proliferation policy is aimed at slowing the spread of nuclear weapons capabilities, managing the destabilizing effects of nuclear technology for energy purposes, and fostering international standards and institutions to deal responsibly with global nuclear development. These goals assume that nuclear technology has not already precluded social control and recognize the social benefits offered by peaceful uses of atomic energy. Non-proliferation policies recognize that the motivation for possessing nuclear weapons is a more-difficult problem than technical ability and will concentrate on reducing those incentives through international agreements and safeguards and by maintaining the separation of commercial nuclear fuel cycles and military uses

  2. Multilateral Cooperation on Nonproliferation

    Science.gov (United States)

    2012-10-01

    Nathan E . Busch and Daniel H. Joyner, eds., Combating Weapons of Mass Destruction: The Future of International Nonproliferation Policy (Athens, GA...or the World Bank . These organizations receive contributions from member states but have their own...Opening Reception Jack’s Lounge , Portola Hotel Friday, March 30, 2010 Timeline Content Delivery 7:30-8:30 Breakfast and Registration Cottonwood

  3. Kinematic equations for resolved-rate control of an industrial robot arm

    Science.gov (United States)

    Barker, L. K.

    1983-01-01

    An operator can use kinematic, resolved-rate equations to dynamically control a robot arm by watching its response to commanded inputs. Known resolved-rate equations for the control of a particular six-degree-of-freedom industrial robot arm and proceeds to simplify the equations for faster computations are derived. Methods for controlling the robot arm in regions which normally cause mathematical singularities in the resolved-rate equations are discussed.

  4. Measures for regional security and arms control in the South-East Asian area

    International Nuclear Information System (INIS)

    Uren, R.T.

    1992-01-01

    The subject of regional security and arms control in the South-East Asia raises some new and difficult issues. No approach to ensuring regional security could be complete without military dimension including the following categories: regional arms control; global arms control measure; confidence building measures that are designed to enhance the transparency of defense policies; confidence building measures that encourage cooperation among the military forces in the region

  5. Safety in the nuclear era. Politics - strategy - arms control

    International Nuclear Information System (INIS)

    Siebel, G.

    1988-01-01

    Details are given on safety and the factors specifying safety in Europe; the history of the NATO and development of an alliance of sovereign states; nuclear deterrence - the politico-strategic standard of the nuclear era; the East/West struggle for military power; co-operative arms control - theory and practice of stability in the nuclear era; alternative schemes and models; SDI and EURECA - present and future chances and risks. The world is at the beginning of a fascinating development likely to be culminating in the control over and utilization of space, and the mastering of various technical problems be they of a civil or military nature. It remains to be seen whether man will be able to handle the new additional technical capacities in an ethically and politically responsible way. Be that as it may, political scepticism and negative reactions will not succeed in blocking the dynamic forces inherent in the development described. This is especially true for SDI and EURECA. Both schemes are full of both chances and risks. While chances ought to be made the most of risks must be controlled through policies guided by reason. (orig./HSCH) [de

  6. Analyst Tools and Quality Control Software for the ARM Data System

    Energy Technology Data Exchange (ETDEWEB)

    Moore, S.T.

    2004-12-14

    ATK Mission Research develops analyst tools and automated quality control software in order to assist the Atmospheric Radiation Measurement (ARM) Data Quality Office with their data inspection tasks. We have developed a web-based data analysis and visualization tool, called NCVweb, that allows for easy viewing of ARM NetCDF files. NCVweb, along with our library of sharable Interactive Data Language procedures and functions, allows even novice ARM researchers to be productive with ARM data with only minimal effort. We also contribute to the ARM Data Quality Office by analyzing ARM data streams, developing new quality control metrics, new diagnostic plots, and integrating this information into DQ HandS - the Data Quality Health and Status web-based explorer. We have developed several ways to detect outliers in ARM data streams and have written software to run in an automated fashion to flag these outliers.

  7. Controlling Flexible Robot Arms Using High Speed Dynamics Process

    Science.gov (United States)

    Jain, Abhinandan (Inventor)

    1996-01-01

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

  8. Controlling flexible robot arms using a high speed dynamics process

    Science.gov (United States)

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

    1992-01-01

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

  9. Nuclear Society and non-proliferation problems

    International Nuclear Information System (INIS)

    Gagarinskij, A.Ya.; Kushnarev, S.V.; Ponomarev-Stepnoj, N.N.; Sukhoruchkin, V.K.; Khromov, V.V.; Shmelev, V.M.

    1997-01-01

    In the USSR Nuclear Society in 1991 the special working group on the problems of nuclear weapons non-proliferation and nuclear materials control, uniting the experts of different types (nuclear physicists, lawyers, teachers), was created. This group became the mechanism of the practical Nuclear Society activity realization in this sphere. Three milestones of the innovative activity can be specified. First Milestone. In January 1992 the Central Nuclear Society Board (of the International Public Nuclear Society Association) published a special appeal to the First Leaders of all countries - former USSR republics. This address paid a special attention to the unity of the USSR power-industrial complex, and numerous problems arisen while separating this complex, including nuclear weapons non-proliferation problems, were indicated as well. Second Milestone. In 1992 and 1993 the Nuclear Society experts issued two selection 'Nuclear Non-proliferation and Control Problems' including reviewing basic papers. In addition, materials on non-proliferation and control are published regularly in the organs. Third Milestone.In 1993 - 1997 some special scientific and technical events (conferences, workshops, meetings) allowing to analyze the joint international projects and contracts outcomes, and establish new contacts between the specialists of NIS, Baltic states and others, have been hold

  10. Third Non-Proliferation Treaty review conference and 29th regular session of the general conference of the International Atomic Energy Agency. Hearing before the Subcommittee on Energy, Nuclear Proliferation, and Government Processes of the Committee on Governmental Affairs, United States Senate, Ninety-Ninth Congress, First Session, November 20, 1985

    International Nuclear Information System (INIS)

    Anon.

    1985-01-01

    Ambassador Lewis A. Dunn of the US Arms Control and Disarmament Agency and Danny J. Boggs of DOE reported on two recent international conferences relating to non-proliferation of nuclear weapons and arms control. Dunn summarized the Non-Proliferation Treaty Review conference and its final declaration in which participants reaffirmed treaty principles and made recommendations for strengthening its efforts and enhancing its implementation. Boggs summarized the International Atomic Energy Agency (IAEA) conference, and noted the significance of China's recent entry into IAEA. They stressed that energy security is a key factor in the success of IAEA safeguards because it affects trade and international cooperation. US contributions to the success of non-proliferation policies depend upon our ability to share technological information with less advanced nations. Questions and responses and an appendix with the final declaration of the Review Conference follow the testimony

  11. Entering the New Millennium: Dilemmas in Arms Control; TOPICAL

    International Nuclear Information System (INIS)

    BROWN, JAMES

    1999-01-01

    The end of the Cold War finds the international community no longer divided into two opposing blocks. The concerns that the community now faces are becoming more fluid, less focused, and, in many ways, much less predictable. Issues of religion, ethnicity, and nationalism; the possible proliferation of Weapons of Mass Destruction; and the diffusion of technology and information processing throughout the world community have greatly changed the international security landscape in the last decade. Although our challenges appear formidable, the United Nations, State Parties, nongovernmental organizations, and the arms control community are moving to address and lessen these concerns through both formal and informal efforts. Many of the multilateral agreements (e.g., NPT, BWC, CWC, CTBT, MTCR), as well as the bilateral efforts that are taking place between Washington and Moscow employ confidence-building and transparency measures. These measures along with on-site inspection and other verification procedures lessen suspicion and distrust and reduce uncertainty, thus enhancing stability, confidence, and cooperation

  12. Entering the New Millennium: Dilemmas in Arms Control

    Energy Technology Data Exchange (ETDEWEB)

    BROWN,JAMES

    1999-11-01

    The end of the Cold War finds the international community no longer divided into two opposing blocks. The concerns that the community now faces are becoming more fluid, less focused, and, in many ways, much less predictable. Issues of religion, ethnicity, and nationalism; the possible proliferation of Weapons of Mass Destruction; and the diffusion of technology and information processing throughout the world community have greatly changed the international security landscape in the last decade. Although our challenges appear formidable, the United Nations, State Parties, nongovernmental organizations, and the arms control community are moving to address and lessen these concerns through both formal and informal efforts. Many of the multilateral agreements (e.g., NPT, BWC, CWC, CTBT, MTCR), as well as the bilateral efforts that are taking place between Washington and Moscow employ confidence-building and transparency measures. These measures along with on-site inspection and other verification procedures lessen suspicion and distrust and reduce uncertainty, thus enhancing stability, confidence, and cooperation.

  13. Measurement approaches to support future warhead arms control transparency

    International Nuclear Information System (INIS)

    Olinger, C.T.; Frankle, C.M.; Johnson, M.W.; Poths, J.

    1998-01-01

    Transparency on warhead stockpiles, warhead dismantlement, and fissile material stockpiles in nuclear weapons states will become increasingly important in the move beyond START II toward lower quantities of warheads. Congressional support for further warhead reductions will likely depend on the degree of irreversibility, or in other words, the rapidity with which warhead inventories could be reconstituted. Whether irreversibility considerations can be satisfied will depend on monitoring dismantlement as well as constraining the available stockpile of fissile materials for possible refabrication into warheads. Measurement techniques designed to address the above problems will need to consider NPT Article 1 obligations as well as Russian and US classification regulations, which prohibit or restrict the transfer of nuclear warhead design information to other states. Classification considerations currently limit the potential completeness of future inspections of weapons materials. Many conventional international safeguards approaches are not currently viable for arms control applications because they would reveal weapons design information. The authors discuss a variety of technical measures that may help to improve transparence of warhead and fissile material stockpiles and may enable limited warhead dismantlement transparency

  14. Nuclear non-proliferation

    International Nuclear Information System (INIS)

    Anon.

    1990-01-01

    This patent describes the treaty on the non-proliferation of nuclear weapons which is the corner-stone of an international non-proliferation regime which has grown to embrace the overwhelming majority of countries in the world in the period since the Treaty. The other elements of the regime include, first of all, the safeguards system of IAEA-which operates to prevent the diversion of nuclear materials to military or other prohibited activities and must be accepted by all non-nuclear-weapon parties to the Treaty and, secondly, the Antarctic Treaty, the Treaty for the Prohibition of Nuclear Weapons in Latin America (Treaty of Tlatelolco) and the south Pacific Nuclear Free zone Treaty (Treaty of Rarotonga)-which serve to extend the regime geographically. The last two Treaties require safeguards agreements with IAEA. In addition, the Treaty of Tlatelolco contains provisions establishing the agency for the Prohibition of Nuclear Weapons in Latin America and the Caribbean to ensure compliance

  15. Heavy water and nonproliferation

    International Nuclear Information System (INIS)

    Miller, M.M.

    1980-05-01

    This report begins with a historical sketch of heavy water. The report next assesses the nonproliferation implications of the use of heavy water-moderated power reactors; several different reactor types are discussed, but the focus is on the natural uranium, on-power fueled, pressure tube reactor CANDU. The need for and development of on-power fueling safeguards is discussed. Also considered is the use of heavy water in plutonium production reactors as well as the broader issue of the relative nuclear leverage that suppliers can bring to bear on countries with natural uranium-fueled reactors as compared to those using enriched designs. The final chapter reviews heavy water production methods and analyzes the difficulties involved in implementing these on both a large and a small scale. It concludes with an overview of proprietary and nonproliferation constraints on heavy water technology transfer

  16. Preparation for the Nuclear Non-Proliferation Treaty Extension Conference in 1995

    International Nuclear Information System (INIS)

    Chrzanowski, P.L.

    1993-01-01

    About 30 specialists in non-proliferation participated in a workshop to explore ideas for US Government preparatory steps leading to the 1995 Nuclear Non-Proliferation Treaty (NPT) Extension Conference. To that end, workshop sessions were devoted to reviewing the lessons learned from previous Review Conferences, discussing the threats to the non-proliferation regime together with ways of preserving and strengthening it, and examining the management of international nuclear commerce. A fundamental premise shared by workshop participants was that extension of the NPT is immensely important to international security. The importance of stemming proliferation and, more specifically, extending the Treaty, is growing as a result of the significant changes in the world. If the conferees of the Extension Conference decide on no extension or extension for a short limited duration, some technically advanced states that have foregone development of nuclear weapons may begin to rethink their options. Also, other arms control measures, such as the Chemical Weapons Convention, could start to unravel. The US must provide strong international leadership to ensure that the Extension Conference is a success, resulting in Treaty extension, perhaps through successive terms, into the indefinite future. Workshop participants were struck by the urgent need for the US to take organizational steps so that it is highly effective in its advance preparations for the Extension Conference. Moreover, the Extension Conference provides both a challenge and an opportunity to mold a cohesive set of US policy actions to define the future role of nuclear weapons and combat their proliferation

  17. Border control and/or control of organized crime members in the scope of WMD non-proliferation politics

    International Nuclear Information System (INIS)

    Gudlin, S.

    2009-01-01

    trade those weapons for profit and the authors will also try to give some of the answers why in such cases the established border control mechanisms are not efficient enough in order to prevent WMD proliferation and how to improve them.(author)

  18. Analysis of hypothetical loss-of-control-arm accidents in HIFAR

    International Nuclear Information System (INIS)

    Connolly, J.W.; Clark, N.

    1986-11-01

    The reactor power transient produced in the HIFAR materials testing reactor upon severance of a central coarse control arm connecting rod and the subsequent pivoting of the arm out of the core has been calculated for a range of reactor conditions likely to be encountered in normal operation. It is concluded that as long as the remaining arms of the control arm bank can be relied on to suppress the post power peak oscillations in power, the reactor will withstand the consequences of such an accident

  19. Co-Simulation Control of Robot Arm Dynamics in ADAMS and MATLAB

    OpenAIRE

    Luo Haitao; Liu Yuwang; Chen Zhengcang; Leng Yuquan

    2013-01-01

    The main objective of this study is how to quickly establish the virtual prototyping model of robot arm system and effectively solve trajectory tracking control for a given signal. Taking the 2-DOF robot arm as an example, a co-simulation control method is introduced to research multi-body dynamics. Using Newton-Euler and Lagrange method, respectively establish the dynamics model of robot arm and verify the correctness of equations. Firstly, the physical model of robot arm was built by PROE a...

  20. British nuclear non-proliferation policy and the trident purchase

    International Nuclear Information System (INIS)

    Keohane, D.

    1984-01-01

    Since the mid-1950s, the UK has had a policy of making significant and sustained efforts to minimise the spread of nuclear arms. Unlike the global focus of its non-proliferation policy, the decision on Trident in centred upon national and perhaps regional requirements. At a time when non-nuclear countries are charging nuclear-weapon states with a grave failure to meet their obligations under Article VI of the NPT, Britain is making plans that would further increase the gap between the nuclear 'haves' and have-nots' and that indicate it expects to require nuclear arms in the next century. It would of course be unrealistic to expect a government to fully harmonise its manifold policies and unreasonable to suggest it should give absolute priority to one of its policy concerns, such as non-proliferation. But Britain is emphasising the high value it places upon the independent possession of strategic nuclear arms through its decision to purchase Trident, thus implicitly contradicting the logic underlying its non-proliferation policy. Compared to other factors, the influence of the Trident decision upon the non-proliferation regime appears very marginal, yet it is unlikely to strengthen that regime

  1. U.S. Nonproliferation Policies and the Future of Nuclear Cooperation

    International Nuclear Information System (INIS)

    Kim, Byoung Jo; Lee, Sang Hyun

    2008-12-01

    In order for Korea to enhance nuclear cooperation with the U.S., the most urgent thing is to prove its nonproliferation commitment to international community, and legislate solid nonproliferation policies. To achieve these goals, Korean government need to consider to create Nonproliferation Task Force in the government and focus on proving Korea's firm commitment for nonproliferation. Along with it, as a civilian counterpart, Nonproliferation Research Center must be created as soon as possible to research, plan, and publicize Korea's nonproliferation policies and measures. At the same time, the government must set up a control tower that will coordinate Korea's nuclear diplomacy and guide proper division of labor among governmental and nongovernmental agencies in nonproliferation area. Finally, to raise general public's awareness about the danger of nuclear proliferation, government must invest on to develop educational programs and public relationship programs to educate the Korean public

  2. The Office of Safeguards and Security Nonproliferation Support Program

    International Nuclear Information System (INIS)

    Desmond, W.J.

    1996-01-01

    The Nonproliferation Support Program was established in the Department of Energy, Office of Safeguards and Security on october 1, 1995. its mission includes providing assistance to Departmental efforts for improved international material protection, control and accounting programs by coordinating and leveraging domestic safeguards and security policy, practice and experience into the international arena. A major objective of the program is to balance US national security requirements with global support of the nonproliferation objectives. This paper describes the organization of the Office of Safeguards and Security and the Nonproliferation Support Program role and responsibility, and presents some of the current areas of program emphasis and activity

  3. Developing and modeling of voice control system for prosthetic robot arm in medical systems

    Directory of Open Access Journals (Sweden)

    Koksal Gundogdu

    2018-04-01

    Full Text Available In parallel with the development of technology, various control methods are also developed. Voice control system is one of these control methods. In this study, an effective modelling upon mathematical models used in the literature is performed, and a voice control system is developed in order to control prosthetic robot arms. The developed control system has been applied on four-jointed RRRR robot arm. Implementation tests were performed on the designed system. As a result of the tests; it has been observed that the technique utilized in our system achieves about 11% more efficient voice recognition than currently used techniques in the literature. With the improved mathematical modelling, it has been shown that voice commands could be effectively used for controlling the prosthetic robot arm. Keywords: Voice recognition model, Voice control, Prosthetic robot arm, Robotic control, Forward kinematic

  4. Simultaneous Authentication and Certification of Arms-Control Measurement Systems

    International Nuclear Information System (INIS)

    MacArthur, Duncan W.; Hauck, Danielle K.; Thron, Jonathan L.

    2012-01-01

    Most arms-control-treaty-monitoring scenarios involve a host party that makes a declaration regarding its nuclear material or items and a monitoring party that verifies that declaration. A verification system developed for such a use needs to be trusted by both parties. The first concern, primarily from the host party's point of view, is that any sensitive information that is collected must be protected without interfering in the efficient operation of the facility being monitored. This concern is addressed in what can be termed a 'certification' process. The second concern, of particular interest to the monitoring party, is that it must be possible to confirm the veracity of both the measurement system and the data produced by this measurement system. The monitoring party addresses these issues during an 'authentication' process. Addressing either one of these concerns independently is relatively straightforward. However, it is more difficult to simultaneously satisfy host party certification concerns and monitoring party authentication concerns. Typically, both parties will want the final access to the measurement system. We will describe an alternative approach that allows both parties to gain confidence simultaneously. This approach starts with (1) joint development of the measurement system followed by (2) host certification of several copies of the system and (3) random selection by the inspecting party of one copy to be use during the monitoring visit and one (or more) copy(s) to be returned to the inspecting party's facilities for (4) further hardware authentication; any remaining copies are stored under joint seal for use as spares. Following this process, the parties will jointly (5) perform functional testing on the selected measurement system and then (6) use this system during the monitoring visit. Steps (1) and (2) assure the host party as to the certification of whichever system is eventually used in the monitoring visit. Steps (1), (3), (4), and (5

  5. Dynamic model of the octopus arm. II. Control of reaching movements.

    Science.gov (United States)

    Yekutieli, Yoram; Sagiv-Zohar, Roni; Hochner, Binyamin; Flash, Tamar

    2005-08-01

    The dynamic model of the octopus arm described in the first paper of this 2-part series was used here to investigate the neural strategies used for controlling the reaching movements of the octopus arm. These are stereotypical extension movements used to reach toward an object. In the dynamic model, sending a simple propagating neural activation signal to contract all muscles along the arm produced an arm extension with kinematic properties similar to those of natural movements. Control of only 2 parameters fully specified the extension movement: the amplitude of the activation signal (leading to the generation of muscle force) and the activation traveling time (the time the activation wave takes to travel along the arm). We found that the same kinematics could be achieved by applying activation signals with different activation amplitudes all exceeding some minimal level. This suggests that the octopus arm could use minimal amplitudes of activation to generate the minimal muscle forces required for the production of the desired kinematics. Larger-amplitude signals would generate larger forces that increase the arm's stability against perturbations without changing the kinematic characteristics. The robustness of this phenomenon was demonstrated by examining activation signals with either a constant or a bell-shaped velocity profile. Our modeling suggests that the octopus arm biomechanics may allow independent control of kinematics and resistance to perturbation during arm extension movements.

  6. Applying Space Technology to Enhance Control of an Artificial Arm

    Science.gov (United States)

    Atkins, Diane; Donovan, William H.; Novy, Mara; Abramczyk, Robert

    1997-01-01

    numerical coefficients or weights. Although the function development may require much computational time and many training cases, the resulting discrimination functions can run in realtime on modest computers. These results suggest that myoelectric signals might be a feasible teleoperation medium, allowing an operator to use his or her own hand and arm as a master to intuitively control an anthropomorphic robot in a remote location such as outer space.

  7. Nuclear Safeguards and Non-Proliferation Education at Texas A&M University

    International Nuclear Information System (INIS)

    Gariazzo, C.; Charlton, W.

    2015-01-01

    The MS degree in Nuclear Engineering - Non-proliferation at Texas A&M University is administered by the Nuclear Security Science and Policy Institute (NSSPI). The oldest and largest of its kind in the US, 45 M.S. and 15 Ph.D. students conducted technical research in relevant areas: safeguards, nuclear security, non-proliferation, and arms control. In addition to focusing on graduate education with a wide combination of internationally-recognized talent, NSSPI faculty lead research and service activities in safeguarding of nuclear materials and reducing nuclear threats. Texas A&M Nuclear Engineering students take relevant nonproliferation and safeguards courses (within the College of Engineering and the Texas A&M Bush School of Government) as well as conduct their research under competent experts. The complete educational experience here is unique because of the strong research and educational support NSSPI provides. This paper will detail these endeavors and convey contributions from NSSPI for developing next-generation safeguards experts via practical experiences and strong affiliations with real-world practitioners. The safeguards and non-proliferation education programme blends historical, legal, technical and policy aspects that is unique for a technical university such as Texas A&M. Beyond classroom lectures, NSSPI provides opportunities for students ranging from asynchronous learning modules to practical experiences. Publicly-available self-paced, online course modules in basic and advanced safeguards education have been developed by NSSPI as supplemental nuclear education for students and professionals. By leveraging NSSPI's contacts, students participate in exchange programmes with international institutions as well as partake in experiences like engaging safeguards practitioners at nuclear fuel cycle facilities around the world, conducting experiments at internationally-renowned laboratories, and representing their communities at workshops worldwide

  8. Manual input device for controlling a robot arm

    International Nuclear Information System (INIS)

    Fischer, P.J.; Siva, K.V.

    1990-01-01

    A six-axis input device, eg joystick, is supported by a mechanism which enables the joystick to be aligned with any desired orientation, eg parallel to the tool. The mechanism can then be locked to provide a rigid support of the joystick. The mechanism may include three pivotal joints whose axes are perpendicular, each incorporating a clutch. The clutches may be electromagnetic or mechanical and may be operable jointly or independently. The robot arm comprises a base rotatable about a vertical axis, an upper arm, a forearm and a tool or grip rotatable about three perpendicular axes relative to the forearm. (author)

  9. Nonproliferation impacts assessment for the management of the Savannah River Site aluminum-based spent nuclear fuel

    International Nuclear Information System (INIS)

    1998-12-01

    On May 13, 1996, the US established a new, 10-year policy to accept and manage foreign research reactor spent nuclear fuel containing uranium enriched in the US. The goal of this policy is to reduce civilian commerce in weapons-usable highly enriched uranium (HEU), thereby reducing the risk of nuclear weapons proliferation. Two key disposition options under consideration for managing this fuel include conventional reprocessing and new treatment and packaging technologies. The Record of Decision specified that, while evaluating the reprocessing option, ''DOE will commission or conduct an independent study of the nonproliferation and other (e.g., cost and timing) implications of chemical separation of spent nuclear fuel from foreign research reactors.'' DOE's Office of Arms Control and Nonproliferation conducted this study consistent with the aforementioned Record of Decision. This report addresses the nonproliferation implications of the technologies under consideration for managing aluminum-based spent nuclear fuel at the Savannah River Site. Because the same technology options are being considered for the foreign research reactor and the other aluminum-based spent nuclear fuels discussed in Section ES.1, this report addresses the nonproliferation implications of managing all the Savannah River Site aluminum-based spent nuclear fuel, not just the foreign research reactor spent nuclear fuel. The combination of the environmental impact information contained in the draft EIS, public comment in response to the draft EIS, and the nonproliferation information contained in this report will enable the Department to make a sound decision regarding how to manage all aluminum-based spent nuclear fuel at the Savannah River Site

  10. A study on strengthening measures of non-proliferation regime through the export control system of sensitive materials, equipment and technology related to nuclear activities

    International Nuclear Information System (INIS)

    Kikuchi, Masahiro; Kurosawa, Mitsuru; Komizo, Yasuyoshi

    2004-01-01

    The strengthened safeguards caused from safeguards experiences to Iraq and DPRK leads to the expansion of the IAEA's activities for verification of all nuclear activities as well as verification of nuclear material in the States. The purpose of the activities, of course, includes detection of undeclared exports and imports of specified equipment and non-nuclear material. The Additional Protocol to the agreements between States and the IAEA for the application of safeguards requires to the States to declare the exports and imports information regarding specified equipment and non-nuclear material corresponding to the export control list that is established by the nuclear suppliers group. The Additional Protocol also insists the IAEA's right to access to the location identified by the State to resolve a question related to the declarations. Recently, the IAEA detected the black market group of the sensitive materials, equipment and technologies relevant to the nuclear proliferation through the safeguards activities to Iran and Libya. International community stated deeply concerns to the indecent facts. This paper would discuss and propose the supplemental strengthening measures of non-proliferation regime by effective combination of the safeguards activities under additional protocol and the export control regime. (author)

  11. Cooperative Mmonitoring Center Occasional Paper/5: Propspects of Conventional Arms Control in South Asia

    Energy Technology Data Exchange (ETDEWEB)

    Gupta, Amit; Kamal, Nazir

    1998-11-01

    The intensely adversarial relationship between India and Pakistan is marked by military rivalry, mutual distrust, and suspicion. The most dividing disagreement has been over the Kashmir region. An inability to discuss the Kashmir issue has prevented discussion on other important issues. Since there is little prospect of detente, at least in the near-term, the question is whether this rivalry can be contained by other means, such as arms control approaches. Conventional arms control has been applied flexibly and successfully in some regions to reduce threat-perceptions and achieve reassuring military stability. Some lessons from other international models might be applied to the India/Pakistan context. This paper discusses the status of conventional arms control in South Asia, the dominant Indian and Pakistani perceptions about arms control, the benefits that could be derived from arms control, as well as the problems and prospects of arms control. It also discusses existing conventional arms control agreements at the regional and global levels as well as the potential role of cooperative monitoring technology.

  12. Multinational alternatives and nuclear nonproliferation

    International Nuclear Information System (INIS)

    Scheinman, L.

    1981-01-01

    The use of multinational institutional arrangements to control sensitive nuclear-fuel-cycle activities has interested policymakers since the dawn of the nuclear age. Several such ventures have been tried in the past, largely for economic, commercial, or technical reasons, and they have enjoyed varying degrees of success. More recently, with the spread of sensitive nuclear technologies, multinational arrangements have received increasing attention as a means of reinforcing international safeguards which, together with political commitments on peaceful use, have been the principal components of the nonproliferation regime. The political acceptability and efficacy of multinational arrangements is related to the historic experience with multinational ventures, the changed political circumstances of the 1970s, and the probable requirements for constructive future cooperation. As part of a comprehensive regime covering the development of sensitive nuclear activities, multinational arrangements can reinforce the regime in a manner that is widely acceptable. A political effort to win support for such arrangements is thus worthwhile. 29 references

  13. Non-proliferation

    International Nuclear Information System (INIS)

    Manley, I.T.

    1981-01-01

    Proliferation is a problem that can only be solved when the political problems which lead countries to contemplate, the possession of nuclear weapons are solved; in the meantime it can only be managed. Non-proliferation policy has to deal both with the political and the technical aspects of proliferation. It must seek to buy time by addressing the reasons why nations feel the political need to construct nuclear weapons, as well as delaying the moment when such nations feel capable of doing so. The subject is examined and proposals made. (author)

  14. Simultaneous Authentication and Certification of Arms-Control Measurement Systems

    Energy Technology Data Exchange (ETDEWEB)

    MacArthur, Duncan W. [Los Alamos National Laboratory; Hauck, Danielle K. [Los Alamos National Laboratory; Thron, Jonathan L. [Los Alamos National Laboratory

    2012-07-09

    Most arms-control-treaty-monitoring scenarios involve a host party that makes a declaration regarding its nuclear material or items and a monitoring party that verifies that declaration. A verification system developed for such a use needs to be trusted by both parties. The first concern, primarily from the host party's point of view, is that any sensitive information that is collected must be protected without interfering in the efficient operation of the facility being monitored. This concern is addressed in what can be termed a 'certification' process. The second concern, of particular interest to the monitoring party, is that it must be possible to confirm the veracity of both the measurement system and the data produced by this measurement system. The monitoring party addresses these issues during an 'authentication' process. Addressing either one of these concerns independently is relatively straightforward. However, it is more difficult to simultaneously satisfy host party certification concerns and monitoring party authentication concerns. Typically, both parties will want the final access to the measurement system. We will describe an alternative approach that allows both parties to gain confidence simultaneously. This approach starts with (1) joint development of the measurement system followed by (2) host certification of several copies of the system and (3) random selection by the inspecting party of one copy to be use during the monitoring visit and one (or more) copy(s) to be returned to the inspecting party's facilities for (4) further hardware authentication; any remaining copies are stored under joint seal for use as spares. Following this process, the parties will jointly (5) perform functional testing on the selected measurement system and then (6) use this system during the monitoring visit. Steps (1) and (2) assure the host party as to the certification of whichever system is eventually used in the monitoring visit

  15. Arms Control and Disarmament, Volume 8, Number 2, Spring 1972. A Quarterly Bibliography with Abstracts and Annotations

    Science.gov (United States)

    Contents: Preface; The international political environment; The strategic environment; Institutions and means for the maintenance of peace; Arms control--general discussion; Arms control--specific problems and measures; Author index ; Subject index.

  16. Optimal arm posture control and tendon traction forces of a coupled tendon-driven manipulator

    International Nuclear Information System (INIS)

    Ma, Shugen

    1997-01-01

    In this study, the optimum arm posture of a coupled tendon-driven multijoint manipulator arm (or CT Arm) at maximum payload output was derived and the corresponding tendon traction forces were also analyzed, during management of a heavy payload by the manipulator in a gravity environment. The CT Arm is special tendon traction transmission mechanism in which a pair of tendons used to drive a joint is pulled from base actuators via pulleys mounted on the base-side joints. This mechanism enables optimal utilization of the coupled drive function of tendon traction forces and thus enables the lightweight manipulator to exhibit large payload capability. The properties of the CT Arm mechanism are elucidated by the proposed optimal posture control scheme. Computer simulation was also executed to verify the validity of the proposed control scheme. (author)

  17. Star laws: legal controls on armed conflict in outer space

    International Nuclear Information System (INIS)

    Stephens, Dale

    2016-01-01

    An undeclared military space race is unfolding yet there is no clear understanding of how international las operates in the field of armed conflict in outer space. In conjunction with McGill University Law School, Montreal, Canada, a 'Manual on international law applicable to military uses of outer space' has been drafted. This article looks at types of space weapons, previous space treaties and discusses humanitarian law.

  18. Admittance Control of a Multi-Finger Arm Based on Manipulability of Fingers

    Directory of Open Access Journals (Sweden)

    Takayuki Hori

    2011-09-01

    Full Text Available In the previous studies, admittance control and impedance control for a finger‐arm robot using the manipulability of the finger were studied and methods of realizing the controls have been proposed. In this study, two 3‐DOF fingers are attached to the end‐effector of a 6‐DOF arm to configure a multi‐finger arm robot. Based on the previous methods, the authors have proposed an admittance control for a multi‐finger arm robot using the manipulability of the fingers in this study. Algorithms of the averaging method and the mini‐max method were introduced to establish a manipulability criterion of the two fingers in order to generate a cooperative movement of the arm. Comparison of the admittance controls combined with the top search method and local optimization method for the multi‐finger arm robot was made and features of the control methods were also discussed. The stiffness control and damping control were experimentally evaluated to demonstrate the effectiveness of the proposed methods.

  19. Admittance Control of a Multi-Finger Arm Based on Manipulability of Fingers

    Directory of Open Access Journals (Sweden)

    Jian Huang

    2011-09-01

    Full Text Available In the previous studies, admittance control and impedance control for a finger-arm robot using the manipulability of the finger were studied and methods of realizing the controls have been proposed. In this study, two 3-DOF fingers are attached to the end-effector of a 6-DOF arm to configure a multi-finger arm robot. Based on the previous methods, the authors have proposed an admittance control for a multi-finger arm robot using the manipulability of the fingers in this study. Algorithms of the averaging method and the mini-max method were introduced to establish a manipulability criterion of the two fingers in order to generate a cooperative movement of the arm. Comparison of the admittance controls combined with the top search method and local optimization method for the multi-finger arm robot was made and features of the control methods were also discussed. The stiffness control and damping control were experimentally evaluated to demonstrate the effectiveness of the proposed methods.

  20. The emerging nuclear suppliers and nonproliferation

    International Nuclear Information System (INIS)

    Potter, W.C.

    1990-01-01

    The number of states capable of exporting nuclear material, technology, equipment, and services is large and growing. Once confined primarily to states party to the Nuclear Non-Proliferation Treaty (NPT), the list of actual and potential nuclear suppliers now includes many countries that do not subscribe to the NPT or to other international nuclear export control agreements. Although international control accords---such as the Nuclear Exporters' (Zangger) Committee and the London Nuclear Suppliers Group (NSG) guidelines---do not prohibit the export of sensitive nuclear materials and equipment, they do reduce the risks of proliferation by imposing international safeguards as a condition for export. The purpose of this book---the culmination of one phase of an ongoing international research project on the emerging nuclear suppliers and nonproliferation---is to remedy, at least in part, this data deficiency

  1. 1995 - a pivotal year for nuclear nonproliferation. German nonproliferation policy in the runup to the extension of the Non-Proliferation Treaty

    International Nuclear Information System (INIS)

    Preisinger, J.

    1994-01-01

    The paper describes the non-proliferation as a task of preventive security policy, the non-proliferation instruments, the content of an extended non-proliferation system, and tasks of German non-proliferation policy. (DG)

  2. Conventional arms control negotiations in Europe (CFE, March 1989-April 1990)

    International Nuclear Information System (INIS)

    Buerstedde, L.

    1992-01-01

    This paper reports that for those of us who labored in the salt mines of arms control talks on Mutual and Balanced Force Reductions (MBFR), it is truly an invigorating experience to have been reincarnated as conventional arms controllers at the Negotiations on Conventional Armed Forces in Europe (CFE), in session in Vienna since March 1989, against the background of the breathtaking and unprecedented changes sweeping across Eastern Europe. The negotiations have made remarkable progress, proceeding to a point where a treaty drastically cutting the level of conventional armaments in Europe is not just a possibility but actually in prospect

  3. Controller design for flexible, distributed parameter mechanical arms via combined state space and frequency domain techniques

    Science.gov (United States)

    Book, W. J.; Majett, M.

    1982-01-01

    The potential benefits of the ability to control more flexible mechanical arms are discussed. A justification is made in terms of speed of movement. A new controller design procedure is then developed to provide this capability. It uses both a frequency domain representation and a state variable representation of the arm model. The frequency domain model is used to update the modal state variable model to insure decoupled states. The technique is applied to a simple example with encouraging results.

  4. 78 FR 9768 - Bureau of International Security and Nonproliferation Imposition of Nonproliferation Measures...

    Science.gov (United States)

    2013-02-11

    ... DEPARTMENT OF STATE [Public Notice 8184] Bureau of International Security and Nonproliferation Imposition of Nonproliferation Measures Against Foreign Persons, Including a Ban on U.S. Government Procurement AGENCY: Bureau of International Security and Nonproliferation, Department of State. ACTION: Notice...

  5. 78 FR 9769 - Bureau of International Security and Nonproliferation Imposition of Nonproliferation Measures on...

    Science.gov (United States)

    2013-02-11

    ... DEPARTMENT OF STATE [Public Notice 8182] Bureau of International Security and Nonproliferation Imposition of Nonproliferation Measures on Chinese and Iranian Foreign Persons AGENCY: Bureau of International Security and Nonproliferation, Department of State. ACTION: Notice. SUMMARY: The U.S. Government...

  6. Fuzzy Logic and PID control of a 3 DOF Robotic Arm

    Directory of Open Access Journals (Sweden)

    Korhan Kayışlı

    2017-12-01

    Full Text Available The robotic arms are used in many industrial applications at the present time. At this point, high precision control is required for robotics used in fields such as healthcare area. Therefore, the control method applied to robots is also important. In this study, a force was applied to the end function of a three degree-of-freedom robot and the robustness of the controllers are tested. PID and Fuzzy Logic control method are used for this process. The control process of robotic arm which is designed and simulated is obtained by using Fuzzy Logic and classical PID controllers and the results are presented comparatively

  7. Interface Based on Electrooculography for Velocity Control of a Robot Arm

    Directory of Open Access Journals (Sweden)

    Eduardo Iáñez

    2010-01-01

    Full Text Available This paper describes a technique based on electrooculography to control a robot arm. This technique detects the movement of the eyes, measuring the difference of potential between the cornea and the retina by placing electrodes around the ocular area. The processing algorithm developed to obtain the position of the eye at the blink of the user is explained. The output of the processing algorithm offers, apart from the direction, four different values (zero to three to control the velocity of the robot arm according to how much the user is looking in one direction. This allows controlling two degrees of freedom of a robot arm with the eyes movement. The blink has been used to mark some targets in tests. In this paper, the experimental results obtained with a real robot arm are shown.

  8. Fast reactors and nonproliferation

    International Nuclear Information System (INIS)

    Orlov, V.V.

    1997-01-01

    1.Three aspects of nonproliferation relevant to nuclear power are: Pu buildup in NPP spent fuel cooling ponds (∼ 104 t in case of consumption of ∼ 107 t cheap uranium). Danger of illegal radiochemical extraction of Pu for weapons production; Pu extraction from NPP fuel at the plants available in nuclear countries, its burning along with weapon-grade Pu in NPP reactors or in special-purpose burners; increased hazard of nuclear weapons sprawl with breeders and closed fuel cycle technology spreading all over the world. 2.The latter is one of major obstacles to creation of large-scale nuclear power. 3.Nuclear power of the first stage using 235 U will be able to meet the demands of certain fuel-deficient countries and regions, replacing ∼ 5-10% of conventional fuels in the global consumption for a number of decades. 4.Fast reactors of the first generation and the currently employed fuel technology are far from exhausting their potential for solving economic problems and meeting the challenges of safety, radioactive waste and nonproliferation. Development of large-scale nuclear power will become an option accepted by society for solving energy problems in the following century, provided a breeder technology is elaborated and demonstrated in the next 15-20 years, which would comply with the totality of the following requirement: full internal Pu breeding deterministic elimination of severe accidents involving fuel damage and high radioactivity releases: fast runaway, loss of coolant, fires, steam and hydrogen explosions, etc.; reaching a balance between radioactive wastes disposed of and uranium mined in terms of radiation hazard; technology of closed fuel cycle preventing its use for Pu extraction and permitting physical protection from fuel thefts;economic competitiveness of nuclear power for most of countries and regions, i.e. primarily the cost of NPPs with fat reactors is to be below the cost of modern LWR plants, etc

  9. Association of hand and arm disinfection with asthma control in US nurses.

    Science.gov (United States)

    Dumas, Orianne; Varraso, Raphäelle; Boggs, Krislyn M; Descatha, Alexis; Henneberger, Paul K; Quinot, Catherine; Speizer, Frank E; Zock, Jan-Paul; Le Moual, Nicole; Camargo, Carlos A

    2018-05-01

    To investigate the association between occupational exposure to disinfectants/antiseptics used for hand hygiene and asthma control in nurses. In 2014, we invited female nurses with asthma drawn from the Nurses' Health Study II to complete two supplemental questionnaires on their occupation and asthma (cross-sectional study, response rate: 80%). Among 4055 nurses (mean age: 59 years) with physician-diagnosed asthma and asthma medication use in the past year, we examined asthma control, as defined by the Asthma Control Test (ACT). Nurses were asked about the daily frequency of hand hygiene tasks: 'wash/scrub hands with disinfectants/hand sanitizers' (hand hygiene) and 'wash/scrub arms with disinfecting products' (surrogate of surgical hand/arm antisepsis). Analyses were adjusted for age, race, ethnicity, smoking status and body mass index. Nurses with partly controlled asthma (ACT: 20-24, 50%) and poorly controlled asthma (ACT ≤19, 18%) were compared with nurses with controlled asthma (ACT=25, 32%). In separate models, both hand and arm hygiene were associated with poorly controlled asthma. After mutual adjustment, only arm hygiene was associated with poorly controlled asthma: OR (95% CI) for arm hygiene tasks (never to >10 times/day) and poor asthma control. Associations persisted after further adjustment for surfaces/instruments disinfection tasks. Frequency of hand/arm hygiene tasks in nurses was associated with poor asthma control. The results suggest an adverse effect of products used for surgical hand/arm antisepsis. This potential new occupational risk factor for asthma warrants further study. © Article author(s) (or their employer(s) unless otherwise stated in the text of the article) 2018. All rights reserved. No commercial use is permitted unless otherwise expressly granted.

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

    Directory of Open Access Journals (Sweden)

    Khin Moe Myint

    2015-08-01

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

  11. The Text of the Agreement between Belgium, Denmark, the Federal Republic of Germany, Ireland, Italy, Luxembourg, The Netherlands, the European Atomic Energy Community and the Agency in Connection with the Treaty on the Non-Proliferation of Nuclear Weapons; Texte de l'Accord entre la Belgique, le Danemark, la Republique Federale d' Allemagne, l'Irlande, l'Italie, le Luxembourg, les Pays-Bas, la Communaute Europeenne de l'En-Ergie Atomique et L'Agence En Application Du Traite Sur La Non-Proliferation Des Armes Nucleaires

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1973-09-14

    The text of the Agreement, and of the Protocol thereto, between Belgium, Denmark, the Federal Republic of Germany, Ireland, Italy, Luxembourg, The Netherlands, the European Atomic Energy Community and the Agency in implementation of Article III (1) and (4) of the Treaty on the Non-Proliferation of Nuclear Weapons (reproduced in document INFCIRC/140) is reproduced in this document for the information of all Members [French] Le texte de l'Accord, ainsi que celui du Protocole qui y est joint, entre la Belgique, le Danemark, la Republique fdrale d'Allemae, l'Irlande, l'Italie, le Luxembourg, les Pays-Bas, la Communaute europenne de l'energie atomique et l'Agence condu en application des paragraphes 1 et 4 de l'article III du Traite sur la non proliferation des armes nucleaires sont reproduits dans le present document pour l'information de tous les Membres.

  12. Romania non-proliferation policy

    International Nuclear Information System (INIS)

    Biro, Lucian; Grama, Viviana

    2001-01-01

    Full text: Non-proliferation concept in Romania is based on the Treaty on the Non-proliferation of Nuclear Weapons, which was ratified in 1970. According to the Article III of the Treaty, Romania ratified in 1972, the Agreement between Romania and IAEA for the application of Safeguards in connection with the Treaty on the Non-proliferation of Nuclear Weapons. In 2000 Romania ratified the Additional Protocol to contribute through increased transparency, to confidence that no undeclared nuclear activities are concealed within the declared programme or make use of elements of that programme. Under the Additional Protocol Romania understands to increase the transparency of its nuclear activities lengthways fuel cycle. Romania has a strong legal framework to control nuclear material and nuclear activities. The Law 111/1996, republished is the Law on the safe deployment of nuclear activities. CNCAN issued National Regulations for Safeguards and Physical Protection. Prospecting for uranium in Romania was initiated in 1950. Between 1962 and 1978 all the uranium ore production was stockpiled at the mine sites. In 1978 the Feldioara Powder Plant was commissioned, since then both ore stockpiles and ore exploited have been processed to uranium chemical concentrates. The Powder Plant Feldioara was conceived and built following the necessity of milling and processing the uranium ore to UO 2 , in concordance with the national nuclear programme in order to produce electric energy from nuclear fuel. The Nuclear Fuel Plant has capability to manufacture CANDU-6 nuclear fuel. Nuclear Fuel Plant consists of two Production areas, the Quality Assurance and Engineering Departments. There are two Production Departments: Pelleting area including granulation, pressing, sintering, pellet grinding, uranium recycling and Assembling area including components fabrication, beryllium coating, brazing, graphite coating, fuel element and bundle assembly welding. Romania's Strategy for Energy Sector

  13. U.S. – Russia Relations And Arms Control: Breating The Clinch

    Directory of Open Access Journals (Sweden)

    N. I. Bubnova

    2017-01-01

    Full Text Available The article examines the new U.S. administration’s outlook on arms control, analyses the existing problems in this field and possible ways for their resolution, compares Donald Trump’s statements on military and political issues with the president’s first steps in this area, and offers forecasts and recommendations on the prospects for U.S.-Russia cooperation in arms limitations and reductions. The author proceeds from the assumption that arms control is a key component in measures to ensure international security. Even if the current tense U.S.- Russian relations provide little room for maneuver and the internal political struggle in DC sets limits on the possible bilateral measures, Moscow should nevertheless take initiative in putting forward a set of proposals to reduce weapons, especially in the very sensitive and risk-prone nuclear field. This will allow in future negotiations to proceed from options that will take into account Russian interests and the specifics of Russia’s weapons systems, while at the same time showing the resolve of the nuclear superpowers to reduce existing threats through negotiations and leading the way for other countries to join. Taking into account the importance of arms control, all efforts should be made to enforce the existing treaties, consolidate the current international treaty-based legal system, and work further on new arms control and arms reduction agreements.

  14. Costs of disarmament - Rethinking the price tag: A methodological inquiry into the costs and benefits of arms control

    International Nuclear Information System (INIS)

    Willett, S.

    2002-06-01

    The growing number of arms control and disarmament treaties agreed on over the past decades as well as rising concerns about harmful environmental and public health effects of weapons disposal, have understandably led to an increase in the cost of implementing arms control agreements. As a result, the expenses associated with treaty compliance have emerged as a contentious issue within the realm of arms control and disarmament discussions. In particular, opponents of arms control and disarmament point to perceived rising costs of meeting current and proposed treaty obligations in an attempt to limit and undermine such activities. Yet determining just how much arms control and disarmament cost remains very much an ambiguous task. In Costs of Disarmament - Rethinking the Price Tag: A Methodological Inquiry into the Costs and Benefits of Arms Control, Susan Willett addresses the question of how the cost of arms control ought to be measured. Emphasizing the proper allocation of costs associated with arms control treaty implementation to the life cycle costs of weapon systems and their correct weighing against the benefits they procure in terms of averted arms races and increased international security, Willett argues for a revised methodology of costing arms control and disarmament that gives a more accurate - and significantly lower - estimate of the latter. Adopting such a revised methodology concludes the author, might dispel considerable misunderstanding and help point decisions over arms control and disarmament in the right direction

  15. A Vibration Control Method for the Flexible Arm Based on Energy Migration

    Directory of Open Access Journals (Sweden)

    Yushu Bian

    2015-01-01

    Full Text Available A vibration control method based on energy migration is proposed to decrease vibration response of the flexible arm undergoing rigid motion. A type of vibration absorber is suggested and gives rise to the inertial coupling between the modes of the flexible arm and the absorber. By analyzing 1 : 2 internal resonance, it is proved that the internal resonance can be successfully created and the exchange of vibration energy is existent. Due to the inertial coupling, the damping enhancement effect is revealed. Via the inertial coupling, vibration energy of the flexible arm can be dissipated by not only the damping of the vibration absorber but also its own enhanced damping, thereby effectively decreasing vibration. Through numerical simulations and analyses, it is proven that this method is feasible in controlling nonlinear vibration of the flexible arm undergoing rigid motion.

  16. The Non-Proliferation Malaise

    International Nuclear Information System (INIS)

    Sur, Serge

    2013-01-01

    Issues pertaining to nuclear weapons no longer occupy more than a relatively modest position in the international security field, which is more significantly threatened by recent forms of conflict - particularly asymmetrical -, the contemporary challenges posed by terrorism, the collapse of States and ensuing civil violence, organised crime, massacres, regional destabilisation, and the emerging threats related to deleterious uses of the Internet. Analysing these challenges and threats, and defining and implementing effective responses constitutes the priorities of the international agenda and mobilizes the energy and capabilities of States, alliances and coalitions, and international organisations. The time when the nuclear arms race between the United States and the USSR and the arms control efforts that attempted to frame and control it dominated the international relations scene has passed. This duo has been succeeded by a relative lack of interest on the part of nuclear powers towards their own arms. (author)

  17. Institutional overviews. Overview of the JAEA and the Nuclear Nonproliferation Science and Technology Center

    International Nuclear Information System (INIS)

    Senzaki, Masao

    2006-01-01

    The Nuclear Nonproliferation Science and Technology Center (NPSTC) was formed within the new Japan Atomic Energy Agency (JAEA) to carry out safeguards and material control duties for the JAEA. Development of technologies and procedures for safeguards is an important duty. In addition, the new NPSTC will assume a 'think tank' role in support of the nonproliferation regime, help train nonproliferation experts, and cooperate with academic, government and non-governmental organizations on nonproliferation issues. This report briefly summarizes the formation of the JAEA and describes the duties and structure of the NPSTC in detail. (author)

  18. Fuzzy-Genetic Optimal Control for Four Degreeof Freedom Robotic Arm Movement

    OpenAIRE

    V. K. Banga; R. Kumar; Y. Singh

    2009-01-01

    In this paper, we present optimal control for movement and trajectory planning for four degrees-of-freedom robot using Fuzzy Logic (FL) and Genetic Algorithms (GAs). We have evaluated using Fuzzy Logic (FL) and Genetic Algorithms (GAs) for four degree-of-freedom (4 DOF) robotics arm, Uncertainties like; Movement, Friction and Settling Time in robotic arm movement have been compensated using Fuzzy logic and Genetic Algorithms. The development of a fuzzy genetic optimizatio...

  19. Design a Fuzzy Logic Controller for a Rotary Flexible Joint Robotic Arm

    Directory of Open Access Journals (Sweden)

    Jalani Jamaludin

    2018-01-01

    Full Text Available The purpose of this research is to design a fuzzy logic feedback controller (FLC in order to control a desired tip angle position a rotary flexible joint robotic arm. The FLC is also employed to dampen the vibration emanated from a rotary flexible joint robotic arm when reaching a desired tip angle position. The performance of FLC is tested in simulation and experiment. It is found that the FLC is successfully designed, applied and tested. The results show that fuzzy logic controller performed satisfactorily control a desired tip angle position and reduce the oscillations.

  20. Formalization of the Access Control on ARM-Android Platform with the B Method

    Science.gov (United States)

    Ren, Lu; Wang, Wei; Zhu, Xiaodong; Man, Yujia; Yin, Qing

    2018-01-01

    ARM-Android is a widespread mobile platform with multi-layer access control mechanisms, security-critical in the system. Many access control vulnerabilities still exist due to the course-grained policy and numerous engineering defects, which have been widely studied. However, few researches focus on the mechanism formalization, including the Android permission framework, kernel process management and hardware isolation. This paper first develops a comprehensive formal access control model on the ARM-Android platform using the B method, from the Android middleware to hardware layer. All the model specifications are type checked and proved to be well-defined, with 75%of proof obligations demonstrated automatically. The results show that the proposed B model is feasible to specify and verify access control schemes in the ARM-Android system, and capable of implementing a practical control module.

  1. Dual arm master controller for a bilateral servo-manipulator

    Science.gov (United States)

    Kuban, Daniel P.; Perkins, Gerald S.

    1989-01-01

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

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

    International Nuclear Information System (INIS)

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

    2011-01-01

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

  3. Failure of Arm Movement Control in Stroke Patients, Characterized by Loss of Complexity.

    Science.gov (United States)

    Goh, Segun; Han, Kyungreem; Ryu, Jehkwang; Kim, Seonjin; Choi, MooYoung

    2015-01-01

    We study the mechanism of human arm-posture control by means of nonlinear dynamics and quantitative time series analysis methods. Utilizing linear and nonlinear measures in combination, we find that pathological tremors emerge in patient dynamics and serve as a main feature discriminating between normal and patient groups. The deterministic structure accompanied with loss of complexity inherent in the tremor dynamics is also revealed. To probe the underlying mechanism of the arm-posture dynamics, we further analyze the coupling patterns between joints and components, and discuss their roles in breaking of the organization structure. As a result, we elucidate the mechanisms in the arm-posture dynamics of normal subjects responding to the gravitational force and for the reduction of the dynamic degrees of freedom in the patient dynamics. This study provides an integrated framework for the origin of the loss of complexity in the dynamics of patients as well as the coupling structure in the arm-posture dynamics.

  4. Self-Tuning Vibration Control of a Rotational Flexible Timoshenko Arm Using Neural Networks

    Directory of Open Access Journals (Sweden)

    Minoru Sasaki

    2012-01-01

    Full Text Available A self-tuning vibration control of a rotational flexible arm using neural networks is presented. To the self-tuning control system, the control scheme consists of gain tuning neural networks and a variable-gain feedback controller. The neural networks are trained so as to make the root moment zero. In the process, the neural networks learn the optimal gain of the feedback controller. The feedback controller is designed based on Lyapunov's direct method. The feedback control of the vibration of the flexible system is derived by considering the time rate of change of the total energy of the system. This approach has the advantage over the conventional methods in the respect that it allows one to deal directly with the system's partial differential equations without resorting to approximations. Numerical and experimental results for the vibration control of a rotational flexible arm are discussed. It verifies that the proposed control system is effective at controlling flexible dynamical systems.

  5. An Inverse Optimal Control Approach to Explain Human Arm Reaching Control Based on Multiple Internal Models.

    Science.gov (United States)

    Oguz, Ozgur S; Zhou, Zhehua; Glasauer, Stefan; Wollherr, Dirk

    2018-04-03

    Human motor control is highly efficient in generating accurate and appropriate motor behavior for a multitude of tasks. This paper examines how kinematic and dynamic properties of the musculoskeletal system are controlled to achieve such efficiency. Even though recent studies have shown that the human motor control relies on multiple models, how the central nervous system (CNS) controls this combination is not fully addressed. In this study, we utilize an Inverse Optimal Control (IOC) framework in order to find the combination of those internal models and how this combination changes for different reaching tasks. We conducted an experiment where participants executed a comprehensive set of free-space reaching motions. The results show that there is a trade-off between kinematics and dynamics based controllers depending on the reaching task. In addition, this trade-off depends on the initial and final arm configurations, which in turn affect the musculoskeletal load to be controlled. Given this insight, we further provide a discomfort metric to demonstrate its influence on the contribution of different inverse internal models. This formulation together with our analysis not only support the multiple internal models (MIMs) hypothesis but also suggest a hierarchical framework for the control of human reaching motions by the CNS.

  6. Dual arm master controller for a bilateral servo-manipulator

    International Nuclear Information System (INIS)

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

    1989-01-01

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

  7. Policy of Kyrgyz Republic in the field of weapons of mass destruction nonproliferation

    International Nuclear Information System (INIS)

    Duisheeva, Zh.Z.

    2010-01-01

    Full text: Kyrgyz Republic is principle and sequential member of accepting effective international measures, directed to active prevention to weapons of mass destruction (WMD) proliferation, its components and means of delivery. Commitment to prevention policy and WMD nonproliferation is one of basic principles of foreign and domestic policy of Kyrgyz Republic. The real measure against WMD proliferation and relating to its production technologies of military, special and dual use is international export control based on national systems of export control including smoothly running national system of account for, control and physical protection of arm materials. Currently juridical basis of export control system in Kyrgyz Republic is actively developing. In 2003 the Law of Kyrgyz Republic On export control, based on principles and norms of international law in the field of export control was adopted. The Law On export control determines basic principles of state policy, legal activity basis of state management and participants of foreign-economic activity in the field of export control, as well as defines their rights, obligations and responsibilities in this field. Also in the law, the requirements of international treaties realization in the field of WMD nonproliferation and means of their delivery, signed by Kyrgyzstan, is defined as one of national systems goals of export control. In article 13, Law On export control it is defined that international cooperation in the field of export control by means of efforts coordination and cooperation with foreign states on prevention of WMD nonproliferation, means of their delivery and technologies on their creation; participation in international regimes of export control and international forums, as well as carrying out negotiations, consultations with foreign states, bilateral information exchange and realization of joint programs and other events in the field of export control on bilateral and multilateral basis. By

  8. To Keep and Bear Arms: Gun Control and the Second Amendment. Teacher's Guide.

    Science.gov (United States)

    Edwards, Amy N.; Walker, Tim

    This teacher's guide is designed to accompany the two-part videotape "To Keep and Bear Arms: Gun Control and the Second Amendment." The videotape and teacher's guide should help students to: (1) understand the history of the Second Amendment; (2) examine how guns and gun control laws affect people's lives; (3) compare and contrast the…

  9. 15 CFR Supplement No. 1 to Part 742 - Nonproliferation of Chemical and Biological Weapons

    Science.gov (United States)

    2010-01-01

    ... 15 Commerce and Foreign Trade 2 2010-01-01 2010-01-01 false Nonproliferation of Chemical and...—Nonproliferation of Chemical and Biological Weapons Note: Exports and reexports of items in performance of.... Contract sanctity dates are established in the course of the imposition of foreign policy controls on...

  10. Robotic arm

    International Nuclear Information System (INIS)

    Kwech, H.

    1989-01-01

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

  11. Robotic arm

    Science.gov (United States)

    Kwech, Horst

    1989-04-18

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

  12. A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm

    Directory of Open Access Journals (Sweden)

    Giovanni Gerardo Muscolo

    2013-01-01

    Full Text Available The authors propose a comparison between two force-position controllers with gravity compensation simulated on the DEXTER bioinspired robotic arm. The two controllers are both constituted by an internal proportional-derivative (PD closed-loop for the position control. The force control of the two systems is composed of an external proportional (P closed-loop for one system (P system and an external proportional-integrative (PI closed-loop for the other system (PI system. The simulation tests performed with the two systems on a planar representation of the DEXTER, an eight-DOF bioinspired arm, showed that by varying the stiffness of the environment, with a correct setting of parameters, both systems ensure the achievement of the desired force regime and with great precision the desired position. The two controllers do not have large differences in performance when interacting with a lower stiffness environment. In case of an environment with greater rigidity, the PI system is more stable. The subsequent implementation of these control systems on the DEXTER robotic bioinspired arm gives guidance on the design and control optimisation of the arms of the humanoid robot named SABIAN.

  13. Model-based sensorimotor integration for multi-joint control: development of a virtual arm model.

    Science.gov (United States)

    Song, D; Lan, N; Loeb, G E; Gordon, J

    2008-06-01

    An integrated, sensorimotor virtual arm (VA) model has been developed and validated for simulation studies of control of human arm movements. Realistic anatomical features of shoulder, elbow and forearm joints were captured with a graphic modeling environment, SIMM. The model included 15 musculotendon elements acting at the shoulder, elbow and forearm. Muscle actions on joints were evaluated by SIMM generated moment arms that were matched to experimentally measured profiles. The Virtual Muscle (VM) model contained appropriate admixture of slow and fast twitch fibers with realistic physiological properties for force production. A realistic spindle model was embedded in each VM with inputs of fascicle length, gamma static (gamma(stat)) and dynamic (gamma(dyn)) controls and outputs of primary (I(a)) and secondary (II) afferents. A piecewise linear model of Golgi Tendon Organ (GTO) represented the ensemble sampling (I(b)) of the total muscle force at the tendon. All model components were integrated into a Simulink block using a special software tool. The complete VA model was validated with open-loop simulation at discrete hand positions within the full range of alpha and gamma drives to extrafusal and intrafusal muscle fibers. The model behaviors were consistent with a wide variety of physiological phenomena. Spindle afferents were effectively modulated by fusimotor drives and hand positions of the arm. These simulations validated the VA model as a computational tool for studying arm movement control. The VA model is available to researchers at website http://pt.usc.edu/cel .

  14. Filtering sensory information with XCSF: improving learning robustness and robot arm control performance.

    Science.gov (United States)

    Kneissler, Jan; Stalph, Patrick O; Drugowitsch, Jan; Butz, Martin V

    2014-01-01

    It has been shown previously that the control of a robot arm can be efficiently learned using the XCSF learning classifier system, which is a nonlinear regression system based on evolutionary computation. So far, however, the predictive knowledge about how actual motor activity changes the state of the arm system has not been exploited. In this paper, we utilize the forward velocity kinematics knowledge of XCSF to alleviate the negative effect of noisy sensors for successful learning and control. We incorporate Kalman filtering for estimating successive arm positions, iteratively combining sensory readings with XCSF-based predictions of hand position changes over time. The filtered arm position is used to improve both trajectory planning and further learning of the forward velocity kinematics. We test the approach on a simulated kinematic robot arm model. The results show that the combination can improve learning and control performance significantly. However, it also shows that variance estimates of XCSF prediction may be underestimated, in which case self-delusional spiraling effects can hinder effective learning. Thus, we introduce a heuristic parameter, which can be motivated by theory, and which limits the influence of XCSF's predictions on its own further learning input. As a result, we obtain drastic improvements in noise tolerance, allowing the system to cope with more than 10 times higher noise levels.

  15. Arms Control: US and International efforts to ban biological weapons

    Energy Technology Data Exchange (ETDEWEB)

    1992-12-01

    The Bacteriological (Biological) and Toxin Weapons Convention, the treaty that bans the development, production, and stockpiling and acquisition of biological weapons was opened for signature in 1972 and came into force in 1975 after being ratified by 22 governments, including the depository nations of the USA, the United Kingdom, and the former Soviet Union. In support of the Convention, the USA later established export controls on items used to make biological weapons. Further, in accordance with the 1990 President`s Enhanced Proliferation Control Initiative, actions were taken to redefine and expand US export controls, as well as to encourage multilateral controls through the Australia Group. Thus far, the Convention has not been effective in stopping the development of biological weapons. The principal findings as to the reasons of the failures of the Convention are found to be: the Convention lacks universality, compliance measures are effective, advantage of verification may outweigh disadvantages. Recommendations for mitigating these failures are outlined in this report.

  16. Internet remote control interface for a multipurpose robotic arm

    Directory of Open Access Journals (Sweden)

    Matthew W. Dunnigan

    2008-11-01

    Full Text Available This paper presents an Internet remote control interface for a MITSUBISHI PA10-6CE manipulator established for the purpose of the ROBOT museum exhibition during spring and summer 2004. The robotic manipulator is a part of the Intelligent Robotic Systems Laboratory at Heriot ? Watt University, which has been established to work on dynamic and kinematic aspects of manipulator control in the presence of environmental disturbances. The laboratory has been enriched by a simple vision system consisting of three web-cameras to broadcast the live images of the robots over the Internet. The Interface comprises of the TCP/IP server providing command parsing and execution using the open controller architecture of the manipulator and a client Java applet web-site providing a simple robot control interface.

  17. Walking Pattern Generation of Dual-Arm Mobile Robot Using Preview Controller

    OpenAIRE

    P. Wu; W. Wu

    2012-01-01

    Based on the stability request of robot’s moving on the ground, the motion planning of dual-arm mobile robot when moving on the ground is studied and the preview control system is applied in the robot walking pattern generation. Direct question of robot kinematics in the extended task space is analyzed according to Degrees of Freedom configuration of the dual-arm mobile robot. It is proved that the preview control system could be used in the generation of robot Center of Mass forward trajecto...

  18. IAEA Director General welcomes Cuba's intention to join the nuclear Non-Proliferation Treaty

    International Nuclear Information System (INIS)

    2002-01-01

    Full text: IAEA Director General Mohamed ElBaradei welcomed Cuba's announcement to accede to the Treaty on the Non-Proliferation of Nuclear Weapons (NPT) and to ratify the Treaty of Tlatelolco establishing a nuclear-weapon-free zone in Latin America and the Caribbean. He expressed the hope that Cuba will conclude soon a comprehensive safeguards agreement with the Agency, as required under Article III of the NPT. 'With Cuba's intention to become party to the NPT, we have come a step closer to a universal nuclear non-proliferation regime,' Mr. ElBaradei said. Only three countries worldwide with significant nuclear activities now remain outside the NPT. With 188 countries party to the Treaty, the NPT is the most adhered to international agreement after the United Nations Charter and the most widely adhered to multilateral arms control treaty. The NPT makes it mandatory that all non-nuclear-weapon States conclude comprehensive safeguards agreements with the IAEA, and thus put all of their nuclear material under IAEA safeguards. The Director General also welcomed Cuba's ratification of the Tlatelolco Treaty, which completes the process of having all countries in the region of Latin America and the Caribbean as members of the nuclear-weapon-free zone in that region. Mr. ElBaradei said that, 'the Tlatelolco Treaty provides a good model for other regional nuclear-weapon-free zones to follow'. He added that 'universal adherence of all countries in regions having nuclear-weapon-free zone arrangements is important to further strengthen the non-proliferation regime'. (IAEA)

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

    Science.gov (United States)

    Xiao, Lifeng; Peng, Jinbao

    2017-03-01

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

  20. Noninvasive Electroencephalogram Based Control of a Robotic Arm for Reach and Grasp Tasks

    Science.gov (United States)

    Meng, Jianjun; Zhang, Shuying; Bekyo, Angeliki; Olsoe, Jaron; Baxter, Bryan; He, Bin

    2016-01-01

    Brain-computer interface (BCI) technologies aim to provide a bridge between the human brain and external devices. Prior research using non-invasive BCI to control virtual objects, such as computer cursors and virtual helicopters, and real-world objects, such as wheelchairs and quadcopters, has demonstrated the promise of BCI technologies. However, controlling a robotic arm to complete reach-and-grasp tasks efficiently using non-invasive BCI has yet to be shown. In this study, we found that a group of 13 human subjects could willingly modulate brain activity to control a robotic arm with high accuracy for performing tasks requiring multiple degrees of freedom by combination of two sequential low dimensional controls. Subjects were able to effectively control reaching of the robotic arm through modulation of their brain rhythms within the span of only a few training sessions and maintained the ability to control the robotic arm over multiple months. Our results demonstrate the viability of human operation of prosthetic limbs using non-invasive BCI technology. PMID:27966546

  1. Uranium-233 waste definition: Disposal options, safeguards, criticality control, and arms control

    International Nuclear Information System (INIS)

    Forsberg, C.W.; Storch, S.N.; Lewis, L.C.

    1998-01-01

    The US investigated the use of 233 U for weapons, reactors, and other purposes from the 1950s into the 1970s. Based on the results of these investigations, it was decided not to use 233 U on a large scale. Most of the 233 U-containing materials were placed in long-term storage. At the end of the cold war, the US initiated, as part of its arms control policies, a disposition program for excess fissile materials. Other programs were accelerated for disposal of radioactive wastes placed in storage during the cold war. Last, potential safety issues were identified related to the storage of some 233 U-containing materials. Because of these changes, significant activities associated with 233 U-containing materials are expected. This report is one of a series of reports to provide the technical bases for future decisions on how to manage this material. A basis for defining when 233 U-containing materials can be managed as waste and when they must be managed as concentrated fissile materials has been developed. The requirements for storage, transport, and disposal of radioactive wastes are significantly different than those for fissile materials. Because of these differences, it is important to classify material in its appropriate category. The establishment of a definition of what is waste and what is fissile material will provide the guidance for appropriate management of these materials. Wastes are defined in this report as materials containing sufficiently small masses or low concentrations of fissile materials such that they can be managed as typical radioactive waste. Concentrated fissile materials are defined herein as materials containing sufficient fissile content such as to warrant special handling to address nuclear criticality, safeguards, and arms control concerns

  2. Gaming and Conventional Exercises for Improvement of Arm Function After Stroke: A Randomized Controlled Pilot Study.

    Science.gov (United States)

    Kottink, Anke I R; Prange, Gerdienke B; Krabben, Thijs; Rietman, Johan S; Buurke, Jaap H

    2014-06-01

    The use of new technologies in rehabilitation, such as virtual reality and/or computerized gaming exercises, may be useful to enable patients to practice intensively in a motivating way. The objective of the present randomized controlled pilot study was to compare the effect of reach training using a target group specific-designed rehabilitation game to time-matched standardized conventional reach training on arm function after stroke. Twenty chronic stroke patients were randomized to either the rehabilitation game group or the conventional training group. Both groups received three arm training sessions of 30 minutes each week, during a period of 6 weeks. Arm (the upper extremity part of Fugl-Meyer [FM] assessment) and hand (the Action Research Arm [ARA] test) functions were tested 1 week before (T0) and 1 week after (T1) training. A follow-up measurement was performed at 1 month after T1 (T2). ARA and FM scores improved significantly within both groups. Post hoc comparisons revealed significant increases in test scores between T0 and T1 and between T0 and T2 for both ARA and FM, but not for changes from T1 to T2. There were no significant differences between both groups for either clinical test. The present randomized controlled pilot study showed that both arm and hand function improved as much after training with a rehabilitation game as after time-matched conventional training.

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

    Directory of Open Access Journals (Sweden)

    Tianliang Liu

    2016-05-01

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

  4. The Future of Nonproliferation in a Changed and Changing Environment: A Workshop Summary

    International Nuclear Information System (INIS)

    Dreicer, M.

    2016-01-01

    The Center for Global Security Research and Global Security Principal Directorate at Lawrence Livermore National Laboratory convened a workshop in July 2016 to consider ''The Future of Nonproliferation in a Changed and Changing Security Environment.'' We took a broad view of nonproliferation, encompassing not just the treaty regime but also arms control, threat reduction, counter-roliferation, and countering nuclear terrorism. We gathered a group of approximately 60 experts from the technical, academic, political, defense and think tank communities and asked them what and how much can reasonably be accomplished in each of these areas in the 5 to 10 years ahead. Discussion was on a not-for-attribution basis. This document provides a summary of key insights and lessons learned, and is provided to help stimulate broader public discussion of these issues. It is a collection of ideas as informally discussed and debated among a group of experts. The ideas reported here are the personal views of individual experts and should not be attributed to Lawrence Livermore National Laboratory.

  5. The Future of Nonproliferation in a Changed and Changing Environment: A Workshop Summary

    Energy Technology Data Exchange (ETDEWEB)

    Dreicer, M. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States)

    2016-08-30

    The Center for Global Security Research and Global Security Principal Directorate at Lawrence Livermore National Laboratory convened a workshop in July 2016 to consider “The Future of Nonproliferation in a Changed and Changing Security Environment.” We took a broad view of nonproliferation, encompassing not just the treaty regime but also arms control, threat reduction, counter-­proliferation, and countering nuclear terrorism. We gathered a group of approximately 60 experts from the technical, academic, political, defense and think tank communities and asked them what—and how much—can reasonably be accomplished in each of these areas in the 5 to 10 years ahead. Discussion was on a not-­for-­attribution basis. This document provides a summary of key insights and lessons learned, and is provided to help stimulate broader public discussion of these issues. It is a collection of ideas as informally discussed and debated among a group of experts. The ideas reported here are the personal views of individual experts and should not be attributed to Lawrence Livermore National Laboratory.

  6. Management Principles for Nonproliferation Organizations

    International Nuclear Information System (INIS)

    Frazar, Sarah L.; Hund, Gretchen

    2012-01-01

    This paper identifies business models and six management principles that can be applied by a nonproliferation organization to maximize the value and effectiveness of its products. The organizations responsible for reducing the nuclear proliferation threat have experienced a substantial growth in responsibility and visibility since the September 11 attacks. Since then, the international community has witnessed revelations of clandestine nuclear facilities, nuclear black markets, periodic nuclear tests, and a resurgence of interest by countries worldwide in developing nuclear capabilities. The security environment will likely continue to evolve in unexpected ways since most of the proliferation threats with which the world will be forced to contend remain unforeseen. To better prepare for and respond to this evolving security environment, many nonproliferation organizations are interested in finding new or better ways to increase the effectiveness and efficiency of their operations. Of course, all organizations, whether they are market driven or non-profit, must operate effectively and efficiently if they are to succeed. Indeed, as this study demonstrates, many of the management principles that this study recommends can help all organizations succeed. However, this study pays particular attention to nonproliferation organizations because of the mission they are responsible for fulfilling. Nonproliferation organizations, including nonproliferation programs that operate within a larger national security organization, are responsible for reducing the threat of nuclear, chemical and biological weapons. These organizations have an enduring mandate from the public and the international community not to fail in the completion of their mission for failure could have detrimental impacts on international security, public health and the environment. Moreover, the public expects nonproliferation organizations and programs to fulfill their mission, even when resources are limited

  7. Management Principles for Nonproliferation Organizations

    Energy Technology Data Exchange (ETDEWEB)

    Frazar, Sarah L.; Hund, Gretchen

    2012-03-06

    This paper identifies business models and six management principles that can be applied by a nonproliferation organization to maximize the value and effectiveness of its products. The organizations responsible for reducing the nuclear proliferation threat have experienced a substantial growth in responsibility and visibility since the September 11 attacks. Since then, the international community has witnessed revelations of clandestine nuclear facilities, nuclear black markets, periodic nuclear tests, and a resurgence of interest by countries worldwide in developing nuclear capabilities. The security environment will likely continue to evolve in unexpected ways since most of the proliferation threats with which the world will be forced to contend remain unforeseen. To better prepare for and respond to this evolving security environment, many nonproliferation organizations are interested in finding new or better ways to increase the effectiveness and efficiency of their operations. Of course, all organizations, whether they are market driven or non-profit, must operate effectively and efficiently if they are to succeed. Indeed, as this study demonstrates, many of the management principles that this study recommends can help all organizations succeed. However, this study pays particular attention to nonproliferation organizations because of the mission they are responsible for fulfilling. Nonproliferation organizations, including nonproliferation programs that operate within a larger national security organization, are responsible for reducing the threat of nuclear, chemical and biological weapons. These organizations have an enduring mandate from the public and the international community not to fail in the completion of their mission for failure could have detrimental impacts on international security, public health and the environment. Moreover, the public expects nonproliferation organizations and programs to fulfill their mission, even when resources are limited

  8. A Biomechanical Model of Single-joint Arm Movement Control Based on the Equilibrium Point Hypothesis

    OpenAIRE

    Masataka, SUZUKI; Yoshihiko, YAMAZAKI; Yumiko, TANIGUCHI; Department of Psychology, Kinjo Gakuin University; Department of Health and Physical Education, Nagoya Institute of Technology; College of Human Life and Environment, Kinjo Gakuin University

    2003-01-01

    SUZUKI,M., YAMAZAKI,Y. and TANIGUCHI,Y., A Biomechanical Model of Single-joint Arm Movement Control Based on the Equilibrium Point Hypothesis. Adv. Exerc. Sports Physiol., Vol.9, No.1 pp.7-25, 2003. According to the equilibrium point hypothesis of motor control, control action of muscles is not explicitly computed, but rather arises as a consequence of interaction among moving equilibrium point, reflex feedback and muscle mechanical properties. This approach is attractive as it obviates the n...

  9. Controlled, Rapid Uprighting of Molars: A surprisingly Simple Solution The Pivot Arm Appliance.

    Science.gov (United States)

    Warise, Timothy R; Galella, Steve A

    2015-01-01

    In orthodontic cases where the regional anatomy provides limited room for eruption, there is etiologically a higher occurrence of tipped/impacted second molars. Although second molar extraction with third molar replacement is a useful option, the "Pivot Arm Appliance" encourages the uprighting of the second molar as a preferred treatment. The most unique and important attribute of the "Pivot Arm Appliance" is the rotating tube. In cases of access limitation, the disto-occlusal surface of the molar presents as one area that is accessible. Other features of the "Pivot Arm Appliance" include: The position of the rotator tube delivers optimal rotational force through the pivoting action of the tube/arm complex. The "Pivot Arm Appliance" takes advantage of the efficiency and simplicity of a Class I lever system. The anatomical fulcrum being the dense cortical bone located anterior to the ascending ramus. The vertical spring system is compact, reliable and delivers gentle controlled force in rotational direction. The lingual location of the "Pivot Arm Appliance" does not hinder the function of the tongue, impinge on the soft tissue or interfere with normal masticatory function. The ease of placement of the rotator tube and subsequent insertion of the spring. It is well to note the uprighting appliance provides a very useful and practical approach to the unique problem of severely tipped second molars with limited buccal access. The "Pivot Arm Appliance" does not function only in these situations but can be used in all cases of second molar uprighting of a moderate to severe nature.

  10. Optimization of Casting Design Parameters on Fabrication of Reliable Semi-Solid Aluminum Suspension Control Arm

    Science.gov (United States)

    Ragab, Kh. A.; Bouaicha, A.; Bouazara, M.

    2017-09-01

    The semi-solid casting process has the advantage of providing reliable mechanical aluminum parts that work continuously in dynamic as control arm of the suspension system in automotive vehicles. The quality performance of dynamic control arm is related to casting mold and gating system designs that affect the fluidity of semi-solid metal during filling the mold. Therefore, this study focuses on improvement in mechanical performance, depending on material characterization, and casting design optimization, of suspension control arms made of A357 aluminum semi-solid alloys. Mechanical and design analyses, applied on the suspension arm, showed the occurrence of mechanical failures at unexpected weak points. Metallurgical analysis showed that the main reason lies in the difficult flow of semi-solid paste through the thin thicknesses of a complex geometry. A design modification procedure is applied to the geometry of the suspension arm to avoid this problem and to improve its quality performance. The design modification of parts was carried out by using SolidWorks design software, evaluation of constraints with ABAQUS, and simulation of flow with ProCast software. The proposed designs showed that the modified suspension arm, without ribs and with a central canvas designed as Z, is considered as a perfect casting design showing an increase in the structural strength of the component. In this case, maximum von Mises stress is 199 MPa that is below the yield strength of the material. The modified casting mold design shows a high uniformity and minim turbulence of molten metal flow during semi-solid casting process.

  11. United Nations study on disarmament and non-proliferation education

    International Nuclear Information System (INIS)

    2003-01-01

    Science and technology transformed the world in the twentieth century. Living standards improved but warfare was rendered more deadly. Weapons of mass destruction - biological, chemical and nuclear - and their means of delivery were developed, as ever more sophisticated conventional armaments were produced and disseminated. The horrors and destruction of armed conflict persist. The need for disarmament and non-proliferation education and training has never been greater. Indeed, changing concepts and perceptions of security and threat magnify the urgency for new thinking to pursue disarmament and non-proliferation goals. More than a decade after the end of the cold war and at the start of the twenty- first century, there is a pressing need to combat ignorance, complacency and a culture of violence. These can be countered through long-term programmes of education and training, especially those related to disarmament and non- proliferation of weapons of mass destruction and their means of delivery, with a view to their reduction and complete elimination. At the same time, concern has heightened over the global threat of the excessive and destabilizing proliferation of conventional weapons, especially small arms and light weapons, rendering more acute the need to combat such proliferation in a sustained way through disarmament and non-proliferation education and training. Additionally there is a need to raise awareness of new challenges to international security and the process of disarmament. Among them, terrorism, with the possibility of the use of weapons of mass destruction, is a source of particular concern. Other challenges, such as organized crime, poverty, human rights abuses and environmental concerns must also be taken into account. Education and training remain important but under utilized tools for promoting peace, disarmament and non-proliferation. The present report addresses that issue and proposes ideas for action

  12. Robotic Arm Control Algorithm Based on Stereo Vision Using RoboRealm Vision

    Directory of Open Access Journals (Sweden)

    SZABO, R.

    2015-05-01

    Full Text Available The goal of this paper is to present a stereo computer vision algorithm intended to control a robotic arm. Specific points on the robot joints are marked and recognized in the software. Using a dedicated set of mathematic equations, the movement of the robot is continuously computed and monitored with webcams. Positioning error is finally analyzed.

  13. United States Arms Control and Disarmament Agency. Ninth Annual Report to Congress.

    Science.gov (United States)

    Arms Control and Disarmament Agency, Washington, DC.

    This annual report surveys activities of the Arms Control and Disarmament Agency (ACDA) and summarizes disarmament developments for the calendar year 1968. An act of Congress states that ACDA must have such a position within the Government that it can provide the President, the Secretary of State, other officials of the executive branch, and the…

  14. Designing and evaluating conventional arms control measures: The case of the Korean peninsula

    International Nuclear Information System (INIS)

    Han Yongsup.

    1991-01-01

    As a method of designing and evaluating arms control measures, this study takes a combined approach of qualitative analysis and military simulation. Three qualitative criteria derived from the case studies on the Korean and European arms control are used to examine whether these measures are legally binding, verifiable, and negotiable. One quantifiable criterion is used to test against the base case scenario (a one-day surprise attach by North Korea) whether arms control measures will stabilize or destabilize the military status quo on the Peninsula in terms of North Korea's extent of penetration in the actual war situations. Four alternative measures are derived from the analysis: (1) Confidence and Security Building Measures (CSBMs); (2) Establishment of Asymmetric Non-Deployment Zone (NDZ); (3) Reduction of the joint US-South Korean 'Team Spirit' exercises and North Korea's Forward Deployed Forces; and, (4) Reduction of South Korean and US forces and North Korean Forces. Findings indicate that establishment of the NDZ and a North Korean unilateral reduction are estimated to best achieve the goal of South Korean arms control

  15. 77 FR 52105 - Announcement of the Innovation in Arms Control Challenge Under the America Competes...

    Science.gov (United States)

    2012-08-28

    ... Challenge: This Challenge seeks creative ideas from the general public to use the tools and devices commonly..., shall be incorporated in and maintaining a primary place of business in the United States, and in the... provision of the following: 1. A description of the proposed mechanism or idea to support arms control...

  16. 78 FR 43959 - Announcement of the 2013 Innovation in Arms Control Challenge Under the America Competes...

    Science.gov (United States)

    2013-07-22

    .... Description of the hardware and/or software requirements for execution of the tool or concept, including... Information Technology Tools and Concepts Can Support Future Arms Control Inspections? The 2013 Innovation in... the following: 1. Description of the problem the tool/concept will address. 2. Description of proposed...

  17. Octopuses use a human-like strategy to control precise point-to-point arm movements.

    Science.gov (United States)

    Sumbre, Germán; Fiorito, Graziano; Flash, Tamar; Hochner, Binyamin

    2006-04-18

    One of the key problems in motor control is mastering or reducing the number of degrees of freedom (DOFs) through coordination. This problem is especially prominent with hyper-redundant limbs such as the extremely flexible arm of the octopus. Several strategies for simplifying these control problems have been suggested for human point-to-point arm movements. Despite the evolutionary gap and morphological differences, humans and octopuses evolved similar strategies when fetching food to the mouth. To achieve this precise point-to-point-task, octopus arms generate a quasi-articulated structure based on three dynamic joints. A rotational movement around these joints brings the object to the mouth . Here, we describe a peripheral neural mechanism-two waves of muscle activation propagate toward each other, and their collision point sets the medial-joint location. This is a remarkably simple mechanism for adjusting the length of the segments according to where the object is grasped. Furthermore, similar to certain human arm movements, kinematic invariants were observed at the joint level rather than at the end-effector level, suggesting intrinsic control coordination. The evolutionary convergence to similar geometrical and kinematic features suggests that a kinematically constrained articulated limb controlled at the level of joint space is the optimal solution for precise point-to-point movements.

  18. Arms control in space: workshop proceedings, Washington, DC, January 30-31, 1984

    International Nuclear Information System (INIS)

    1984-05-01

    In late 1982 and early 1983, the Subcommittee on Arms Control, Oceans, International Operations, and Environment of the Senate Committee on Foreign Relations held hearings on space weapons and arms control. To explore these issues further in a discussion format not easily achieved in hearings, Sen. Larry Pressler, Chairman of the Subcommittee, asked OTA to conduct a workshop focusing on antisatellite (ASAT) weapons as one aspect of space arms control. The workshop held in Washington, DC on January 30 and 31, 1984, provided an opportunity for technical, diplomatic, military, and policy-analysis experts to interact, think out loud, and build each other's ideas. The workshop was organized into six sessions, although issues involving anti-satellite weapons and arms control are not easily compartmentalized into distinct subject areas. Each session was introduced by a 10- or 15-minute informal oral presentation which set the stage for further discussion. This workshop proceedings volume is organized along the same divisions as the sessions, with some rearrangement

  19. The design of multi-channel pulse amplitude analyzer based on ARM micro controller

    International Nuclear Information System (INIS)

    Li Hai; Li Xiang; Liu Caixue

    2010-01-01

    It introduces the design of multi-channel pulse amplitude analyzer based on embedded ARM micro-controller. The embedded and real-time system μC/OS-II builds up the real-time and stability of the system and advances the integration. (authors)

  20. The international nuclear non-proliferation system

    International Nuclear Information System (INIS)

    Simpson, J.; McGrew, T.

    1985-01-01

    This volume focuses upon the issues raised at this Conference, and attempts to address the international diplomatic, political and trading, rather than technical, questions which surround nuclear non-proliferation policies. It does so by bringing together chapters contributed by participants in non-proliferation diplomacy, those with experience in shaping International Atomic Energy Agency and national policies and academic observers of non-proliferation activities and the international nuclear industry. An analysis is provided of past non-proliferation policies and activities and current issues, and an attempt is made to offer ideas for new initiatives which may sustain the non-proliferation system in the future

  1. SpaceWire- Based Control System Architecture for the Lightweight Advanced Robotic Arm Demonstrator [LARAD

    Science.gov (United States)

    Rucinski, Marek; Coates, Adam; Montano, Giuseppe; Allouis, Elie; Jameux, David

    2015-09-01

    The Lightweight Advanced Robotic Arm Demonstrator (LARAD) is a state-of-the-art, two-meter long robotic arm for planetary surface exploration currently being developed by a UK consortium led by Airbus Defence and Space Ltd under contract to the UK Space Agency (CREST-2 programme). LARAD has a modular design, which allows for experimentation with different electronics and control software. The control system architecture includes the on-board computer, control software and firmware, and the communication infrastructure (e.g. data links, switches) connecting on-board computer(s), sensors, actuators and the end-effector. The purpose of the control system is to operate the arm according to pre-defined performance requirements, monitoring its behaviour in real-time and performing safing/recovery actions in case of faults. This paper reports on the results of a recent study about the feasibility of the development and integration of a novel control system architecture for LARAD fully based on the SpaceWire protocol. The current control system architecture is based on the combination of two communication protocols, Ethernet and CAN. The new SpaceWire-based control system will allow for improved monitoring and telecommanding performance thanks to higher communication data rate, allowing for the adoption of advanced control schemes, potentially based on multiple vision sensors, and for the handling of sophisticated end-effectors that require fine control, such as science payloads or robotic hands.

  2. Reach and grasp by people with tetraplegia using a neurally controlled robotic arm

    Science.gov (United States)

    Hochberg, Leigh R.; Bacher, Daniel; Jarosiewicz, Beata; Masse, Nicolas Y.; Simeral, John D.; Vogel, Joern; Haddadin, Sami; Liu, Jie; Cash, Sydney S.; van der Smagt, Patrick; Donoghue, John P.

    2012-01-01

    Paralysis following spinal cord injury (SCI), brainstem stroke, amyotrophic lateral sclerosis (ALS) and other disorders can disconnect the brain from the body, eliminating the ability to carry out volitional movements. A neural interface system (NIS)1–5 could restore mobility and independence for people with paralysis by translating neuronal activity directly into control signals for assistive devices. We have previously shown that people with longstanding tetraplegia can use an NIS to move and click a computer cursor and to control physical devices6–8. Able-bodied monkeys have used an NIS to control a robotic arm9, but it is unknown whether people with profound upper extremity paralysis or limb loss could use cortical neuronal ensemble signals to direct useful arm actions. Here, we demonstrate the ability of two people with long-standing tetraplegia to use NIS-based control of a robotic arm to perform three-dimensional reach and grasp movements. Participants controlled the arm over a broad space without explicit training, using signals decoded from a small, local population of motor cortex (MI) neurons recorded from a 96-channel microelectrode array. One of the study participants, implanted with the sensor five years earlier, also used a robotic arm to drink coffee from a bottle. While robotic reach and grasp actions were not as fast or accurate as those of an able-bodied person, our results demonstrate the feasibility for people with tetraplegia, years after CNS injury, to recreate useful multidimensional control of complex devices directly from a small sample of neural signals. PMID:22596161

  3. Optimal Control of Holding Motion by Nonprehensile Two-Cooperative-Arm Robot

    Directory of Open Access Journals (Sweden)

    Changan Jiang

    2016-01-01

    Full Text Available Recently, more researchers have focused on nursing-care assistant robot and placed their hope on it to solve the shortage problem of the caregivers in hospital or nursing home. In this paper, a nonprehensile two-cooperative-arm robot is considered to realize holding motion to keep a two-rigid-link object (regarded as a care-receiver stable on the robot arms. By applying Newton-Euler equations of motion, dynamic model of the object is obtained. In this model, for describing interaction behavior between object and robot arms in the normal direction, a viscoelastic model is employed to represent the normal forces. Considering existence of friction between object and robot arms, LuGre dynamic model is applied to describe the friction. Based on the obtained model, an optimal regulator is designed to control the holding motion of two-cooperative-arm robot. In order to verify the effectiveness of the proposed method, simulation results are shown.

  4. Depressed trajectory SLBMs: A technical evaluation and arms control possibilities

    International Nuclear Information System (INIS)

    Gronlund, L.; Wright, D.C.

    1992-01-01

    SLBMs (sea-launched ballistic missiles) flown on depressed trajectories would have short flight times, comparable to escape times of bombers and launch times of ICBMs, thus raising the possibility of short time-of-flight (STOF) nuclear attacks. We assess the depressed trajectory (DT) capability of existing SLBMs by calculating the flight times, atmospheric loading on the booster, reentry heating on the reentry vehicle (RV), and degradation of accuracy for a DT SLBM. We find that current US and CIS SLBMs flown on depressed trajectories would have the capability to attack bomber bases at ranges of up to about 2,000 kilometers, and possibly at ranges up to 3,000 kilometers. To target bombers based furthest inland, a new high-velocity booster might be required, and attacking hardened targets would require a maneuvering RV (MaRV). We conclude that DT capabilities could be effectively controlled by the combination of an apogee restriction on the flight testing of existing SLBMs and bans on the development of high-velocity boosters and MaRVs, and that, in view of their inherent STOF capabilities, deep cuts in the number of SLBMs or their elimination might be desirable for an optimal minimum-deterrent force structure

  5. High-Resolution Fast-Neutron Spectrometry for Arms Control and Treaty Verification

    Energy Technology Data Exchange (ETDEWEB)

    David L. Chichester; James T. Johnson; Edward H. Seabury

    2012-07-01

    Many nondestructive nuclear analysis techniques have been developed to support the measurement needs of arms control and treaty verification, including gross photon and neutron counting, low- and high-resolution gamma spectrometry, time-correlated neutron measurements, and photon and neutron imaging. One notable measurement technique that has not been extensively studied to date for these applications is high-resolution fast-neutron spectrometry (HRFNS). Applied for arms control and treaty verification, HRFNS has the potential to serve as a complimentary measurement approach to these other techniques by providing a means to either qualitatively or quantitatively determine the composition and thickness of non-nuclear materials surrounding neutron-emitting materials. The technique uses the normally-occurring neutrons present in arms control and treaty verification objects of interest as an internal source of neutrons for performing active-interrogation transmission measurements. Most low-Z nuclei of interest for arms control and treaty verification, including 9Be, 12C, 14N, and 16O, possess fast-neutron resonance features in their absorption cross sections in the 0.5- to 5-MeV energy range. Measuring the selective removal of source neutrons over this energy range, assuming for example a fission-spectrum starting distribution, may be used to estimate the stoichiometric composition of intervening materials between the neutron source and detector. At a simpler level, determination of the emitted fast-neutron spectrum may be used for fingerprinting 'known' assemblies for later use in template-matching tests. As with photon spectrometry, automated analysis of fast-neutron spectra may be performed to support decision making and reporting systems protected behind information barriers. This paper will report recent work at Idaho National Laboratory to explore the feasibility of using HRFNS for arms control and treaty verification applications, including simulations

  6. Nuclear nonproliferation strategy in Asia

    International Nuclear Information System (INIS)

    Jenkins, F.W.

    1989-07-01

    The most immediate danger of a further spread of nuclear weapons in Asia is in South Asia, where both India and Pakistan have developed the means of producing nuclear explosive materials. In East Asia, North Korea appears to be in the early stages of a weapon-related nuclear program, and before the end of the century South Korea or Taiwan could revive their past efforts to move closer to a nuclear weapons capability. Over the longer run, Japan could conceivably decide to abandon its present strong opposition to the acquisition of nuclear Weapons. At present, the United States has largely separate approaches to the nuclear weapon proliferation problems in South Asia and in East Asia. This paper argues that these separate approaches should be strengthened and integrated into a broader regional nonproliferation strategy. This regional strategy would have three major strands: inducing India and Pakistan to agree not to produce nuclear weapons or test nuclear explosive devices for a specific period; bolstering the existing nonproliferation regime, principally by maintaining nonproliferation incentives and involving China more in the nonproliferation regime; and encouraging regional cooperation in peaceful uses of nuclear energy

  7. Broadening Industry Governance to Include Nonproliferation

    Energy Technology Data Exchange (ETDEWEB)

    Hund, Gretchen; Seward, Amy M.

    2008-11-11

    As industry is the first line of defense in detecting and thwarting illicit trade networks, the engagement of the private sector is critical to any government effort to strengthen existing mechanisms to protect goods and services throughout the supply chain. This study builds on previous PNNL work to continue to evaluate means for greater industry engagement to complement and strengthen existing governmental efforts to detect and stem the trade of illicit goods and to protect and secure goods that could be used in making a weapon of mass destruction. Specifically, the study evaluates the concept of Industry Self Regulation, defined as a systematic voluntary program undertaken by an industry or by individual companies to anticipate, implement, supplement, or substitute for regulatory requirements in a given field, generally through the adoption of best practices. Through a series of interviews with companies with a past history of non-compliance, trade associations and NGOs, the authors identify gaps in the existing regulatory infrastructure, drivers for a self regulation approach and the form such an approach might take, as well as obstacles to be overcome. The authors conclude that it is at the intersection of industry, government, and security that—through collaborative means—the effectiveness of the international nonproliferation system—can be most effectively strengthened to the mutual benefit of both government and the private sector. Industry has a critical stake in the success of this regime, and has the potential to act as an integrating force that brings together the existing mechanisms of the global nonproliferation regime: export controls, physical protection, and safeguards. The authors conclude that industry compliance is not enough; rather, nonproliferation must become a central tenant of a company’s corporate culture and be viewed as an integral component of corporate social responsibility (CSR).

  8. Nuclear Non-Proliferation and Disarmament: Where Next?

    International Nuclear Information System (INIS)

    Evans, G.

    2013-01-01

    completely stalled; there is now real uncertainty about US ratification of the New START treaty with the Russian Federation, and with it any major new round of arms reduction negotiations; there has been less movement than hoped for in reducing the role and salience of nuclear weapons in national security doctrine; there has been no movement on the file of the Democratic People's Republic of Korea (DPRK); and concern about the intentions of the Islamic Republic of Iran (Iran) remain as strong as ever. About the only ray of real light for the year has been the substantial measure of agreement achieved at the Washington Summit on nuclear security issues and cooperative implementation of the global anti-terrorism agenda. In my own approach to difficult international policy issues, I usually err on the side of congenital optimism, and it is possible to see the glass as half full rather than half empty on most of the specific issues I have mentioned - and others as well, such as the question of multilateralization of sensitive stages of the fuel cycle on which the IAEA Board of Governors has already expended so much time and energy. The road ahead - as mapped in detail, for example, in the report last year by the International Commission on Nuclear Non-proliferation and Disarmament (ICNND), with which I hope you are familiar - was always going to be long and slow. But everything depends on some real momentum being sustained. If that momentum is lost, as it was during the fifteen years or so of sleepwalking that followed the initial flurry of disarmament activity in the early post-Cold War years, and looks in real danger right now of being completely lost again, it is not easy to see how it will ever be regained. And that is very bad news indeed for this planet. It is worth reminding ourselves on these occasions, although the facts and arguments are familiar enough to this audience, why such an outcome would be such bad news, and why it is that the work that is done at symposiums

  9. On nonlinear dynamics and control of a robotic arm with chaos

    Directory of Open Access Journals (Sweden)

    Felix J. L. P.

    2014-01-01

    Full Text Available In this paper a robotic arm is modelled by a double pendulum excited in its base by a DC motor of limited power via crank mechanism and elastic connector. In the mathematical model, a chaotic motion was identified, for a wide range of parameters. Controlling of the chaotic behaviour of the system, were implemented using, two control techniques, the nonlinear saturation control (NSC and the optimal linear feedback control (OLFC. The actuator and sensor of the device are allowed in the pivot and joints of the double pendulum. The nonlinear saturation control (NSC is based in the order second differential equations and its action in the pivot/joint of the robotic arm is through of quadratic nonlinearities feedback signals. The optimal linear feedback control (OLFC involves the application of two control signals, a nonlinear feedforward control to maintain the controlled system to a desired periodic orbit, and control a feedback control to bring the trajectory of the system to the desired orbit. Simulation results, including of uncertainties show the feasibility of the both methods, for chaos control of the considered system.

  10. Content and structure of knowledge base used for virtual control of android arm motion in specified environment

    Science.gov (United States)

    Pritykin, F. N.; Nebritov, V. I.

    2018-01-01

    The paper presents the configuration of knowledge base necessary for intelligent control of android arm mechanism motion with different positions of certain forbidden regions taken into account. The present structure of the knowledge base characterizes the past experience of arm motion synthesis in the vector of velocities with due regard for the known obstacles. This structure also specifies its intrinsic properties. Knowledge base generation is based on the study of the arm mechanism instantaneous states implementations. Computational experiments connected with the virtual control of android arm motion with known forbidden regions using the developed knowledge base are introduced. Using the developed knowledge base to control virtually the arm motion reduces the time of test assignments calculation. The results of the research can be used in developing control systems of autonomous android robots in the known in advance environment.

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

    CERN Document Server

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

    2018-01-01

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

  12. Cooperation of nuclear reactor controller ARM-5S and turbine TVER-02

    International Nuclear Information System (INIS)

    Wagner, K.; Lnenicka, B.; Pokorny, F.; Prochazka, F.

    1985-01-01

    Turbines of Czechoslovak make provided with controllers TVER-02 are installed in WWER-440 nuclear power plants under construction in Czechoslovakia. Reactor output is controlled using Soviet-made controllers ARM-5S which already comprise turbine controllers. The problems are analyzed of cooperation of both controllers, especially their parameters and transient processes in typical operating situations. The analysis uses the results of measurements performed during the power start-up of Unit 1 of the V-2 nuclear power plant at Jaslovske Bohunice. The results show that two types of control modes can be selected for the operation of the entire unit: the control to constant unit output, and control of unit output varying with turbine load selected on the TVER-02 controller or given by the demand of the power network. (Z.M.)

  13. Visual Attention Allocation Between Robotic Arm and Environmental Process Control: Validating the STOM Task Switching Model

    Science.gov (United States)

    Wickens, Christopher; Vieanne, Alex; Clegg, Benjamin; Sebok, Angelia; Janes, Jessica

    2015-01-01

    Fifty six participants time shared a spacecraft environmental control system task with a realistic space robotic arm control task in either a manual or highly automated version. The former could suffer minor failures, whose diagnosis and repair were supported by a decision aid. At the end of the experiment this decision aid unexpectedly failed. We measured visual attention allocation and switching between the two tasks, in each of the eight conditions formed by manual-automated arm X expected-unexpected failure X monitoring- failure management. We also used our multi-attribute task switching model, based on task attributes of priority interest, difficulty and salience that were self-rated by participants, to predict allocation. An un-weighted model based on attributes of difficulty, interest and salience accounted for 96 percent of the task allocation variance across the 8 different conditions. Task difficulty served as an attractor, with more difficult tasks increasing the tendency to stay on task.

  14. A Digest of Nonproliferation Literature.

    Energy Technology Data Exchange (ETDEWEB)

    Duggan, Ruth A

    2006-04-01

    In preparation for the 2005 US/Russian Weapons Laboratories Directors Meeting, the six laboratories participating in the meeting endeavored to develop a strategy for nonproliferation technology research and development. A literature review was conducted to identify possible areas of technical collaboration and technology opportunities associated with improving nonproliferation associated with the civilian nuclear fuel cycle. The issue of multinationalization of the nuclear fuel cycle was also researched. This digest is the compilation of one-page summaries used by management of the three US nuclear weapons laboratories in preparation for strategy development. Where possible, the Web site address of the complete paper is referenced.3 AcknowledgementsThe author wishes to thank Jessica Ruyle, Nancy Orlando-Gay, and Barbara Dry for their research assistance and contributions.4

  15. Historical survey of nonproliferation policies

    International Nuclear Information System (INIS)

    Goldschmidt, B.

    1977-01-01

    This paper briefly surveys the successive nonproliferation policies and their influence on international commerce and the reaction of the countries where they were applied: the war policy, secrecy policy, liberal policy, safeguarded assistance policy, nonproliferation treaty policy, suppliers' policy, French policy, and the no weapon-usable material policy. It is emphasized that any new solution of the problem must not appear to delay or limit in any way a nation's access to nuclear energy, nor to make any countries dependent on others to meet their energy requirements. Therefore, in the choice of a future policy, political considerations are more important than technical or legal ones. The greatest catalyst of proliferation is the spread of national autarchic programs, and these can only be avoided within a general climate of international trust. The escalation of mistrust between the countries possessing the technological information and those desiring it must be dispelled. Such a policy will have to be clear and stable

  16. Unilateral versus bilateral robot-assisted rehabilitation on arm-trunk control and functions post stroke: a randomized controlled trial.

    Science.gov (United States)

    Wu, Ching-Yi; Yang, Chieh-Ling; Chen, Ming-de; Lin, Keh-Chung; Wu, Li-Ling

    2013-04-12

    Although the effects of robot-assisted arm training after stroke are promising, the relative effects of unilateral (URT) vs. bilateral (BRT) robot-assisted arm training remain uncertain. This study compared the effects of URT vs. BRT on upper extremity (UE) control, trunk compensation, and function in patients with chronic stroke. This was a single-blinded, randomized controlled trial. The intervention was implemented at 4 hospitals. Fifty-three patients with stroke were randomly assigned to URT, BRT, or control treatment (CT). Each group received UE training for 90 to 105 min/day, 5 days/week, for 4 weeks. The kinematic variables for arm motor control and trunk compensation included normalized movement time, normalized movement units, and the arm-trunk contribution slope in unilateral and bilateral tasks. Motor function and daily function were measured by the Wolf Motor Function Test (WMFT), Motor Activity Log (MAL), and ABILHAND Questionnaire. The BRT and CT groups elicited significantly larger slope values (i.e., less trunk compensation) at the start of bilateral reaching than the URT group. URT led to significantly better effects on WMFT-Time than BRT. Differences in arm control kinematics and performance on the MAL and ABILHAND among the 3 groups were not significant. BRT and URT resulted in differential improvements in specific UE/trunk performance in patients with stroke. BRT elicited larger benefits than URT on reducing compensatory trunk movements at the beginning of reaching. In contrast, URT produced better improvements in UE temporal efficiency. These relative effects on movement kinematics, however, did not translate into differential benefits in daily functions. ClinicalTrials.gov: NCT00917605.

  17. Translational control of a graphically simulated robot arm by kinematic rate equations that overcome elbow joint singularity

    Science.gov (United States)

    Barker, L. K.; Houck, J. A.; Carzoo, S. W.

    1984-01-01

    An operator commands a robot hand to move in a certain direction relative to its own axis system by specifying a velocity in that direction. This velocity command is then resolved into individual joint rotational velocities in the robot arm to effect the motion. However, the usual resolved-rate equations become singular when the robot arm is straightened. To overcome this elbow joint singularity, equations were developed which allow continued translational control of the robot hand even though the robot arm is (or is nearly) fully extended. A feature of the equations near full arm extension is that an operator simply extends and retracts the robot arm to reverse the direction of the elbow bend (difficult maneuver for the usual resolved-rate equations). Results show successful movement of a graphically simulated robot arm.

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

    Science.gov (United States)

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

    1978-01-01

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

  19. The Arms Control and Crisis Management Potential of the Proposed International Satellite Monitoring Agency (ISMA)

    Science.gov (United States)

    1984-12-01

    unbiased scientific method , is widespread in the West. This is particularly true of the two arms control functions to which an ISMA would contribute...Elizabeth Young (Lord and Lady Kennett), Neitber Red Nor Dead:_ The Case for Dis• aumAmjeif, Social Democratic Party (SDP), Open Forum Paper No. 2...in the national interest. The Soviet Union is not the first, and is unlikely to be the last, country to adopt a . narrow, constructionist approach to

  20. Evolution in nuclear strategy in US and Russia and its implications in arms control

    Energy Technology Data Exchange (ETDEWEB)

    Sokov, N

    2003-07-01

    Today, there is a growing tendency in war-fighting scenarios to include limited use of nuclear weapons. New developments in nuclear policy could be attributed to changes in the international situation like the multiplication of low level conflicts and the threat of terrorism. This paper analyzes the evolution of the Russian nuclear doctrine, the transformation of the US nuclear policy and their consequences on arms control. (J.S.)

  1. Evolution in nuclear strategy in US and Russia and its implications in arms control

    International Nuclear Information System (INIS)

    Sokov, N.

    2003-01-01

    Today, there is a growing tendency in war-fighting scenarios to include limited use of nuclear weapons. New developments in nuclear policy could be attributed to changes in the international situation like the multiplication of low level conflicts and the threat of terrorism. This paper analyzes the evolution of the Russian nuclear doctrine, the transformation of the US nuclear policy and their consequences on arms control. (J.S.)

  2. A hybrid BMI-based exoskeleton for paresis: EMG control for assisting arm movements.

    Science.gov (United States)

    Kawase, Toshihiro; Sakurada, Takeshi; Koike, Yasuharu; Kansaku, Kenji

    2017-02-01

    Brain-machine interface (BMI) technologies have succeeded in controlling robotic exoskeletons, enabling some paralyzed people to control their own arms and hands. We have developed an exoskeleton asynchronously controlled by EEG signals. In this study, to enable real-time control of the exoskeleton for paresis, we developed a hybrid system with EEG and EMG signals, and the EMG signals were used to estimate its joint angles. Eleven able-bodied subjects and two patients with upper cervical spinal cord injuries (SCIs) performed hand and arm movements, and the angles of the metacarpophalangeal (MP) joint of the index finger, wrist, and elbow were estimated from EMG signals using a formula that we derived to calculate joint angles from EMG signals, based on a musculoskeletal model. The formula was exploited to control the elbow of the exoskeleton after automatic adjustments. Four able-bodied subjects and a patient with upper cervical SCI wore an exoskeleton controlled using EMG signals and were required to perform hand and arm movements to carry and release a ball. Estimated angles of the MP joints of index fingers, wrists, and elbows were correlated well with the measured angles in 11 able-bodied subjects (correlation coefficients were 0.81  ±  0.09, 0.85  ±  0.09, and 0.76  ±  0.13, respectively) and the patients (e.g. 0.91  ±  0.01 in the elbow of a patient). Four able-bodied subjects successfully positioned their arms to adequate angles by extending their elbows and a joint of the exoskeleton, with root-mean-square errors  exoskeleton, successfully carried a ball to a goal in all 10 trials. A BMI-based exoskeleton for paralyzed arms and hands using real-time control was realized by designing a new method to estimate joint angles based on EMG signals, and these may be useful for practical rehabilitation and the support of daily actions.

  3. A hybrid BMI-based exoskeleton for paresis: EMG control for assisting arm movements

    Science.gov (United States)

    Kawase, Toshihiro; Sakurada, Takeshi; Koike, Yasuharu; Kansaku, Kenji

    2017-02-01

    Objective. Brain-machine interface (BMI) technologies have succeeded in controlling robotic exoskeletons, enabling some paralyzed people to control their own arms and hands. We have developed an exoskeleton asynchronously controlled by EEG signals. In this study, to enable real-time control of the exoskeleton for paresis, we developed a hybrid system with EEG and EMG signals, and the EMG signals were used to estimate its joint angles. Approach. Eleven able-bodied subjects and two patients with upper cervical spinal cord injuries (SCIs) performed hand and arm movements, and the angles of the metacarpophalangeal (MP) joint of the index finger, wrist, and elbow were estimated from EMG signals using a formula that we derived to calculate joint angles from EMG signals, based on a musculoskeletal model. The formula was exploited to control the elbow of the exoskeleton after automatic adjustments. Four able-bodied subjects and a patient with upper cervical SCI wore an exoskeleton controlled using EMG signals and were required to perform hand and arm movements to carry and release a ball. Main results. Estimated angles of the MP joints of index fingers, wrists, and elbows were correlated well with the measured angles in 11 able-bodied subjects (correlation coefficients were 0.81  ±  0.09, 0.85  ±  0.09, and 0.76  ±  0.13, respectively) and the patients (e.g. 0.91  ±  0.01 in the elbow of a patient). Four able-bodied subjects successfully positioned their arms to adequate angles by extending their elbows and a joint of the exoskeleton, with root-mean-square errors  exoskeleton, successfully carried a ball to a goal in all 10 trials. Significance. A BMI-based exoskeleton for paralyzed arms and hands using real-time control was realized by designing a new method to estimate joint angles based on EMG signals, and these may be useful for practical rehabilitation and the support of daily actions.

  4. A Remote Controlled Robotic Arm That Reads Barcodes and Handles Products

    Directory of Open Access Journals (Sweden)

    Zhi-Ying Chen

    2018-03-01

    Full Text Available In this study, a 6-axis robotic arm, which was controlled by an embedded Raspberry Pi with onboard WiFi, was developed and fabricated. A mobile application (APP, designed for the purpose, was used to operate and monitor a robotic arm by means of a WiFi connection. A computer vision was used to read common one-dimensional barcode (EAN code for the handling and identification of products such as milk tea drinks, sodas and biscuits. The gripper on the end of the arm could sense the clamping force and allowed real-time control of the amount of force used to hold and handle the products. The packages were all made of different material and this control allowed them to be handled without danger of damage or deformation. The maximum handling torque used was ~1.08 Nm and the mechanical design allowed the force of the gripper to be uniformly applied to the sensor to ensure accurate measurement of the force.

  5. A MYOELECTRIC PROSTHETIC ARM CONTROLLED BY A SENSOR-ACTUATOR LOOP

    Directory of Open Access Journals (Sweden)

    Patrik Kutílek

    2014-06-01

    Full Text Available This paper describes new methods and systems designed for application in upper extremity prostheses. An artificial upper limb with this system is a robot arm controlled by EMG signals and a set of sensors. The new multi-sensor system is based on ultrasonic sensors, infrared sensors, Hall-effect sensors, a CO2 sensor and a relative humidity sensor. The multi-sensor system is used to update a 3D map of objects in the robot’s environment, or it directly sends information about the environment to the control system of the myoelectric arm. Occupancy grid mapping is used to build a 3D map of the robot’s environment. The multi-sensor system can identify the distance of objects in 3D space, and the information from the system is used in a 3D map to identify potential collisions or a potentially dangerous environment, which could damage the prosthesis or the user. Information from the sensors and from the 3D map is evaluated using a fuzzy expert system. The control system of the myoelectric prosthetic arm can choose an adequate reaction on the basis of information from the fuzzy expert system. The systems and methods were designed and verified using MatLab/Simulink. They are aimed for use as assistive technology for disabled people.

  6. Domestic politics, citizen activism, and U.S. nuclear arms control policy

    International Nuclear Information System (INIS)

    Knopf, J.W.

    1991-01-01

    The author seeks to ascertain whether and how citizens' movements concerning nuclear arms control and disarmament affect US arms control policy. The author employs a comparative case study methodology. He examines cases of the Eisenhower and Kennedy Administrations during the period of protest against nuclear testing, and the Reagan Administration during the nuclear weapons freeze campaign and the subsequent campaign for a comprehensive test ban. He hows there are four mechanisms through which public advocacy efforts can influence arms control policy, identifies the conditions under which each can be effective, and details the type of impact each mechanism has. Domestic activism interacts with broader public opinion in a way that creates electoral pressure; with elite-level debates in a way that removes a consensus behind presidential policy or changes the winning coalition in Congress; with bureaucratic politics, by generating ideas that have utility for some agents within the Executive; or with the public diplomacy of foreign governments, especially the Soviet Union. Citizens' movements had an impact on policy in each of the cases studied. The type and extent of impact, and the mechanisms involved in giving activism influence, are different for each case

  7. Intelligent control of robotic arm/hand systems for the NASA EVA retriever using neural networks

    Science.gov (United States)

    Mclauchlan, Robert A.

    1989-01-01

    Adaptive/general learning algorithms using varying neural network models are considered for the intelligent control of robotic arm plus dextrous hand/manipulator systems. Results are summarized and discussed for the use of the Barto/Sutton/Anderson neuronlike, unsupervised learning controller as applied to the stabilization of an inverted pendulum on a cart system. Recommendations are made for the application of the controller and a kinematic analysis for trajectory planning to simple object retrieval (chase/approach and capture/grasp) scenarios in two dimensions.

  8. Nuclear arms control in the post-Cold War era. New conditions, new requirements, and nonproliferation (with special emphasis on Japan and East Asia)

    International Nuclear Information System (INIS)

    Imai, Ryukichi

    1994-01-01

    The paper starts with a general survey of post-Cold War nuclear disarmament, pointing out Japan's positions, policies, and problems in the process. The discussion is not Japan-centered, nor is it an explanation of the Japanese view. It is useful, in this context, to recall that during the Cold War period, Japan was firmly in the ''Western Camp'', relying on the protection of the extended nuclear deterrence provided by the United States. This article is written with that history very much in mind, and by an author who for some years was in a position to represent Japan in such a context. (orig./DG)

  9. On the structure of nonproliferation measures

    International Nuclear Information System (INIS)

    Kano, Takashi

    1994-01-01

    The author proposed a new analysis method of nonproliferation measures depending on full perception of common threat of nuclear proliferation to entire human being. Nuclear nonproliferation policies of the US and Japan were analysed by this method and it revealed the following results: 1) There is a large discrepancy between the nuclear nonproliferation policies of the US and Japan mainly because of the different standpoints of both nations and partly because of the difference of understanding on the definition of nonproliferation, and the object of nonproliferation measures. 2) The total structure of nuclear nonproliferation measures becomes more visible through categorization of nonproliferation measures, depending on implementater, target for implementation, characteristics of the measures (soft-liner, legal, or hard-liner) and risk factor for reduction of the total risk of nuclear weapon use. 3) The total structure of nonproliferation measures is multi-barrier structure on the process to reach the actual nuclear weapon use, and each barrier is composed of multi-defense in depth structure including various soft-liner, legal, and hard-linear measures. 4) Various nonproliferation measures can be stored in a data base, based on the proposed structural analysis, which enables further comprehensive analysis for specific purposes efficiently. (author)

  10. The handbook of nuclear non-proliferation

    International Nuclear Information System (INIS)

    Yang, M. H.; Lee, B. W.; Oh, K. B.; Lee, H. M.; Ko, H. S.; Ryu, J. S.; Lee, K. S.

    2003-07-01

    This report analyzed international non-proliferation regime preventing from spread of nuclear weapon. This report took review from the historical background of non-proliferation regime to the recent changes and current status. It is here divided into multilateral and bilateral regime. First of all, this report dealt four multilateral treaties concluded for international non-proliferation such as NPT, NWFZ, CTBT and others. And international organization and regimes concerned with non-proliferation are also analyzed focused on UN, IAEA, ZC and NSG, regional safeguards system and international conferences. In addition, this report reviewed the nuclear cooperation agreement related with Korea which is a important tool for bilateral regime

  11. Biologically inspired control of humanoid robot arms robust and adaptive approaches

    CERN Document Server

    Spiers, Adam; Herrmann, Guido

    2016-01-01

    This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniqu...

  12. Hardware design of HIRFL-CSR EVMEbus controller based on ARM920T

    International Nuclear Information System (INIS)

    Jing Lan; Qian Weimin; Xu Yang; Ji Peng; Liu Caihong; Ma Yunhai

    2006-01-01

    The HIRFL-CSR EVMEbus controller is developed in IMP. The controller is based on AT91RM9200 (ARM9) microprocessor, which is in 0.8 mm BGA package. The controller runs LINUX OS, and can connect with standard VGA display, keyboard, and mouse. There are 10 M/100 M Ethernet, USB, RS-232, RS-485 and CANBUS interfaces on the board. Itr supports storage devices SD Card and CF Card. The backboard interface logic is programmed in VHDL and is programmed into an in-system configurable FPGA device. The bus can drive high current up to 64 mA. It is not only compliant to VME specification, but also has flexibility of the programmable signal definition. Being a key module in HIRFL-CSR control system, the controller can be used as a local controller and also a remote gateway controller. (authors)

  13. Performance and Usability of Various Robotic Arm Control Modes from Human Force Signals

    Directory of Open Access Journals (Sweden)

    Sébastien Mick

    2017-10-01

    Full Text Available Elaborating an efficient and usable mapping between input commands and output movements is still a key challenge for the design of robotic arm prostheses. In order to address this issue, we present and compare three different control modes, by assessing them in terms of performance as well as general usability. Using an isometric force transducer as the command device, these modes convert the force input signal into either a position or a velocity vector, whose magnitude is linearly or quadratically related to force input magnitude. With the robotic arm from the open source 3D-printed Poppy Humanoid platform simulating a mobile prosthesis, an experiment was carried out with eighteen able-bodied subjects performing a 3-D target-reaching task using each of the three modes. The subjects were given questionnaires to evaluate the quality of their experience with each mode, providing an assessment of their global usability in the context of the task. According to performance metrics and questionnaire results, velocity control modes were found to perform better than position control mode in terms of accuracy and quality of control as well as user satisfaction and comfort. Subjects also seemed to favor quadratic velocity control over linear (proportional velocity control, even if these two modes did not clearly distinguish from one another when it comes to performance and usability assessment. These results highlight the need to take into account user experience as one of the key criteria for the design of control modes intended to operate limb prostheses.

  14. The implementation of common object request broker architecture (CORBA) for controlling robot arm via web

    International Nuclear Information System (INIS)

    Syed Mahamad Zuhdi Amin; Mohd Yazid Idris; Wan Mohd Nasir Wan Kadir

    2001-01-01

    This paper presents the employment of the Common Object Request Broker Architecture (CORBA) technology in the implementation of our distributed Arm Robot Controller (ARC). CORBA is an industrial standard architecture based on distributed abstract object model, which is developed by Object Management Group (OMG). The architecture consists of five components i.e. Object Request Broker (ORB), Interface Definition Language (IDL), Dynamic Invocation Interface (DII), Interface Repositories (IR) and Object adapter (OA). CORBA objects are different from typical programming objects in three ways i.e. they can be executed on any platform, located anywhere on the network and written in any language that supports IDL mapping. In the implementation of the system, 5 degree of freedom (DOF) arm robot RCS 6.0 and Java as a programming mapping to the CORBA IDL. By implementing this architecture, the objects in the server machine can be distributed over the network in order to run the controller. the ultimate goal for our ARC system is to demonstrate concurrent execution of multiple arm robots through multiple instantiations of distributed object components. (Author)

  15. Trajectory control of an articulated robot with a parallel drive arm based on splines under tension

    Science.gov (United States)

    Yi, Seung-Jong

    Today's industrial robots controlled by mini/micro computers are basically simple positioning devices. The positioning accuracy depends on the mathematical description of the robot configuration to place the end-effector at the desired position and orientation within the workspace and on following the specified path which requires the trajectory planner. In addition, the consideration of joint velocity, acceleration, and jerk trajectories are essential for trajectory planning of industrial robots to obtain smooth operation. The newly designed 6 DOF articulated robot with a parallel drive arm mechanism which permits the joint actuators to be placed in the same horizontal line to reduce the arm inertia and to increase load capacity and stiffness is selected. First, the forward kinematic and inverse kinematic problems are examined. The forward kinematic equations are successfully derived based on Denavit-Hartenberg notation with independent joint angle constraints. The inverse kinematic problems are solved using the arm-wrist partitioned approach with independent joint angle constraints. Three types of curve fitting methods used in trajectory planning, i.e., certain degree polynomial functions, cubic spline functions, and cubic spline functions under tension, are compared to select the best possible method to satisfy both smooth joint trajectories and positioning accuracy for a robot trajectory planner. Cubic spline functions under tension is the method selected for the new trajectory planner. This method is implemented for a 6 DOF articulated robot with a parallel drive arm mechanism to improve the smoothness of the joint trajectories and the positioning accuracy of the manipulator. Also, this approach is compared with existing trajectory planners, 4-3-4 polynomials and cubic spline functions, via circular arc motion simulations. The new trajectory planner using cubic spline functions under tension is implemented into the microprocessor based robot controller and

  16. A Study on Control System Design Based on ARM Sea Target Search System

    Directory of Open Access Journals (Sweden)

    Lin Xinwei

    2015-01-01

    Full Text Available The infrared detector is used for sea target search, which can assist humans in searching suspicious objects at night and under poor visibility conditions, and improving search efficiency. This paper applies for interrupt and stack technology to solve problems of data losses that may be caused by one-to-many multi-byte protocol communication. Meanwhile, this paper implements hardware and software design of the system based on industrial-grade ARM control chip and uC / OS-II embedded operating system. The control system in the sea target search system is an information exchange and control center of the whole system, which solves the problem of controlling over the shooting angle of the infrared detector in the process of target search. After testing, the control system operates stably and reliably, and realizes rotation and control functions of the pan/tilt platform during automatic search, manual search and track.

  17. Development of Ethernet Based Remote Monitoring and Controlling of MST Radar Transmitters using ARM Cortex Microcontroller

    Directory of Open Access Journals (Sweden)

    Lakshmi Narayana ROSHANNA

    2013-01-01

    Full Text Available The recently emerging Web Services technology has provided a new and excellent solution to Industrial Automation in online control and remote monitoring. In this paper, a Web Service Based Remote Monitoring & Controlling of Radar Transmitters for safety management (WMCT developed for MST Radar is described. It achieved the MST radar transmitters’ remote supervisory, data logging and controlling activities. The system is developed using an ARM Cortex M3 processor to monitor and control the 32 triode-based transmitters of the 53-MHz Radar. The system controls transmitters via the internet using an Ethernet client server and store health status in the Database for radar performance analysis. The system enables scientists to operate and control the radar transmitters from a remote client machine Webpage.

  18. The legal points at issue concerning the Non-proliferation Treaty and the verification agreement of EURATOM with the IAEA

    International Nuclear Information System (INIS)

    Zieger, G.

    1975-01-01

    An excellent and comprehensive but very juridicial contribution on: Development and content of the Non-proliferation Treaty, the problems which this Treaty poses for EURATOM (a common market, common supply, joint enterprises, Non-proliferation Treaty and France), the compatibility of the Non-proliferation Treaty with the EURATOM Treaty, verification agreement EURATOM - IAEA (the IAEA as the supervisory authority, the control system of the IAEA, guidelines elaborated by the IAEA to be used as the basis for negotiating safeguard agreements, national systems of accounting for and control of nuclear material IAEA supervision as a secondary control, principles of IAEA supervision, secrecy, conflict management), conclusion of the verification agreement, deviations from the guidelines elaborated by the IAEA to be used as the basis for negotiating safeguard agreements legal reflexions (verification agreement and Non-proliferation Treaty, reservations concerning the Non-proliferation Treaty, questions of competence between EURATOM and member states without nuclear weapons, problems of equal treatment). (HP/LN) [de

  19. Multi-muscle FES force control of the human arm for arbitrary goals.

    Science.gov (United States)

    Schearer, Eric M; Liao, Yu-Wei; Perreault, Eric J; Tresch, Matthew C; Memberg, William D; Kirsch, Robert F; Lynch, Kevin M

    2014-05-01

    We present a method for controlling a neuroprosthesis for a paralyzed human arm using functional electrical stimulation (FES) and characterize the errors of the controller. The subject has surgically implanted electrodes for stimulating muscles in her shoulder and arm. Using input/output data, a model mapping muscle stimulations to isometric endpoint forces measured at the subject's hand was identified. We inverted the model of this redundant and coupled multiple-input multiple-output system by minimizing muscle activations and used this inverse for feedforward control. The magnitude of the total root mean square error over a grid in the volume of achievable isometric endpoint force targets was 11% of the total range of achievable forces. Major sources of error were random error due to trial-to-trial variability and model bias due to nonstationary system properties. Because the muscles working collectively are the actuators of the skeletal system, the quantification of errors in force control guides designs of motion controllers for multi-joint, multi-muscle FES systems that can achieve arbitrary goals.

  20. Brain-Machine Interface control of a robot arm using actor-critic rainforcement learning.

    Science.gov (United States)

    Pohlmeyer, Eric A; Mahmoudi, Babak; Geng, Shijia; Prins, Noeline; Sanchez, Justin C

    2012-01-01

    Here we demonstrate how a marmoset monkey can use a reinforcement learning (RL) Brain-Machine Interface (BMI) to effectively control the movements of a robot arm for a reaching task. In this work, an actor-critic RL algorithm used neural ensemble activity in the monkey's motor cortext to control the robot movements during a two-target decision task. This novel approach to decoding offers unique advantages for BMI control applications. Compared to supervised learning decoding methods, the actor-critic RL algorithm does not require an explicit set of training data to create a static control model, but rather it incrementally adapts the model parameters according to its current performance, in this case requiring only a very basic feedback signal. We show how this algorithm achieved high performance when mapping the monkey's neural states (94%) to robot actions, and only needed to experience a few trials before obtaining accurate real-time control of the robot arm. Since RL methods responsively adapt and adjust their parameters, they can provide a method to create BMIs that are robust against perturbations caused by changes in either the neural input space or the output actions they generate under different task requirements or goals.

  1. Design of a telescope control system using an ARM microcontroller with embedded RTOS

    Science.gov (United States)

    Peñuela Pico, Cristian R.; Atara Montañez, Fabian A.; Cuervo, Juan C.; Gonzalez-Llorente, Jesus

    2014-08-01

    This work presents the design of a wireless control system that allows driving all the necessary instruments to control the orientation of an equatorial mounting telescope through a real time operative system (RTOS) that runs over ARM microcontroller. The control system is commanded through a user-interface which works under Android platform giving the user the option to control the tracking mode, right ascension, and declination. The system was successfully deployed and tested during a one-hour observation of the Moon. The frequency measured by the oscilloscope is 66.67 Hz which equals the sidereal speed. The telescope control systems allows the user to have a better precision when locating a star but also to cover long-duration tracking processes

  2. Nuclear Sanctions: Section 102(b) of the Arms Export Control Act and its Application to India and Pakistan

    National Research Council Canada - National Science Library

    Grimmett, Jeanne J

    2001-01-01

    Section 102(b) of the Arms Export Control Act (AECA) requires the President to impose sanctions on any country that he has determined is a "non-nuclear-weapon state" and has received or detonated a "nuclear explosive device...

  3. Major upgrade of the articulated inspection arm control system to fulfill daily operation requirements

    Energy Technology Data Exchange (ETDEWEB)

    Pastor, P., E-mail: patrick.pastor@cea.fr [CEA, IRFM, Institut de Recherche sur la Fusion par confinement Magnétique (France); Villedieu, E.; Allegretti, L.; Vincent, B.; Barbuti, A.; Bruno, V.; Coquillat, P.; Dechelle, C.; Gargiulo, L.; Le, R.; Malard, P.; Martinez, A.; Nouailletas, R. [CEA, IRFM, Institut de Recherche sur la Fusion par confinement Magnétique (France); Yuntao, Song; Yong, Cheng; Chen, Liu; Hansheng, Feng; Shanshuang, Shi [ASIPP, Institute of Plasma Physics, Chinese Academy of Sciences, Hefei, Anhui (China)

    2015-10-15

    Highlights: • We propose an overview of the work which has been done to upgrade the control system of the AIA robot (articulated inspection arm) to fulfill daily operation requirements for tokamak inspection. • The control system is based on the use of new position sensors, new electronics design and new supervisor software. • Final tests are ongoing in the EAST scale 1 tokamak mock-up. Routine operation of the robot at EAST will start in the beginning of 2015. - Abstract: An articulated inspection arm (AIA) has been developed by CEA for visual inspection between pulses inside the Tore Supra tokamak vacuum vessel without breaking temperature and vacuum conditions. The eight meters length robot is composed of a shuttle and six articulated segments with a video camera at its end. A demonstration prototype has been achieved in 2008 at Tore Supra (Gargiulo, 2007; Houry, 2008; Perrot, 2003). A project to upgrade the AIA into a fully operational robot has been undertaken by IRFM and ASIPP in an Associated Laboratory. It will be in operation first in the EAST machine and afterwards in Tore Supra in its WEST (W/Tungsten Environment in Steady-state Tokamak) configuration where it is of paramount importance to survey possible degradation of W component surface. The control system of the robot has been extensively upgraded. The effort has been focused on three areas: (1) improvement of the arm position accuracy, (2) increase of the operational robustness, (3) use of a powerful graphical user interface including simulation of trajectories and robot deployment capabilities in a 3D viewer environment. The aim of this paper is to detail the architecture of the AIA control system.

  4. Position Based Visual Servoing control of a Wheelchair Mounter Robotic Arm using Parallel Tracking and Mapping of task objects

    Directory of Open Access Journals (Sweden)

    Alessandro Palla

    2017-05-01

    Full Text Available In the last few years power wheelchairs have been becoming the only device able to provide autonomy and independence to people with motor skill impairments. In particular, many power wheelchairs feature robotic arms for gesture emulation, like the interaction with objects. However, complex robotic arms often require a joystic to be controlled; this feature make the arm hard to be controlled by impaired users. Paradoxically, if the user were able to proficiently control such devices, he would not need them. For that reason, this paper presents a highly autonomous robotic arm, designed in order to minimize the effort necessary for the control of the arm. In order to do that, the arm feature an easy to use human - machine interface and is controlled by Computer Vison algorithm, implementing a Position Based Visual Servoing (PBVS control. It was realized by extracting features by the camera and fusing them with the distance from the target, obtained by a proximity sensor. The Parallel Tracking and Mapping (PTAM algorithm was used to find the 3D position of the task object in the camera reference system. The visual servoing algorithm was implemented in an embedded platform, in real time. Each part of the control loop was developed in Robotic Operative System (ROS Environment, which allows to implement the previous algorithms as different nodes. Theoretical analysis, simulations and in system measurements proved the effectiveness of the proposed solution.

  5. INFCE and US non-proliferation policy

    Energy Technology Data Exchange (ETDEWEB)

    Donnelly, W H

    1980-12-01

    The International Fuel Cycle Evaluation (INFCE), which published its final reports in February 1980 produced a massive international effort of a kind never before seen. Over a period of two years its eight working groups held 61 meetings involving 519 experts from 46 countries and five international organizations. Here the author outlines the background and structure of INFCE and discusses how its recommendations diverge from US nonproliferation policy. If the future of nuclear power is to include more sensitive facilities in which plutonium and highly enriched uranium are present, it must be determined whether the risks seen in proliferation are great enough to cause the USA and other governments to place such facilities under some form of international ownership or control in addition to international safeguards. A final crucial problem is deciding what can and should be done to dissuade non-nuclear-weapons states from the direct manufacture of nuclear weapons. 6 references.

  6. Strategy of arm movement control is determined by minimization of neural effort for joint coordination.

    Science.gov (United States)

    Dounskaia, Natalia; Shimansky, Yury

    2016-06-01

    Optimality criteria underlying organization of arm movements are often validated by testing their ability to adequately predict hand trajectories. However, kinematic redundancy of the arm allows production of the same hand trajectory through different joint coordination patterns. We therefore consider movement optimality at the level of joint coordination patterns. A review of studies of multi-joint movement control suggests that a 'trailing' pattern of joint control is consistently observed during which a single ('leading') joint is rotated actively and interaction torque produced by this joint is the primary contributor to the motion of the other ('trailing') joints. A tendency to use the trailing pattern whenever the kinematic redundancy is sufficient and increased utilization of this pattern during skillful movements suggests optimality of the trailing pattern. The goal of this study is to determine the cost function minimization of which predicts the trailing pattern. We show that extensive experimental testing of many known cost functions cannot successfully explain optimality of the trailing pattern. We therefore propose a novel cost function that represents neural effort for joint coordination. That effort is quantified as the cost of neural information processing required for joint coordination. We show that a tendency to reduce this 'neurocomputational' cost predicts the trailing pattern and that the theoretically developed predictions fully agree with the experimental findings on control of multi-joint movements. Implications for future research of the suggested interpretation of the trailing joint control pattern and the theory of joint coordination underlying it are discussed.

  7. Nuclear World Order and Nonproliferation

    Energy Technology Data Exchange (ETDEWEB)

    Joeck, N

    2007-02-05

    The decision by India and Pakistan in May 1998 to conduct nuclear weapon tests and declare themselves as nuclear weapon states challenged South Asian regional stability calculations, US nonproliferation policy, and prevailing assumptions about international security. A decade later, the effects of those tests are still being felt and policies are still adjusting to the changed global conditions. This paper will consider non- and counter-proliferation policy options for the United States and Pakistan as they work as partners to prevent the transfer of nuclear technology and further nuclear proliferation.

  8. Nuclear nonproliferation: The long haul

    International Nuclear Information System (INIS)

    Dunn, L.A.

    1985-01-01

    The policy of the US Arms Control and Disarmament Agency rests upon the recognition that nuclear proliferation would profoundly threaten international stability and global order. Suspicions among traditional rivals would be exacerbated, regional disputes made more complex, and the possibility of local conflict increased. The security and well-being of the United Sttes and its close friends and allies, but also the security and well-being of the countries acquiring these weapons, would be threatened. Indeed, the greatest chance of use of nuclear weapons stems not from the US-Soviet strategic balance but from the possible emergence of small, unstable nuclear arsenals in many regions of the world characterized by crises and periodic military conflict

  9. Brazil and Mexico in the Nonproliferation Regime, Common Structures and Divergent Trajectories in Latin America

    OpenAIRE

    Sotomayor, Arturo C.

    2014-01-01

    Chapter 8 There are multiple options Latin American countries to support and comply with the nuclear nonproliferation regime. At the global level, states can decide to ratify the core treaties and join their supporting institutions such as the Treaty on the Non-Proliferation of Nuclear Weapons (NPT), the International Atomic Energy Agency (IAEA), the Comprehensive Nuclear-Test-Ban Treaty (CTBT), the Nuclear Suppliers Group (NSG), the Missile Technology Control Regime, the...

  10. The nuclear non-proliferation international system before the TNP revision conference (1995)

    International Nuclear Information System (INIS)

    Biad, A.

    1996-01-01

    This document described the international cooperation on nuclear non-proliferation. It consists of different agreements which aim at a pacific use of nuclear energy. However it is shown that many difficulties occurred during the non-proliferation treaty. Questions on equilibrium between control and cooperation, on the link between nuclear weapons reduction and countries equipped with the weapon, on the security for non-equipped countries are separately discussed. (TEC)

  11. Argentina’s nuclear development and the non-proliferation regime

    OpenAIRE

    Sandra Colombo; Cristian Guglielminotti; María Nevia Vera

    2017-01-01

    The development and transfer of nuclear technology have been put under strict control due to its possible military use, leading to the creation of international non-proliferation regimes. One of the latest proposals was the creation of multilateral banks of low enriched uranium (leu). The article states that, under the goal of non-proliferation, this initiative can contribute to accentuate the asymmetry in the distribution of world economic and political power, damaging the endogenous develop...

  12. Procesamiento de ondas cerebrales con microprocesador ARM para control de coche teledirigido

    OpenAIRE

    Calderón Martínez, Daniel

    2016-01-01

    Este trabajo fin de grado trata sobre el procesamiento de las señales que produce el cerebro humano para utilizarlas y destinarlas a algún propósito. En este caso, dicho propósito es el control de un coche teledirigido de juguete. Mediante un dispositivo electrónico comercial, que realiza la función de BCI (Brain Computer Interface), se captan las ondas cerebrales haciendo uso de una electroencefalografía (EEG) y son enviadas a un microprocesador ARM vía bluetooth. El casco o sensor de ondas,...

  13. Design of a VME bus controller based on ARM7 with embedded system

    International Nuclear Information System (INIS)

    Wang Yanyu; Qiao Weimin; Guo Yuhui; Li Xiaoqiang; Chinese Academy of Sciences, Beijing

    2005-01-01

    This paper introduces the solution of a VME-like bus Controller briefly. Samsung's S3C4510B 16/32-bit RISC microcontroller with ARM7 core is a high-performance microcontroller support Ethernet-based systems. The authors use S3C4510B, VIC-068A and CPLD devices built a high speed data route from VME-like Bus to network, the fast link between background computer data-base and front-end target module is achieved over network. (authors)

  14. Non-proliferation

    International Nuclear Information System (INIS)

    Deiseroth, D.; Gustafsson, S.

    1993-01-01

    The issue of Nuclear Non Proliferation has been moved to a leading place on the contemporary international security agenda. What about the situation of nuclear weapons and nuclear technology in Russia, Kazakhstan, Ukraine and Belorussia? Why did the IAEA-inspectors totally failed to discover any sign of Iraq's clandestine nuclear-weapon programme before the Gulf War? Do the NATO and their nuclear power states violate Art. VI of the Non-Proliferation-Treaty (NPT), because they are - despite the end of the cold war - not willing to renounce of the ''option of the first use of nuclear weapons''? Does the NPT establish a form of nuclear apartheid? What will be the situation if the NPT-Extension-Conference in 1995 will be unable to obtain a majority of the parties for any one extension proposal? Do we need a new international nuclear control agency with severe powers, a sort of nuclear Interpol? The Colloquium ''Saving NPT and abolishing Nuclear Weapons'', held in Stockholm in September 1992, organized by the Swedish and the German Sections of IALANA, tried to analyse some of the raised issues. (orig.) [de

  15. The nonproliferation treaty and peaceful uses of nuclear explosives

    International Nuclear Information System (INIS)

    Ehrlich, Thomas

    1970-01-01

    In the past, nuclear arms control and peaceful uses of nuclear explosives were seen by many proponents of each as competing - if not opposing - interests. At one extreme, some viewed peaceful uses as an annoying irritant on the way to general and complete disarmament. At the other extreme, some considered arms-control arrangements - particularly those limiting nuclear testing - as bothersome barriers to realizing the full benefits of peaceful nuclear explosions. Most people found themselves somewhere between those extremes. But most also felt a continuing tension between essentially opposing forces. This polarity has been significantly altered by the 1968 Treaty on the Nonproliferation of Nuclear Weapons. It is believed that the future use of nuclear explosives for peaceful purposes will depend in large measure on the international arrangements worked out under the treaty. I also believe that the success of the treaty in checking proliferation of nuclear weapons is contingent, in substantial part, on those peaceful-uses arrangements. In the areas covered by the treaty, therefore, one could view an active development of peaceful uses for nuclear explosives as complementing rather than conflicting with nuclear arms control. The treaty is primarily a security agreement. It is aimed at reducing the risk of nuclear war by establishing permanency in the current separation of nuclear-weapon and non-nuclear-weapon nations. By its terms, each nuclear-weapon state agrees not to transfer nuclear weapons or other nuclear explosive devices to any recipient, and each non-nuclear-weapon state agrees not to receive such weapons or devices. The non-nuclear- weapon parties are also obligated to negotiate safeguards agreements with the International Atomic Energy Agency covering peaceful-uses activities. And all signatories agree not to transfer fissionable material to those parties unless they are subject to such agreements. These provisions are all part of a scheme to limit the

  16. The nonproliferation treaty and peaceful uses of nuclear explosives

    Energy Technology Data Exchange (ETDEWEB)

    Ehrlich, Thomas [School of Law, Stanford University, CA (United States)

    1970-05-01

    In the past, nuclear arms control and peaceful uses of nuclear explosives were seen by many proponents of each as competing - if not opposing - interests. At one extreme, some viewed peaceful uses as an annoying irritant on the way to general and complete disarmament. At the other extreme, some considered arms-control arrangements - particularly those limiting nuclear testing - as bothersome barriers to realizing the full benefits of peaceful nuclear explosions. Most people found themselves somewhere between those extremes. But most also felt a continuing tension between essentially opposing forces. This polarity has been significantly altered by the 1968 Treaty on the Nonproliferation of Nuclear Weapons. It is believed that the future use of nuclear explosives for peaceful purposes will depend in large measure on the international arrangements worked out under the treaty. I also believe that the success of the treaty in checking proliferation of nuclear weapons is contingent, in substantial part, on those peaceful-uses arrangements. In the areas covered by the treaty, therefore, one could view an active development of peaceful uses for nuclear explosives as complementing rather than conflicting with nuclear arms control. The treaty is primarily a security agreement. It is aimed at reducing the risk of nuclear war by establishing permanency in the current separation of nuclear-weapon and non-nuclear-weapon nations. By its terms, each nuclear-weapon state agrees not to transfer nuclear weapons or other nuclear explosive devices to any recipient, and each non-nuclear-weapon state agrees not to receive such weapons or devices. The non-nuclear- weapon parties are also obligated to negotiate safeguards agreements with the International Atomic Energy Agency covering peaceful-uses activities. And all signatories agree not to transfer fissionable material to those parties unless they are subject to such agreements. These provisions are all part of a scheme to limit the

  17. Feedback attitude sliding mode regulation control of spacecraft using arm motion

    Science.gov (United States)

    Shi, Ye; Liang, Bin; Xu, Dong; Wang, Xueqian; Xu, Wenfu

    2013-09-01

    The problem of spacecraft attitude regulation based on the reaction of arm motion has attracted extensive attentions from both engineering and academic fields. Most of the solutions of the manipulator’s motion tracking problem just achieve asymptotical stabilization performance, so that these controllers cannot realize precise attitude regulation because of the existence of non-holonomic constraints. Thus, sliding mode control algorithms are adopted to stabilize the tracking error with zero transient process. Due to the switching effects of the variable structure controller, once the tracking error reaches the designed hyper-plane, it will be restricted to this plane permanently even with the existence of external disturbances. Thus, precise attitude regulation can be achieved. Furthermore, taking the non-zero initial tracking errors and chattering phenomenon into consideration, saturation functions are used to replace sign functions to smooth the control torques. The relations between the upper bounds of tracking errors and the controller parameters are derived to reveal physical characteristic of the controller. Mathematical models of free-floating space manipulator are established and simulations are conducted in the end. The results show that the spacecraft’s attitude can be regulated to the position as desired by using the proposed algorithm, the steady state error is 0.000 2 rad. In addition, the joint tracking trajectory is smooth, the joint tracking errors converges to zero quickly with a satisfactory continuous joint control input. The proposed research provides a feasible solution for spacecraft attitude regulation by using arm motion, and improves the precision of the spacecraft attitude regulation.

  18. Non-proliferation and disarmament

    International Nuclear Information System (INIS)

    Ritter von Wagner, A.

    1993-01-01

    In 1995 the Conference on the prolongation of the Non-Proliferation Treaty will take place. Will it be extended for a long term, indefinitely or only for a fixed period? The Federal Government of Germany advocates an unlimited extension of the Non-Proliferation Treaty. Others have different ideas alleging that the Treaty is imperfect and discriminating. It is a thorn in the side of many States, in particular of the Third World, which no longer want to put up with being treated as second-class states. One argument which is considered especially embarrassing by developing countries as a visible expression of such discrimination, are the nuclear tests which are still carried out by nuclear weapon states. Is the political situation still such that one needs those weapons? Strategists gradually find it difficult to argument; over and over again they claim that an abandonment of nuclear weapons would make the world unsafer. But development has gradually passed over them. Nevertheless, one finds it hard to throw overboard considerations which for years have determined one's thinking. (orig./HSCH) [de

  19. 2. International conference on non-proliferation problems. Abstracts of reports

    Energy Technology Data Exchange (ETDEWEB)

    Koltysheva, G I; Perepelkin, I G [eds.

    1999-12-31

    On 14-17 September 1998, in Kurchatov (Kazakstan), II. International Conference on Non-proliferation Problems was held. Representatives from different international organizations (IAEA, UNO, CTBT Organization Preparatory Committee, Austria), from organizations of Kazakstan, Russia, USA, Japan took part in the Conference. At the conference there were 220 participants. Different issues relating to non-proliferation were discussed at the conference sections. The Conference included Plenary Session `History and Current State of Non-proliferation Problem` and three sections: (1) Practical measures to support non-proliferation regime and Control for Nuclear Tests`; (2) Problems on Eliminating Nuclear tests Consequences and Conversion of Nuclear and Industrial Complex`; (3) Medical and ecological problems of Nuclear Tests Consequences`

  20. Joint DOE-PNC research on the use of transparency in support of Nuclear Nonproliferation

    International Nuclear Information System (INIS)

    Mochiji, Toshiro; Tazaki, Makiko; Keeney, Robin; Puckett, John; Stanbro, William; Nakhleh, Charles

    1998-01-01

    PNC and LANL collaborated in research on the concept of transparency in nuclear nonproliferation. The research was based on the Action Sheet no.21, which was signed in February 1996, 'The Joint Research on 'Transparency' in Nuclear Nonproliferation' under the 'Agreement between the Power Reactor and Nuclear Fuel Development Corporation of Japan (PNC) and the US Department of Energy (DOE) for Cooperation in Research and Development Concerning Nuclear Material Control and Accounting Measures for Safeguards and Nonproliferation.' The scope of the research was a fundamental study on transparency to clarify the means to improve worldwide acceptability of nuclear energy from a nuclear nonproliferation viewpoint. The research encompassed three main topics: the policy environment of transparency, the development of transparency options, and technical options for transparency. Each side performed independent research then joint workshops were held to exchange information and views. This paper summarizes the results of these workshops. (author)

  1. 2. International conference on non-proliferation problems. Abstracts of reports

    International Nuclear Information System (INIS)

    Koltysheva, G.I.; Perepelkin, I.G.

    1998-01-01

    On 14-17 September 1998, in Kurchatov (Kazakstan), II. International Conference on Non-proliferation Problems was held. Representatives from different international organizations (IAEA, UNO, CTBT Organization Preparatory Committee, Austria), from organizations of Kazakstan, Russia, USA, Japan took part in the Conference. At the conference there were 220 participants. Different issues relating to non-proliferation were discussed at the conference sections. The Conference included Plenary Session 'History and Current State of Non-proliferation Problem' and three sections: 1) Practical measures to support non-proliferation regime and Control for Nuclear Tests'; 2) Problems on Eliminating Nuclear tests Consequences and Conversion of Nuclear and Industrial Complex'; 3) Medical and ecological problems of Nuclear Tests Consequences'

  2. IAEA safeguards and non-proliferation

    Energy Technology Data Exchange (ETDEWEB)

    Harry, R J.S.

    1995-02-01

    An overview is given of efforts to contain the nuclear weapons proliferation during half a century of man-controlled nuclear fission. An initial policy of denial did not work, a following period of cooperation needed a gradual strengthening of international assurances on the peaceful character of the flourishing use of nuclear techniques for power generation and of other applications. The focus of the nuclear weapon proliferation concern changed from the highly developed states to developing states. The Non-Proliferation Treaty laid the basis for a unique system of voluntarily accepted international inspections to verify the peaceful use of nuclear energy. The IAEA got the task to implement this `Full Scope Safeguards` on all nuclear material and all nuclear activities in the non-nuclear weapon states. Thanks to the structure of the IAEA, in which both proponent and states with a critical attitude take part in the decision making process on the IAEA execution of its tasks, a balanced, and widely acceptable system emerged. International developments necessitated additional improvements of the non-proliferation system. The increase of strength of sub-national groups triggered international cooperation on physical protection, about a quarter of a century ago. More recently, it appeared that NPT states with assumed nuclear weapon ambitions operated in the margins between the interpretation of IAEA safeguards and the spirit and purpose of NPT. Improvements of the IAEA safeguards and a stronger cooperation between states, including the constraints which exporting states have imposed on nuclear supplies, strengthen the safeguards system. The important reductions in the two largest nuclear weapon arsenals lead, together with the delay in the fast breeder implementation, to large stockpiles of nuclear weapon usable materials. Also in this areas new internationally credible assurances have to be obtained, that these materials will never return to nuclear weapon applications.

  3. IAEA safeguards and non-proliferation

    International Nuclear Information System (INIS)

    Harry, R.J.S.

    1995-02-01

    An overview is given of the efforts to contain the nuclear weapons proliferation during half a century of man-controlled nuclear fission. An initial policy of denial did not work, a following period of cooperation needed a gradual strengthening of international assurances on the exclusively peaceful character of the flourishing use of nuclear techniques for power generation and of other applications. The focus of the nuclear weapon proliferation concern changed from the highly developed states to developing states. The Non-Proliferation Treaty laid the basis for a unique system of voluntarily accepted international inspections to verify the peaceful use of nuclear energy. The IAEA got the task to implement this 'Full Scope Safeguards' on all nuclear material and all nuclear activities in the non-nuclear weapon states. Thanks to the structure of the IAEA, in which both proponent and states with a critical attitude take part in the decision making process on the IAEA execution of its tasks, a balanced, and widely acceptable system emerged. International developments necessitated additional improvements of the non-proliferation system. The increase of strength of sub-national groups triggered international cooperation on physical protection, about a quarter of a century ago. More recently, it appeared that NPT states with assumed nuclear weapon ambitions operated in the margins between the interpretation of IAEA safeguards and the spirit and purpose of NPT. Improvements of the IAEA safeguards and a stronger cooperation between states, including the constraints which exporting states have imposed on nuclear supplies, strengthen the safeguards system. The important reductions in the two largest nuclear weapon arsenals lead, together with the delay in the fast breeder implementation, to large stockpiles of nuclear weapon usable materials. Also in this areas new internationally credible assurances have to be obtained, that these materials will never return to nuclear

  4. Between Shadow and Light: The Treaty on the Non-Proliferation of Nuclear Weapons Forty Years On

    International Nuclear Information System (INIS)

    Abdelwahab, Biad

    2010-01-01

    The NPT was negotiated during the Cold War period to prevent the emergence of new nuclear players by distinguishing between 'nuclear-weapon states' (NWS) which had carried out nuclear testing before 1 January 1967, that is the United States, Russia, the United Kingdom, France and China, and 'non-nuclear-weapon states' (NNWS). Under the NPT, the two groups of states commit to comply with a series of commitments formulated around 'three pillars': 1 - Non-proliferation: the NWSs undertake under Article I not to transfer nuclear weapons or control over such weapons and not in any way to assist, encourage or induce any NNWS to acquire them, while the NNWSs are bound under Article II to neither develop or acquire nuclear weapons or 'other nuclear explosive devices' nor to receive any assistance in that connection. 2 - Peaceful use of nuclear energy: Article IV guarantees the 'inalienable right' to 'develop research, production and use of nuclear energy for peaceful purposes without discrimination'. 3 - Nuclear disarmament: each state party to the treaty undertakes under Article VI 'to pursue negotiations in good faith on effective measures relating to cessation of the nuclear arms race at an early date and to nuclear disarmament'. The treaty entered in force in March 1970 and has since become universal, with 189 states parties in May 2010. At five-year intervals, parties to the treaty convene review conferences in order to review the operation of the treaty, Article VIII(3). The 1975, 1985 and 2000 review conferences culminated in the adoption of a final declaration and the 1995 review conference decided to extend the treaty indefinitely. The preparatory committee (PrepCom) for the 2010 review conference, which met from April 2007 to May 2009, did not adopt any recommendations, in absence of a consensus on essential issues concerning the operation of the treaty. Hence the importance of this 8. review conference of the parties held in New York from 3 to 28 May 2010 in a

  5. A two-input sliding-mode controller for a planar arm actuated by four pneumatic muscle groups.

    Science.gov (United States)

    Lilly, John H; Quesada, Peter M

    2004-09-01

    Multiple-input sliding-mode techniques are applied to a planar arm actuated by four groups of pneumatic muscle (PM) actuators in opposing pair configuration. The control objective is end-effector tracking of a desired path in Cartesian space. The inputs to the system are commanded input pressure differentials for the two opposing PM groups. An existing model for the muscle is incorporated into the arm equations of motion to arrive at a two-input, two-output nonlinear model of the planar arm that is affine in the input and, therefore, suitable for sliding-mode techniques. Relationships between static input pressures are derived for suitable arm behavior in the absence of a control signal. Simulation studies are reported.

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

    Science.gov (United States)

    Jiang, Zhao-Hui; Senda, Hiroshi

    2005-12-01

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

  7. Two-dimensional myoelectric control of a robotic arm for upper limb amputees

    International Nuclear Information System (INIS)

    Lopez Celani, Natalia M; Soria, Carlos M; Orosco, Eugenio C; Di Sciascio, Fernando A; Valentinuzzi, Max E

    2007-01-01

    Rehabilitation engineering and medicine have become integral and significant parts of health care services, particularly and unfortunately in the last three or four decades, because of wars, terrorism and large number of car accidents. Amputees show a high rate of rejection to wear prosthetic devices, often because of lack of an adequate period of adaptation. A robotic arm may appear as a good preliminary stage. To test the hypothesis, myoelectric signals from two upper limb amputees and from four normal volunteers were fed, via adequate electronic conditioning and using MATLAB, to an industrial robotic arm. Proportional strength control was used for two degrees of freedom (x-y plane) by means of eight signal features of control (four traditional statistics plus energy, integral of the absolute value, Willison's amplitude, waveform length and envelope) for comparison purposes, and selecting the best of them as final reference. Patients easily accepted the system and learned in short time how to operate it. Results were encouraging so that valuable training, before prosthesis is implanted, appears as good feedback; besides, these patients can be hired as specialized operators in semi-automatized industry

  8. Two-dimensional myoelectric control of a robotic arm for upper limb amputees

    Science.gov (United States)

    López Celani, Natalia M.; Soria, Carlos M.; Orosco, Eugenio C.; di Sciascio, Fernando A.; Valentinuzzi, Max E.

    2007-11-01

    Rehabilitation engineering and medicine have become integral and significant parts of health care services, particularly and unfortunately in the last three or four decades, because of wars, terrorism and large number of car accidents. Amputees show a high rate of rejection to wear prosthetic devices, often because of lack of an adequate period of adaptation. A robotic arm may appear as a good preliminary stage. To test the hypothesis, myoelectric signals from two upper limb amputees and from four normal volunteers were fed, via adequate electronic conditioning and using MATLAB, to an industrial robotic arm. Proportional strength control was used for two degrees of freedom (x-y plane) by means of eight signal features of control (four traditional statistics plus energy, integral of the absolute value, Willison's amplitude, waveform length and envelope) for comparison purposes, and selecting the best of them as final reference. Patients easily accepted the system and learned in short time how to operate it. Results were encouraging so that valuable training, before prosthesis is implanted, appears as good feedback; besides, these patients can be hired as specialized operators in semi-automatized industry.

  9. Atoms for peace and the nonproliferation treaty: unintended consequences

    International Nuclear Information System (INIS)

    Streeper, Charles Blamires

    2009-01-01

    In April 2009, President Obama revived nonproliferation and arms control efforts with a speech calling for the worldwide abolition of nuclear weapons. His speech correctly acknowledged the threat of nuclear terrorism and the vulnerabilities of the related unsecure nuclear materials. Unfortunately, the president did not mention and has not mentioned in any speech the threat posed by at-risk radiological materials. Nonproliferation efforts have a well documented history of focus on special nuclear materials (fissionable weapons usable materials or SNM), and other key materials (chemical and biological) and technologies for a Weapon of Mass Destruction (WMD). Such intense focus on WMD related materials/technologies is essential for international safety and security and merit continued attention and funding. However, the perception that radioactive sealed sources (sources) are of less concern than WMD is unfortunate. These perceptions are based solely on the potentially enormous and tragic consequences associated with their deliberate or accidental misuse and proliferation concerns. However, there is a documented history of overemphasis on the nuclear threat at the expense of ignoring the far more likely and also devastating chemical and biological threats. The radiological threat should not be minimized or excluded from policy discussions and decisions on these far ranging scopes of threat to the international community. Sources have a long history of use; and a wider distribution worldwide than fissile materials. Pair this with their broad ranges in isotopes/activities along with scant national and international attention and mechanisms for their safe and secure management and it is not difficult to envision a deadly threat. Arguments that minimize or divert attention away from sources may have the effect of distracting necessary policy attention on preventing/mitigating a radiological dispersal event. The terrorist attacks on 9/11 should be a clear reminder of the

  10. Non-proliferation and multinational enterprises

    International Nuclear Information System (INIS)

    1979-04-01

    The paper supplements CC/WG.2/9 in presenting the Japanese delegation's contribution in the areas of non-proliferation and multi-national enterprises. The paper questions whether multinational enrichment enterprises would constitute a significant non-proliferation factor, noting that the nature of the venture might create a potential for the dissemination of sensitive information. The paper also argues that a multi-national venture which was not economically competitive (with national facilities) would have questionable viability. The conclusion is that non-proliferation advantages, if any, would be a result, not an objective of such a venture

  11. The timing of control signals underlying fast point-to-point arm movements.

    Science.gov (United States)

    Ghafouri, M; Feldman, A G

    2001-04-01

    It is known that proprioceptive feedback induces muscle activation when the facilitation of appropriate motoneurons exceeds their threshold. In the suprathreshold range, the muscle-reflex system produces torques depending on the position and velocity of the joint segment(s) that the muscle spans. The static component of the torque-position relationship is referred to as the invariant characteristic (IC). According to the equilibrium-point (EP) hypothesis, control systems produce movements by changing the activation thresholds and thus shifting the IC of the appropriate muscles in joint space. This control process upsets the balance between muscle and external torques at the initial limb configuration and, to regain the balance, the limb is forced to establish a new configuration or, if the movement is prevented, a new level of static torques. Taken together, the joint angles and the muscle torques generated at an equilibrium configuration define a single variable called the EP. Thus by shifting the IC, control systems reset the EP. Muscle activation and movement emerge following the EP resetting because of the natural physical tendency of the system to reach equilibrium. Empirical and simulation studies support the notion that the control IC shifts and the resulting EP shifts underlying fast point-to-point arm movements are gradual rather than step-like. However, controversies exist about the duration of these shifts. Some studies suggest that the IC shifts cease with the movement offset. Other studies propose that the IC shifts end early in comparison to the movement duration (approximately, at peak velocity). The purpose of this study was to evaluate the duration of the IC shifts underlying fast point-to-point arm movements. Subjects made fast (hand peak velocity about 1.3 m/s) planar arm movements toward different targets while grasping a handle. Hand forces applied to the handle and shoulder/elbow torques were, respectively, measured from a force sensor placed

  12. Progress to a nuclear-weapon-free world through tactical nuclear arms control

    International Nuclear Information System (INIS)

    Matseiko, Youri

    1999-01-01

    At a time when, after some years of passivity, nuclear disarmament is becoming more of an urgent item on the international agenda and receiving accordingly more attention on the part of politicians and non-governmental experts. This is partly reflected in the Report of the Canberra Commission, and the statement on nuclear weapons by international generals and admirals. At the same time some developments such as uncertainties with START II ratification and the process of NATO enlargement make the task of nuclear arms control even more demanding. What is needed now is to pursue at last without any further delay negotiations on effective measures relating to the cessation of the nuclear arms race and to nuclear disarmament. And these effective measures must include both strategic and tactical nuclear weapons. Only a sustained commitment at the highest political level will legitimate serious discussions of the elimination option and ensure that resources and personnel are devoted to finding solutions to the problems associated with moving to zero, and to crafting appropriate transition strategies. In the absence of such a commitment, the nations of the world may never reach the point at which the desirability and feasibility of a nuclear-free world can be evaluated with greater certainty. This Pugwash Conference is trying to make a modest contribution in helping to make possible such a vitally important commitment

  13. Integrated Support Center for Nuclear Nonproliferation and Security

    International Nuclear Information System (INIS)

    Kimura, Naohito; Naoi, Yosuke

    2010-01-01

    In April 2010, at the Nuclear Security Summit, Japan demonstrated its commitment to the strengthening of nuclear non-proliferation and nuclear security and announced the establishment of the Integrated Comprehensive Support Center for Nuclear Non-proliferation and Nuclear Security in the Japan Atomic Energy Agency (JAEA), under the guidance and authority of the Ministry of Education, Culture, Sports and Science and Technology (MEXT), and in cooperation with other ministries. The goal of the Center is to strengthen nuclear non-proliferation and security in emerging nuclear power countries by sharing Japan's accumulated experiences in its peaceful use of nuclear energy. To achieve its goal, the Center serves three functions: (1) human resource and capacity building, (2) infrastructure development and technical assistance and (3) international coordination and cooperation. The Center will offer three types of training courses to strengthen human resources and capacity building in emerging nuclear power countries. In the Training Course on Nuclear Security, the participants will learn the design and evaluation process for physical protection and detection of and response to illegal or unauthorized acts related to nuclear materials. They will learn these issues not only through lectures and training but also using mockup facilities and virtual reality systems. Second, in the Training Course on Safeguards and State System of Accounting for and Control of Nuclear Material (SSAC), the Center will teach the experience of advanced safeguards activities in Japan for its full-scale nuclear fuel cycle facilities as a non-nuclear weapon state. The participants will learn the IAEA and national safeguards systems, the material accounting system and inspector activities. Third, in the Training on the International Nuclear Nonproliferation Framework, the participants will learn the international framework of nuclear non-proliferation including the IAEA safeguards system and

  14. International nuclear trade and nonproliferation

    International Nuclear Information System (INIS)

    Potter, W.C.

    1990-01-01

    The purpose of this book, the culmination of one phase of an ongoing international research project on nuclear suppliers and nonproliferation, is to explore the international political and economic dimensions of nuclear trade, especially as they pertain to the behavior of eleven emerging nuclear-supplier states. More specifically, the book sets forth a conceptual framework for analyzing international nuclear trade; details the domestic and external factors that shape the nuclear export policies of Argentina, Brazil, India, Israel, Japan, Pakistan, the People's Republic of China, South Korea, South Africa, Spain and Taiwan; and identifies and assesses alternative strategies for containing the new proliferation risks posed by these emerging suppliers. The book also describes an innovative effort to utilize a computer-based system for tracking international nuclear trade

  15. Missile non-proliferation: an alternative approach

    International Nuclear Information System (INIS)

    Delory, Stephane

    2011-01-01

    In this report, the author first proposes an overview of the notion of missile prohibition. He notices that the association between weapons of mass destruction and missiles is a prelude to the legitimacy of missile control, notably within the framework of the Missile Technology Control Regime or MTCR. He also comments the notion of total ban. In a second part, the author analyses and discusses the limitations of the control of technology diffusion. He discusses the role of the MTCR, comments the evolution of this regime with the taking of China and Russia into consideration, the impacts of national implementations of export regimes on the MTCR, and economic aspects of control implementation. In the next part, the author addresses other kinds of limitations, i.e. those related with capacity evolutions of proliferating States. The last part addresses the evolution towards a new definition of approach to missile non-proliferation, notably in terms of perception of missile roles and of technology transfer controls

  16. The Challenge for Arms Control Verification in the Post-New START World

    Energy Technology Data Exchange (ETDEWEB)

    Wuest, C R

    2012-05-24

    Nuclear weapon arms control treaty verification is a key aspect of any agreement between signatories to establish that the terms and conditions spelled out in the treaty are being met. Historically, arms control negotiations have focused more on the rules and protocols for reducing the numbers of warheads and delivery systems - sometimes resorting to complex and arcane procedures for counting forces - in an attempt to address perceived or real imbalances in a nation's strategic posture that could lead to instability. Verification procedures are generally defined in arms control treaties and supporting documents and tend to focus on technical means and measures designed to ensure that a country is following the terms of the treaty and that it is not liable to engage in deception or outright cheating in an attempt to circumvent the spirit and the letter of the agreement. As the Obama Administration implements the articles, terms, and conditions of the recently ratified and entered-into-force New START treaty, there are already efforts within and outside of government to move well below the specified New START levels of 1550 warheads, 700 deployed strategic delivery vehicles, and 800 deployed and nondeployed strategic launchers (Inter-Continental Ballistic Missile (ICBM) silos, Submarine-Launched Ballistic Missile (SLBM) tubes on submarines, and bombers). A number of articles and opinion pieces have appeared that advocate for significantly deeper cuts in the U.S. nuclear stockpile, with some suggesting that unilateral reductions on the part of the U.S. would help coax Russia and others to follow our lead. Papers and studies prepared for the U.S. Department of Defense and at the U.S. Air War College have also been published, suggesting that nuclear forces totaling no more than about 300 warheads would be sufficient to meet U.S. national security and deterrence needs. (Davis 2011, Schaub and Forsyth 2010) Recent articles by James M. Acton and others suggest that

  17. Intuitive wireless control of a robotic arm for people living with an upper body disability.

    Science.gov (United States)

    Fall, C L; Turgeon, P; Campeau-Lecours, A; Maheu, V; Boukadoum, M; Roy, S; Massicotte, D; Gosselin, C; Gosselin, B

    2015-08-01

    Assistive Technologies (ATs) also called extrinsic enablers are useful tools for people living with various disabilities. The key points when designing such useful devices not only concern their intended goal, but also the most suitable human-machine interface (HMI) that should be provided to users. This paper describes the design of a highly intuitive wireless controller for people living with upper body disabilities with a residual or complete control of their neck and their shoulders. Tested with JACO, a six-degree-of-freedom (6-DOF) assistive robotic arm with 3 flexible fingers on its end-effector, the system described in this article is made of low-cost commercial off-the-shelf components and allows a full emulation of JACO's standard controller, a 3 axis joystick with 7 user buttons. To do so, three nine-degree-of-freedom (9-DOF) inertial measurement units (IMUs) are connected to a microcontroller and help measuring the user's head and shoulders position, using a complementary filter approach. The results are then transmitted to a base-station via a 2.4-GHz low-power wireless transceiver and interpreted by the control algorithm running on a PC host. A dedicated software interface allows the user to quickly calibrate the controller, and translates the information into suitable commands for JACO. The proposed controller is thoroughly described, from the electronic design to implemented algorithms and user interfaces. Its performance and future improvements are discussed as well.

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

    International Nuclear Information System (INIS)

    Oka, Kiyoshi; Kakudate, Satoshi; Nakahira, Masataka

    1994-10-01

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

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

    International Nuclear Information System (INIS)

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

    2015-01-01

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

  20. Muscle Synergies Heavily Influence the Neural Control of Arm Endpoint Stiffness and Energy Consumption.

    Science.gov (United States)

    Inouye, Joshua M; Valero-Cuevas, Francisco J

    2016-02-01

    Much debate has arisen from research on muscle synergies with respect to both limb impedance control and energy consumption. Studies of limb impedance control in the context of reaching movements and postural tasks have produced divergent findings, and this study explores whether the use of synergies by the central nervous system (CNS) can resolve these findings and also provide insights on mechanisms of energy consumption. In this study, we phrase these debates at the conceptual level of interactions between neural degrees of freedom and tasks constraints. This allows us to examine the ability of experimentally-observed synergies--correlated muscle activations--to control both energy consumption and the stiffness component of limb endpoint impedance. In our nominal 6-muscle planar arm model, muscle synergies and the desired size, shape, and orientation of endpoint stiffness ellipses, are expressed as linear constraints that define the set of feasible muscle activation patterns. Quadratic programming allows us to predict whether and how energy consumption can be minimized throughout the workspace of the limb given those linear constraints. We show that the presence of synergies drastically decreases the ability of the CNS to vary the properties of the endpoint stiffness and can even preclude the ability to minimize energy. Furthermore, the capacity to minimize energy consumption--when available--can be greatly affected by arm posture. Our computational approach helps reconcile divergent findings and conclusions about task-specific regulation of endpoint stiffness and energy consumption in the context of synergies. But more generally, these results provide further evidence that the benefits and disadvantages of muscle synergies go hand-in-hand with the structure of feasible muscle activation patterns afforded by the mechanics of the limb and task constraints. These insights will help design experiments to elucidate the interplay between synergies and the mechanisms

  1. Canada's nuclear non-proliferation policy

    International Nuclear Information System (INIS)

    1982-05-01

    Canada's non-proliferation safeguards policy has two objectives: 1) to promote a more effective and comprehensive international non-proliferation regime; and 2) to ensure that Canadian nuclear exports will not be used for any nuclear explosive purpose. By emphasizing the key role of the Non-Proliferation Treaty, promoting reliance upon and improvements in the IAEA safeguards system, treating nuclear weapon and non-weapon states alike, and working for new approaches covering reprocessing, Canada promotes attainment of the first objective. The second is served through the network of bilateral nuclear agreements that Canada has put into place with its partners. The Canadian objective in post-INFCE forums is to persuade the international community to devise a more effective and comprehensive non-proliferation regime into which Canada and other suppliers may subsume their national requirements

  2. Handbook for nuclear non-proliferation

    International Nuclear Information System (INIS)

    Lee, Byung Wook; Oh, Keun Bae; Lee, Kwang Seok; Lee, Dong Jin; Ko, Han Seok.

    1997-05-01

    This book analyzed international non-proliferation regime preventing from spread of nuclear weapon. This book took review from the historical background of non-proliferation regime to the recent changes and status. The regime, here, is divided into multilateral and bilateral regime. First of all, this book reports four multilateral treaties concluded for non-proliferation such as NPT, NWFZ, CTBT and others. Secondly, international organization and regimes concerned with non-proliferation are analyzed with emphasis of UN, IAEA, ZC and NSG, Regional Safeguards System and international conference. Finally, this book report the current circumstances of nuclear cooperation agreement related with Korea which is an important means for bilateral regime. (author). 13 tabs., 2 figs

  3. Handbook for nuclear non-proliferation

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Byung Wook; Oh, Keun Bae; Lee, Kwang Seok; Lee, Dong Jin; Ko, Han Seok

    1997-05-01

    This book analyzed international non-proliferation regime preventing from spread of nuclear weapon. This book took review from the historical background of non-proliferation regime to the recent changes and status. The regime, here, is divided into multilateral and bilateral regime. First of all, this book reports four multilateral treaties concluded for non-proliferation such as NPT, NWFZ, CTBT and others. Secondly, international organization and regimes concerned with non-proliferation are analyzed with emphasis of UN, IAEA, ZC and NSG, Regional Safeguards System and international conference. Finally, this book report the current circumstances of nuclear cooperation agreement related with Korea which is an important means for bilateral regime. (author). 13 tabs., 2 figs.

  4. Compensation for loads during arm movements using equilibrium-point control.

    Science.gov (United States)

    Gribble, P L; Ostry, D J

    2000-12-01

    A significant problem in motor control is how information about movement error is used to modify control signals to achieve desired performance. A potential source of movement error and one that is readily controllable experimentally relates to limb dynamics and associated movement-dependent loads. In this paper, we have used a position control model to examine changes to control signals for arm movements in the context of movement-dependent loads. In the model, based on the equilibrium-point hypothesis, equilibrium shifts are adjusted directly in proportion to the positional error between desired and actual movements. The model is used to simulate multi-joint movements in the presence of both "internal" loads due to joint interaction torques, and externally applied loads resulting from velocity-dependent force fields. In both cases it is shown that the model can achieve close correspondence to empirical data using a simple linear adaptation procedure. An important feature of the model is that it achieves compensation for loads during movement without the need for either coordinate transformations between positional error and associated corrective forces, or inverse dynamics calculations.

  5. The future of non-proliferation

    International Nuclear Information System (INIS)

    Gere, F.

    2000-01-01

    This paper comprises two parts. The first part makes a status of the non-proliferation policy: problems of ratification of Start 2 and CTBT treaties, nuclear tests in India and Pakistan in May 1998 etc. The second part makes a prospective reflexion on the evolution of the position of nuclearized countries at the 2015-2030 vista: role of Asia, nuclear perception, evolution of the US perception of non-proliferation, military strategy and European unification. (J.S.)

  6. Nonproliferation characteristics of advanced fuel cycle concepts

    International Nuclear Information System (INIS)

    Persiani, P.J.

    1998-01-01

    The purpose of this study is to comment on the proliferation characteristic profiles of some of the proposed fuel cycle alternatives to help ensure that nonproliferation concerns are introduced into the early stages of a fuel cycle concept development program, and to perhaps aid in the more effective implementation of the international nonproliferation regime initiatives and safeguards methods and systems. Alternative cycle concepts proposed by several countries involve the recycle of spent fuel without the separation of plutonium from uranium and fission products

  7. Nuclear weapons, scientists, and the post-Cold War challenge selected papers on arms control

    CERN Document Server

    Drell, Sidney D

    2007-01-01

    This volume includes a representative selection of Sidney Drell's recent writings and speeches (circa 1993 to the present) on public policy issues with substantial scientific components. Most of the writings deal with national security, nuclear weapons, and arms control and reflect the author's personal involvement in such issues dating back to 1960. Fifteen years after the demise of the Soviet Union, the gravest danger presented by nuclear weapons is the spread of advanced technology that may result in the proliferation of nuclear weapons. Of most concern would be their acquisition by hostile governments and terrorists who are unconstrained by accepted norms of civilized behavior. The current challenges are to prevent this from happening and, at the same time, to pursue aggressively the opportunity to escape from an outdated nuclear deterrence trap.

  8. Equilibrium-point control hypothesis examined by measured arm stiffness during multijoint movement.

    Science.gov (United States)

    Gomi, H; Kawato

    1996-04-05

    For the last 20 years, it has been hypothesized that well-coordinated, multijoint movements are executed without complex computation by the brain, with the use of springlike muscle properties and peripheral neural feedback loops. However, it has been technically and conceptually difficult to examine this "equilibrium-point control" hypothesis directly in physiological or behavioral experiments. A high-performance manipulandum was developed and used here to measure human arm stiffness, the magnitude of which during multijoint movement is important for this hypothesis. Here, the equilibrium-point trajectory was estimated from the measured stiffness, the actual trajectory, and the generated torque. Its velocity profile differed from that of the actual trajectory. These results argue against the hypothesis that the brain sends as a motor command only an equilibrium-point trajectory similar to the actual trajectory.

  9. United States interests and Western Europe: Arms control, energy, and trade

    International Nuclear Information System (INIS)

    Czempiel, E.O.; Krell, G.; Mueller, H.

    1981-01-01

    The 'Research Group USA' within the Hessische Stiftung Friedens- und Konfliktforschung, Frankfurt, has analysed extensively the US policy towards Western Europe. In December 1980 the research group arranged an international Conference at Bad Homburg. Topics were American European policies in the field of arms control, trade and energy. The main findings of the research group were presented to the conference. This volume contains six papers presented to the conference: The Salt II-Debate in the US Senate; Issues in West German Security Policy: An American Perspective; US Energy Policy Foreign Policy Goals Versus Domestic Interests; Economic and Political Consequences of US Energy Policy on Europe; Foreign Trade Policy Interests and Decisions in the US; Multinational Corporations in Euro-American Trade. It contains also an introductory analysis of the somewhat larger US-European-Soviet Union context within which the American policy towards Western Europe has to be seen. (HSCH) [de

  10. Simulation of neutron multiplicity measurements using Geant4. Open source software for nuclear arms control

    Energy Technology Data Exchange (ETDEWEB)

    Kuett, Moritz

    2016-07-07

    Nuclear arms control, including nuclear safeguards and verification technologies for nuclear disarmament typically use software as part of many different technological applications. This thesis proposes to use three open source criteria for such software, allowing users and developers to have free access to a program, have access to the full source code and be able to publish modifications for the program. This proposition is presented and analyzed in detail, together with the description of the development of ''Open Neutron Multiplicity Simulation'', an open source software tool to simulate neutron multiplicity measurements. The description includes physical background of the method, details of the developed program and a comprehensive set of validation calculations.

  11. Torsional Arming of Thiomannosyl Donors & Conformational Control of Hexahydropyridazines via pH

    DEFF Research Database (Denmark)

    Olsen, Jacob Ingemar

    The overall objective of the research presented in this PhD thesis was to investigate torsional arming of thiogalacto- and thiomannosyl donors (part 1) and to investigate the possible synthesis and attachment of a pH regulated conformational switch to an α-cyclodextrin (part 2). Part 1: It is well...... demonstrated their ability to change conformation under different conditions. These conformational changes are connected to various intramolecular interactions and can to some extent, be controlled by pH (Chapter 3). Fusing these conformationally labile compounds to the rim of a cyclodextrin would create...... compounds that could release molecules at a specified change in pH conditions. To investigate this, four hexahydropyridazines were synthesized and investigated for their pH induced conformational change (Chapter 4). Out of the four compounds, one revealed to flip between two conformations depending on pH...

  12. Interdisciplinary Comprehensive Arm Rehabilitation Evaluation (ICARE: a randomized controlled trial protocol

    Directory of Open Access Journals (Sweden)

    Winstein Carolee J

    2013-01-01

    Full Text Available Abstract Background Residual disability after stroke is substantial; 65% of patients at 6 months are unable to incorporate the impaired upper extremity into daily activities. Task-oriented training programs are rapidly being adopted into clinical practice. In the absence of any consensus on the essential elements or dose of task-specific training, an urgent need exists for a well-designed trial to determine the effectiveness of a specific multidimensional task-based program governed by a comprehensive set of evidence-based principles. The Interdisciplinary Comprehensive Arm Rehabilitation Evaluation (ICARE Stroke Initiative is a parallel group, three-arm, single blind, superiority randomized controlled trial of a theoretically-defensible, upper extremity rehabilitation program provided in the outpatient setting. The primary objective of ICARE is to determine if there is a greater improvement in arm and hand recovery one year after randomization in participants receiving a structured training program termed Accelerated Skill Acquisition Program (ASAP, compared to participants receiving usual and customary therapy of an equivalent dose (DEUCC. Two secondary objectives are to compare ASAP to a true (active monitoring only usual and customary (UCC therapy group and to compare DEUCC and UCC. Methods/design Following baseline assessment, participants are randomized by site, stratified for stroke duration and motor severity. 360 adults will be randomized, 14 to 106 days following ischemic or hemorrhagic stroke onset, with mild to moderate upper extremity impairment, recruited at sites in Atlanta, Los Angeles and Washington, D.C. The Wolf Motor Function Test (WMFT time score is the primary outcome at 1 year post-randomization. The Stroke Impact Scale (SIS hand domain is a secondary outcome measure. The design includes concealed allocation during recruitment, screening and baseline, blinded outcome assessment and intention to treat analyses. Our primary

  13. Applying Space Technology to Enhance Control of an Artificial Arm for Children and Adults With Amputations

    Science.gov (United States)

    Atkins, Diane J.

    1998-01-01

    The first single function myoelectric prosthetic hand was introduced in the 1960's. This hand was controlled by the electric fields generated by muscle contractions in the residual limb of the amputee user. Electrodes and amplifiers, embedded in the prosthetic socket, measured these electric fields across the skin, which increase in amplitude as the individual contracts their muscle. When the myoelectric signal reached a certain threshold amplitude, the control unit activated a motor which opened or closed a hand-like prosthetic terminal device with a pincher grip. Late in the 1990's, little has changed. Most current myoelectric prostheses still operate in this same, single-function way. To better understand the limitations of the current single-function myoelectric hand and the needs of those who use them, The Institute for Rehabilitation and Research (TIRR), sponsored by the National Institutes of Health (NUH), surveyed approximately 2,500 individuals with upper limb loss [1]. When asked to identify specific features of their current myoelectric prostheses that needed improvement, the survey respondents overwhelmingly identified the lack of wrist and finger movement, as well as poor control capability. However, simply building a mechanism with individual finger and wrist motion is not enough. In the 1960's and 1970's, engineers built a number of more dexterous prosthetic hands. Unfortunately, these were rejected during clinical trials due to a difficult and distracting control interface. The goal of this project, "Applying Space Technology to Enhance Control of an Artificial Arm for Children and Adults with Amputations," was to lay the foundation for a multi-function, intuitive myoelectric control system which requires no conscious thought to move the hand. We built an extensive myoelectric signal database for six motions from ten amputee volunteers, We also tested a control system based on new artificial intelligence techniques on the data from two of these

  14. A Developmental Study of Static Postural Control and Superimposed Arm Movements in Normal and Slowly Developing Children.

    Science.gov (United States)

    Fisher, Janet M.

    Selected electromyographic parameters underlying static postural control in 4, 6, and 8 year old normally and slowly developing children during performance of selected arm movements were studied. Developmental delays in balance control were assessed by the Cashin Test of Motor Development (1974) and/or the Williams Gross Motor Coordination Test…

  15. Kinematics and control of redundant robotic arm based on dielectric elastomer actuators

    Science.gov (United States)

    Branz, Francesco; Antonello, Andrea; Carron, Andrea; Carli, Ruggero; Francesconi, Alessandro

    2015-04-01

    Soft robotics is a promising field and its application to space mechanisms could represent a breakthrough in space technologies by enabling new operative scenarios (e.g. soft manipulators, capture systems). Dielectric Elastomers Actuators have been under deep study for a number of years and have shown several advantages that could be of key importance for space applications. Among such advantages the most notable are high conversion efficiency, distributed actuation, self-sensing capability, multi-degree-of-freedom design, light weight and low cost. The big potentialities of double cone actuators have been proven in terms of good performances (i.e. stroke and force/torque), ease of manufacturing and durability. In this work the kinematic, dynamic and control design of a two-joint redundant robotic arm is presented. Two double cone actuators are assembled in series to form a two-link design. Each joint has two degrees of freedom (one rotational and one translational) for a total of four. The arm is designed to move in a 2-D environment (i.e. the horizontal plane) with 4 DoF, consequently having two degrees of redundancy. The redundancy is exploited in order to minimize the joint loads. The kinematic design with redundant Jacobian inversion is presented. The selected control algorithm is described along with the results of a number of dynamic simulations that have been executed for performance verification. Finally, an experimental setup is presented based on a flexible structure that counteracts gravity during testing in order to better emulate future zero-gravity applications.

  16. Report on the Second ARM Mobile Facility (AMF2) Stabilization Platform: Control Strategy and Implementation

    Energy Technology Data Exchange (ETDEWEB)

    Coulter, Richard J. [Argonne National Lab. (ANL), Argonne, IL (United States); Martin, Timothy J. [Argonne National Lab. (ANL), Argonne, IL (United States)

    2016-03-01

    One of the primary objectives of the U.S. Department of Energy’s Atmospheric Radiation Measurement (ARM) Climate Research Facility’s second Mobile Facility (AMF2) is to obtain reliable measurements from ocean-going vessels. A pillar of the AMF2 strategy in this effort is the use of a stable platform for those instruments that 1) need to look directly at, or be shaded from, direct sunlight or 2) require a truly vertical orientation. Some ARM instruments that fall into these categories include the Multi-Filter Rotating Shadow Band Radiometer (MFRSR) and the Total Sky Imager (TSI), both of which have a shadow band mechanism, upward-looking radiometry that should be exposed only to the sky, a Microwave Radiometer (MWR) that looks vertically and at specified tilt angles, and vertically pointing radars, for which the vertical component of motion is critically important. During the design and construction phase of AMF2, an inexpensive stable platform was purchased to perform the stabilization tasks for some of these instruments. Computer programs were developed to communicate with the platform controller and with an inertial measurements platform that measures true ship motion components (roll, pitch, yaw, surge, sway, and heave). The platform was then tested on a 3-day cruise aboard the RV Connecticut during June 16-18, 2010, off the east coast of the United States. This initial test period was followed by continued development of the platform control strategy and implementation as time permitted. This is a report of the results of these efforts and the critical points in moving forward.

  17. Reforming the non-proliferation system in the 1980s

    International Nuclear Information System (INIS)

    Wilmshurst, M.J.

    1984-01-01

    The non-proliferation policies of the 1970s were based largely on the misconception that the main danger lay in the possible misuse of civil nuclear-power plants for the production of weapon materials. In consequence their aim, whether by means of denial or control, was to ensure that such misuse was made more difficult in all countries with nuclear-power industries. Less attention was paid to the potential for misuse of the nuclear-research plants in the handful of countries outside the non-proliferation system. The resulting difficulties placed in the way of countries developing their nuclear-power industries damaged relations between the supplier and the consumer states, and discredited any new efforts aimed at strengthening the non-proliferation system. By contrast, the 1980s began, first in INFCE and then in the Committee on Assurances of Supply, with a concerted attempt to re-establish a dialogue based on a relationship of trust between the supplier and the customer states. But a restored consensus will not, on its own, deal with the problem of those states that are outside the non-proliferation system and that have the capability to produce nuclear weapons. The outcome of the work of the Committee on Assurances of Supply may help to attract some of those states into the system, but more needs to be done either by adapting the NPT, making adherence to it appear more attractive, or by devising some alternative code of behaviour for states not party to the Treaty and by seeking to remove the political obstacles that lie in the way of at least some of the potential weapon states adhering to the Treaty

  18. URENCO: A Multinational Contribution to Non-Proliferation

    International Nuclear Information System (INIS)

    Korbmacher, T.

    2015-01-01

    URENCO was founded in 1970 following the signing of the Treaty of Almelo by the governments of Germany, the Netherlands and the UK. The fundamental principles for effective supervision of URENCO's technology and enrichment operations with respect to non-proliferation issues have been laid down in this treaty. In order to enable the construction of a URENCO enrichment facility in the USA and to permit the transfer of classified information into the USA, another treaty has been concluded in 1992. The US government entered into the Treaty of Washington together with the governments of Germany, the Netherlands and the UK to ensure that the same conditions that had been agreed in the Treaty of Almelo would also apply to the US. To allow for the completion of the joint venture with Areva regarding the URENCO Group's technology business ETC, the Treaty of Cardiff has been signed on 12 July 2005 by the governments of Germany, the Netherlands, the UK and France. Through this treaty, France is obliged to adhere to the principles of the Treaty of Almelo. For each treaty, control bodies have been formed with representatives of the governments of the signatory countries. These committees exercise the role of effective supervision of the technology and operations with respect to non-proliferation issues. They also consider all questions concerning the safeguards system (as established by IAEA/Euratom), classification arrangements and security procedures, exports of the technology and enriched uranium, as well as other non-proliferation issues. The presentation describes how the multinational structure of URENCO contributes to Non-Proliferation on the basis of the above mentioned treaties. Beyond that, the international cross linking of operational working groups and committees within the URENCO Group structure is explained. This structure implies an additional assurance to achieve the safeguards goals set. (author)

  19. How Might Industry Governance Be Broadened To Include Nonproliferation

    International Nuclear Information System (INIS)

    Hund, Gretchen; Seward, Amy M.

    2009-01-01

    Broadening industry governance to support nonproliferation could provide significant new leverage in preventing the spread/diversion of nuclear, radiological, or dual-use material or technology that could be used in making a nuclear or radiological weapon. Industry is defined broadly to include (1) the nuclear industry, (2) dual-use industries, and (3) radioactive source manufacturers and selected radioactive source-user industries worldwide. This paper describes how industry can be an important first line of defense in detecting and thwarting proliferation, such as an illicit trade network or an insider theft case, by complementing and strengthening existing governmental efforts. For example, the dual-use industry can play a critical role by providing export, import, or security control information that would allow a government or the International Atomic Energy Agency (IAEA) to integrate this information with safeguards, export, import, and physical protection information it has to create a more complete picture of the potential for proliferation. Because industry is closest to users of the goods and technology that could be illicitly diverted throughout the supply chain, industry information can potentially be more timely and accurate than other sources of information. Industry is in an ideal position to help ensure that such illicit activities are detected. This role could be performed more effectively if companies worked together within a particular industry to promote nonproliferation by implementing an industry-wide self-regulation program. Performance measures could be used to ensure their materials and technologies are secure throughout the supply chain and that customers are legitimately using and/or maintaining oversight of these items. Nonproliferation is the overarching driver that industry needs to consider in adopting and implementing a self-regulation approach. A few foreign companies have begun such an approach to date; it is believed that

  20. Non-proliferation and international safeguards. [Booklet by IAEA

    Energy Technology Data Exchange (ETDEWEB)

    1978-01-01

    This booklet consists of 13 separate, brief analyses related to the subject title, namely: The International Scope of IAEA Safeguards; Application of Safeguards Procedures; Computer-Based Safeguards Information and Accounting System; IAEA Training Activities Related to State Systems of Nuclear Materials Accountancy and Control; Surveillance and Containment Measures to Support IAEA Safeguards; International Plutonium Management; Safeguards for Reprocessing and Enrichment Plants; Non-Destructive Assay: Instruments and Techniques for Agency Safeguards; The Safeguards Analytical Laboratory: Its Functions and Analytical Facilities; Resolution of the UN General Assembly on the Treaty on the Non-Proliferation of Nuclear Weapons of 12 June 1968; The Treaty on the Non-Proliferation of Nuclear Weapons; Final Declaration of the Review Conference of the Parties to the Treaty on the Non-Proliferation of Nuclear Weapons, May 1975; Resolutions on the IAEA's Work in the Field of the Peaceful Uses of Atomic Energy, adopted by the UN General Assembly on 8 and 12 December, 1977; and a Map on the NPT situation in the world (with explanations).

  1. 76 FR 30986 - Bureau of International Security and Nonproliferation; Imposition of Nonproliferation Measures...

    Science.gov (United States)

    2011-05-27

    ... DEPARTMENT OF STATE [Public Notice 7485] Bureau of International Security and Nonproliferation; Imposition of Nonproliferation Measures Against Foreign Persons, Including a Ban on U.S. Government... of foreign entities and one foreign person have engaged in activities that warrant the imposition of...

  2. Shaping of arm configuration space by prescription of non-Euclidean metrics with applications to human motor control

    Science.gov (United States)

    Biess, Armin

    2013-01-01

    The study of the kinematic and dynamic features of human arm movements provides insights into the computational strategies underlying human motor control. In this paper a differential geometric approach to movement control is taken by endowing arm configuration space with different non-Euclidean metric structures to study the predictions of the generalized minimum-jerk (MJ) model in the resulting Riemannian manifold for different types of human arm movements. For each metric space the solution of the generalized MJ model is given by reparametrized geodesic paths. This geodesic model is applied to a variety of motor tasks ranging from three-dimensional unconstrained movements of a four degree of freedom arm between pointlike targets to constrained movements where the hand location is confined to a surface (e.g., a sphere) or a curve (e.g., an ellipse). For the latter speed-curvature relations are derived depending on the boundary conditions imposed (periodic or nonperiodic) and the compatibility with the empirical one-third power law is shown. Based on these theoretical studies and recent experimental findings, I argue that geodesics may be an emergent property of the motor system and that the sensorimotor system may shape arm configuration space by learning metric structures through sensorimotor feedback.

  3. Closed-Loop Hybrid Gaze Brain-Machine Interface Based Robotic Arm Control with Augmented Reality Feedback

    Directory of Open Access Journals (Sweden)

    Hong Zeng

    2017-10-01

    Full Text Available Brain-machine interface (BMI can be used to control the robotic arm to assist paralysis people for performing activities of daily living. However, it is still a complex task for the BMI users to control the process of objects grasping and lifting with the robotic arm. It is hard to achieve high efficiency and accuracy even after extensive trainings. One important reason is lacking of sufficient feedback information for the user to perform the closed-loop control. In this study, we proposed a method of augmented reality (AR guiding assistance to provide the enhanced visual feedback to the user for a closed-loop control with a hybrid Gaze-BMI, which combines the electroencephalography (EEG signals based BMI and the eye tracking for an intuitive and effective control of the robotic arm. Experiments for the objects manipulation tasks while avoiding the obstacle in the workspace are designed to evaluate the performance of our method for controlling the robotic arm. According to the experimental results obtained from eight subjects, the advantages of the proposed closed-loop system (with AR feedback over the open-loop system (with visual inspection only have been verified. The number of trigger commands used for controlling the robotic arm to grasp and lift the objects with AR feedback has reduced significantly and the height gaps of the gripper in the lifting process have decreased more than 50% compared to those trials with normal visual inspection only. The results reveal that the hybrid Gaze-BMI user can benefit from the information provided by the AR interface, improving the efficiency and reducing the cognitive load during the grasping and lifting processes.

  4. Closed-Loop Hybrid Gaze Brain-Machine Interface Based Robotic Arm Control with Augmented Reality Feedback

    Science.gov (United States)

    Zeng, Hong; Wang, Yanxin; Wu, Changcheng; Song, Aiguo; Liu, Jia; Ji, Peng; Xu, Baoguo; Zhu, Lifeng; Li, Huijun; Wen, Pengcheng

    2017-01-01

    Brain-machine interface (BMI) can be used to control the robotic arm to assist paralysis people for performing activities of daily living. However, it is still a complex task for the BMI users to control the process of objects grasping and lifting with the robotic arm. It is hard to achieve high efficiency and accuracy even after extensive trainings. One important reason is lacking of sufficient feedback information for the user to perform the closed-loop control. In this study, we proposed a method of augmented reality (AR) guiding assistance to provide the enhanced visual feedback to the user for a closed-loop control with a hybrid Gaze-BMI, which combines the electroencephalography (EEG) signals based BMI and the eye tracking for an intuitive and effective control of the robotic arm. Experiments for the objects manipulation tasks while avoiding the obstacle in the workspace are designed to evaluate the performance of our method for controlling the robotic arm. According to the experimental results obtained from eight subjects, the advantages of the proposed closed-loop system (with AR feedback) over the open-loop system (with visual inspection only) have been verified. The number of trigger commands used for controlling the robotic arm to grasp and lift the objects with AR feedback has reduced significantly and the height gaps of the gripper in the lifting process have decreased more than 50% compared to those trials with normal visual inspection only. The results reveal that the hybrid Gaze-BMI user can benefit from the information provided by the AR interface, improving the efficiency and reducing the cognitive load during the grasping and lifting processes. PMID:29163123

  5. Damage Control Automation for Reduced Manning (DC-ARM) Supervisory Control System Software Summary

    National Research Council Canada - National Science Library

    Downs, Ryan

    2002-01-01

    .... The SCS currently interfaces and controls the ship's automated fire main, outfitted with smart valves, a high-pressure water mist system, a video over IP system, a door position indication system...

  6. Robust trajectory tracking control of a dual-arm space robot actuated by control moment gyroscopes

    Science.gov (United States)

    Jia, Yinghong; Misra, Arun K.

    2017-08-01

    It is a new design concept to employ control moment gyroscopes (CMGs) as reactionless actuators for space robots. Such actuation has several noticeable advantages such as weak dynamical coupling and low power consumption over traditional joint motor actuation. This paper presents a robust control law for a CMG-actuated space robot in presence of system uncertainties and closed-chain constraints. The control objective is to make the manipulation variables to track the desired trajectories, and reduce the possibility of CMG saturation simultaneously. A reduced-order dynamical equation in terms of independent motion variables is derived using Kane's equations. Desired trajectories of the independent motion variables are derived by minimum-norm trajectory planning algorithm, and an adaptive sliding mode controller with improved adaptation laws is proposed to drive the independent motion variables tracking the desired trajectories. Uniformly ultimate boundedness of the closed loop system is proven using Lyapunov method. The redundancy of the full-order actual control torques is utilized to generate a null torque vector which reduces the possibility of CMG angular momentum saturation while producing no effect on the reduced-order control input. Simulation results demonstrate the effectiveness of the proposed algorithms and the advantage of weak dynamical coupling of the CMG-actuated system.

  7. A 3-armed randomized controlled trial of nurses' continuing education meetings on adverse drug reactions.

    Science.gov (United States)

    Sarayani, Amir; Naderi-Behdani, Fahimeh; Hadavand, Naser; Javadi, Mohammadreza; Farsad, Fariborz; Hadjibabaie, Molouk; Gholami, Kheirollah

    2015-01-01

    Nurses' insufficient knowledge of adverse drug reactions is reported as a barrier to spontaneous reporting. Therefore, CE meetings could be utilized to enhance nurses' competencies. In a 3-armed randomized controlled trial, 496 nurses, working in a tertiary medical center, were randomly allocated to a didactic lecture, brainstorming workshop, or the control group (delayed education). Similar instructors (2 clinical pharmacists) prepared and delivered the educational content to all 3 groups. Outcomes were declarative/procedural knowledge (primary outcome), participation rate, and satisfaction. Knowledge was evaluated using a validated researcher-made questionnaire in 3 time points: immediately before, immediately after, and 3 months after each session. Participants' satisfaction was assessed immediately after each meeting via a standard tool. Data were analyzed using appropriate parametric and nonparametric tests. Rate of participation was 37.7% for the lecture group and 47.5% for the workshop group. The workshop participants were significantly more satisfied in comparison with the lecture group (p techniques. © 2015 The Alliance for Continuing Education in the Health Professions, the Society for Academic Continuing Medical Education, and the Council on Continuing Medical Education, Association for Hospital Medical Education.

  8. Laparoscopic Surgical Treatment of Severe Obesity Combined with Gastroesophageal Reflux Disease: A Pilot Randomized Two-Arm Controlled Clinical Study

    Science.gov (United States)

    Ospanov, Oral B.; Orekeshova, Akzhunis M.; Fursov, Roman A.; Yelemesov, Aset A.

    2016-01-01

    Obesity and gastroesophageal reflux disease (GERD) are serious medical, social, and economic problems of modern society. A pilot randomized two-arm controlled clinical study was conducted to compare laparoscopic plication of the greater gastric curvature combined with Nissen fundoplication (LFN+LGP) versus only Nissen fundoplication (LFN). The…

  9. 76 FR 70209 - Delegation by the Secretary of State to the Under Secretary of State for Arms Control and...

    Science.gov (United States)

    2011-11-10

    ... Congress pursuant to: (1) Section 1344 of the Foreign Relations Authorization Act, Fiscal Year 2003, Public... (incorporated in the Foreign Relations Authorization Act, Fiscal Year 2003), Public Law 107-228; (4) Section 204... Under Secretary of State for Arms Control and International Security of Authority To Submit Certain Non...

  10. The rejection of the comprehensive nuclear test ban treaty by the US Senate: a reverse for the nuclear arms control?

    International Nuclear Information System (INIS)

    Sitt, B.

    2000-01-01

    On October 13, 1999, after a hasty debate, the US Senate rejected the comprehensive nuclear test ban treaty (CTBT) signed 3 years ago. This article analyses this event with respect to the US domestic context (discussions at the Senate, reaction of the Presidency) and with respect to the international context (international reactions, future of the treaty, consequences on arms control policy). (J.S.)

  11. International aspects of non-proliferation policy

    International Nuclear Information System (INIS)

    Aucoin, P.A.

    1978-01-01

    There are currently two areas on the national scene and one on the international scene that require immediate attention. The first is relief under contracts for enrichment services, an area in which the US can still demonstrate its desire to become a stable and continuous source of supply. The second national area is the Nuclear Non-Proliferation Act of 1977. The United States must proceed very cautiously, however, for if discretion and very careful judgment are not used, the Act will immediately be branded as a blatant effort on the part of the US to control the energy options of other sovereign states. The international area is that of the International Nuclear Fuel Cycle Evaluation program. This medium exists for wise and deliberate growth of a commercial nuclear power program which can serve the global community. The next three years probably allow one remaining chance for successful containment of weapons proliferation. If we do not recognize the rights of every sovereign state to voluntarily participate and agree, we, as members of the global community, will have failed

  12. Approaches to regional security and arms control in North-East Asia: Tasks ahead

    International Nuclear Information System (INIS)

    Lee Seo-Hang

    1992-01-01

    In order to pave the way towards regional security and arms control in North-East Asia, one of the outstanding issues left over from the cold war, that is, the question of a divided Korea-must be solved first. In settling the Korean problem, the importance of the bilateral negotiation between the parties in direct conflict can never be overemphasized. Over the past few years, fortunately, there has been an accumulation of developments that would have a positive effect on the improvement of inter-Korean relations and peaceful unification of the peninsula. In this sense, the first challenge for the two Koreas is to fulfil the pledges that they committed in the agreements. Concluding agreements is only a first step. They must be implemented fully both in letter and in spirit. Only upon the sincere and complete translation of the agreements into action can the two Koreas establish a solid peace system and move towards unification. This fulfilment will eventually contribute to security and stability in North-East Asia. To emphasize the importance of bilateral negotiation between the two Koreas is not necessarily to exclude the role of external Powers. The four major Powers in North-East Asia-China, Japan, Russia and the United States - could support the South-North dialogue, help ease tensions, facilitate discussion of common security concerns and possibly guarantee the outcomes negotiated between the two Koreas. By fostering bilateral negotiation between the parties to the conflict, they could contribute to enhancing security, confidence and disarmament in the region. At this moment, the most urgent task in the Korean peninsula relates to the problem of Pyongyang's nuclear weapons programme. To solve the nuclear problem, a significant progress on mutual reciprocal inspections must be made immediately in accordance with the wordings of the Declaration. Mutual inspection will test whether Pyongyang intends to go towards nuclear weapons, or away from them and towards

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

    International Nuclear Information System (INIS)

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

    2014-01-01

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

  14. Pulsatile dry cupping in chronic low back pain - a randomized three-armed controlled clinical trial.

    Science.gov (United States)

    Teut, M; Ullmann, A; Ortiz, M; Rotter, G; Binting, S; Cree, M; Lotz, F; Roll, S; Brinkhaus, B

    2018-04-02

    We aimed to investigate the effectiveness of two different forms of dry pulsatile cupping in patients with chronic low back pain (cLBP) compared to medication on demand only in a three-armed randomized trial. 110 cLBP patients were randomized to regular pulsatile cupping with 8 treatments plus paracetamol on demand (n = 37), minimal cupping with 8 treatments plus paracetamol on demand (n = 36) or the control group with paracetamol on demand only (n = 37). Primary outcome was the pain intensity on a visual analogue scale (VAS, 0-100 mm) after 4 weeks, secondary outcome parameter included VAS pain intensity after 12 weeks, back function as measured with the 'Funktionsfragebogen Hannover Rücken' (FFbH-R) and health related quality of life questionnaire Short form 36 (SF-36) after 4 and 12 weeks. The mean baseline-adjusted VAS after 4 weeks was 34.9 mm (95% CI: 28.7; 41.2) for pulsatile cupping, 40.4 (34.2; 46.7) for minimal cupping and 56.1 (49.8; 62.4) for control group, resulting in statistically significant differences between pulsatile cupping vs. control (21.2 (12.2; 30.1); p back function after 4 weeks, but not after 12 weeks (- 5.4 (- 11.7;0.8); p = 0.088), pulsatile cupping also showed better improvements on SF-36 physical component scale compared to control at 4 and 12 weeks (- 5.6 (- 9.3;-2.0); p = 0.003; - 6.1 (- 9.9;-2.4); p = 0.002). For back function and quality of life minimal cupping group was not statistically different to control after 4 and 12 weeks. Paracetamol intake did not differ between the groups (cupping vs. control (7.3 (- 0.4;15.0); p = 0.063); minimal cupping vs. control (6.3 (- 2.0;14.5); p = 0.133). Both forms of cupping were effective in cLBP without showing significant differences in direct comparison after four weeks, only pulsatile cupping showed effects compared to control after 12 weeks. The study was registered at ClinicalTrials.gov (identifier: NCT02090686 ).

  15. The Asian countries and the non-proliferation treaty prorogation

    International Nuclear Information System (INIS)

    Hoffmann, N.

    1995-01-01

    This work deals with the non-proliferation treaty prorogation of Asia. The position of the asian countries under the old non-proliferation treaty is given. It includes the 1968 non-proliferation treaty signatories, the calling in question again and the criticisms revealed by the asian countries. The positions and the open forecasts expressed on the non-proliferation treaty prorogation and the article on the elimination of the nuclear weapons are also given. (O.L.)

  16. Evolution of robotic arms.

    Science.gov (United States)

    Moran, Michael E

    2007-01-01

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

  17. Using Functional Electrical Stimulation Mediated by Iterative Learning Control and Robotics to Improve Arm Movement for People With Multiple Sclerosis.

    Science.gov (United States)

    Sampson, Patrica; Freeman, Chris; Coote, Susan; Demain, Sara; Feys, Peter; Meadmore, Katie; Hughes, Ann-Marie

    2016-02-01

    Few interventions address multiple sclerosis (MS) arm dysfunction but robotics and functional electrical stimulation (FES) appear promising. This paper investigates the feasibility of combining FES with passive robotic support during virtual reality (VR) training tasks to improve upper limb function in people with multiple sclerosis (pwMS). The system assists patients in following a specified trajectory path, employing an advanced model-based paradigm termed iterative learning control (ILC) to adjust the FES to improve accuracy and maximise voluntary effort. Reaching tasks were repeated six times with ILC learning the optimum control action from previous attempts. A convenience sample of five pwMS was recruited from local MS societies, and the intervention comprised 18 one-hour training sessions over 10 weeks. The accuracy of tracking performance without FES and the amount of FES delivered during training were analyzed using regression analysis. Clinical functioning of the arm was documented before and after treatment with standard tests. Statistically significant results following training included: improved accuracy of tracking performance both when assisted and unassisted by FES; reduction in maximum amount of FES needed to assist tracking; and less impairment in the proximal arm that was trained. The system was well tolerated by all participants with no increase in muscle fatigue reported. This study confirms the feasibility of FES combined with passive robot assistance as a potentially effective intervention to improve arm movement and control in pwMS and provides the basis for a follow-up study.

  18. Technical solutions to nonproliferation challenges

    Energy Technology Data Exchange (ETDEWEB)

    Satkowiak, Lawrence [Director, Nonproliferation, Safeguards and Security Programs, Oak Ridge National Laboratory, Oak Ridge, Tennessee (United States)

    2014-05-09

    The threat of nuclear terrorism is real and poses a significant challenge to both U.S. and global security. For terrorists, the challenge is not so much the actual design of an improvised nuclear device (IND) but more the acquisition of the special nuclear material (SNM), either highly enriched uranium (HEU) or plutonium, to make the fission weapon. This paper provides two examples of technical solutions that were developed in support of the nonproliferation objective of reducing the opportunity for acquisition of HEU. The first example reviews technologies used to monitor centrifuge enrichment plants to determine if there is any diversion of uranium materials or misuse of facilities to produce undeclared product. The discussion begins with a brief overview of the basics of uranium processing and enrichment. The role of the International Atomic Energy Agency (IAEA), its safeguard objectives and how the technology evolved to meet those objectives will be described. The second example focuses on technologies developed and deployed to monitor the blend down of 500 metric tons of HEU from Russia's dismantled nuclear weapons to reactor fuel or low enriched uranium (LEU) under the U.S.-Russia HEU Purchase Agreement. This reactor fuel was then purchased by U.S. fuel fabricators and provided about half the fuel for the domestic power reactors. The Department of Energy established the HEU Transparency Program to provide confidence that weapons usable HEU was being blended down and thus removed from any potential theft scenario. Two measurement technologies, an enrichment meter and a flow monitor, were combined into an automated blend down monitoring system (BDMS) and were deployed to four sites in Russia to provide 24/7 monitoring of the blend down. Data was downloaded and analyzed periodically by inspectors to provide the assurances required.

  19. Technical solutions to nonproliferation challenges

    Science.gov (United States)

    Satkowiak, Lawrence

    2014-05-01

    The threat of nuclear terrorism is real and poses a significant challenge to both U.S. and global security. For terrorists, the challenge is not so much the actual design of an improvised nuclear device (IND) but more the acquisition of the special nuclear material (SNM), either highly enriched uranium (HEU) or plutonium, to make the fission weapon. This paper provides two examples of technical solutions that were developed in support of the nonproliferation objective of reducing the opportunity for acquisition of HEU. The first example reviews technologies used to monitor centrifuge enrichment plants to determine if there is any diversion of uranium materials or misuse of facilities to produce undeclared product. The discussion begins with a brief overview of the basics of uranium processing and enrichment. The role of the International Atomic Energy Agency (IAEA), its safeguard objectives and how the technology evolved to meet those objectives will be described. The second example focuses on technologies developed and deployed to monitor the blend down of 500 metric tons of HEU from Russia's dismantled nuclear weapons to reactor fuel or low enriched uranium (LEU) under the U.S.-Russia HEU Purchase Agreement. This reactor fuel was then purchased by U.S. fuel fabricators and provided about half the fuel for the domestic power reactors. The Department of Energy established the HEU Transparency Program to provide confidence that weapons usable HEU was being blended down and thus removed from any potential theft scenario. Two measurement technologies, an enrichment meter and a flow monitor, were combined into an automated blend down monitoring system (BDMS) and were deployed to four sites in Russia to provide 24/7 monitoring of the blend down. Data was downloaded and analyzed periodically by inspectors to provide the assurances required.

  20. The non-proliferation experiment

    Energy Technology Data Exchange (ETDEWEB)

    Hannon, W.J. [Lawrence Livermore National Lab., CA (United States)

    1994-12-31

    On September 22, 1993, the Department of Energy detonated more than 1.2 million kg of blasting agent in a tunnel in Rainier Mesa at the Nevada Test Site. The resulting explosion generated seismic, electromagnetic, and air pressure signals that were recorded on instruments deployed at distances ranging from a few meters to hundreds and, in some cases, thousands of kilometers. More than 12 organizations made measurements before, during, and after the explosions. The explosion and its associated experiments are known as the Non-Proliferation Experiment (NPE). Analyses of the measurements made during the NPE and comparisons with similar measurements made on previous nearly nuclear explosions and on a co-located smaller explosion detonated at the same site are providing basic phenomenological insights into what is potentially one of the comprehensive Test Ban Treaty (CTBT)-distinguishing between nuclear explosions and some of the many conventional explosions that occur each year. The NPE is also providing information on the use of chemical explosions to develop empirical discriminants in regions where no nuclear explosions have been recorded. In another verification application, several NPE projects are examining the utility of on-site, pre-shot, shot-time, and post-shot measurements of gas seepage, seismic activity, and other observables as a means of identifying the source of signals that appear like nuclear explosions at regional distances. Two related activities are being considered. First, challenge on-site inspections, conducted after an event has occurred, may be able to use the characteristics of phenomena that persist after the explosion to detect and identify the source of the signals that appeared ambiguous or explosion-like to remote sensors. Second, cooperative, on-site measurements made at the time of a pre-nounced conventional explosion may provide assurance that a nuclear explosion did not occur as part of or in place of the pre-announced explosion.

  1. Evaluation of feedforward and feedback contributions to hand stiffness and variability in multijoint arm control.

    Science.gov (United States)

    He, Xin; Du, Yu-Fan; Lan, Ning

    2013-07-01

    The purpose of this study is to validate a neuromechanical model of the virtual arm (VA) by comparing emerging behaviors of the model to those of experimental observations. Hand stiffness of the VA model was obtained by either theoretical computation or simulated perturbations. Variability in hand position of the VA was generated by adding signal dependent noise (SDN) to the motoneuron pools of muscles. Reflex circuits of Ia, Ib and Renshaw cells were included to regulate the motoneuron pool outputs. Evaluation of hand stiffness and variability was conducted in simulations with and without afferent feedback under different patterns of muscle activations during postural maintenance. The simulated hand stiffness and variability ellipses captured the experimentally observed features in shape, magnitude and orientation. Steady state afferent feedback contributed significantly to the increase in hand stiffness by 35.75±16.99% in area, 18.37±7.80% and 16.15±7.15% in major and minor axes; and to the reduction of hand variability by 49.41±21.19% in area, 36.89±12.78% and 18.87±23.32% in major and minor axes. The VA model reproduced the neuromechanical behaviors that were consistent with experimental data, and it could be a useful tool for study of neural control of posture and movement, as well as for application to rehabilitation.

  2. Command and Control in a Nuclear-Armed Iran - Proliferation Papers No. 45

    International Nuclear Information System (INIS)

    Chubin, Shahram

    2013-01-01

    In the long standoff regarding its nuclear ambition, Iran has cultivated ambiguity and been loath to reliably assure the international community of its ultimate intentions, complicating Western efforts to understand, let alone constrain, Tehran's endeavors. While many analyses have focused on how to prevent or contain a potential nuclear-armed Iran, the posture Iran would adopt once it has developed its nuclear weapons remains elusive. This paper highlights that while opting for command-and-control (C2) arrangements, Iran would have to reconcile two contrasting imperatives: first, to disperse assets and decentralize C2 to minimize the risks and potential damages of a disabling strike, which has been seen as a real - even imminent - threat in recent years. A contrasting concern emerged as the Iranian Revolutionary Guards' Corps became a key formulator and executor of Tehran's security policy: how to guard against the risk of unauthorized use of major weapons systems? Among the factors that could influence Iran's choices in terms of C2 arrangements, this paper focuses on Tehran's national security experience, the lessons it may have derived from it, as well as from the experience of other countries. (author)

  3. Defining the questions: a research agenda for nontraditional authentication in arms control

    Energy Technology Data Exchange (ETDEWEB)

    Hauck, Danielle K [Los Alamos National Laboratory; Mac Arthur, Duncan W [Los Alamos National Laboratory; Smith, Morag K [Los Alamos National Laboratory; Thron, Jonathan L [Los Alamos National Laboratory; Budlong - Sylvester, Kory [Los Alamos National Laboratory

    2010-01-01

    Many traditional authentication techniques have been based on hardware solutions. Thus authentication of measurement system hardware has been considered in terms of physical inspection and destructive analysis. Software authentication has implied hash function analysis or authentication tools such as Rose. Continuity of knowledge is maintained through TIDs and cameras. Although there is ongoing progress improving all of these authentication methods, there has been little discussion of the human factors involved in authentication. Issues of non-traditional authentication include sleight-of-hand substitutions, monitor perception vs. reality, and visual diversions. Since monitor confidence in a measurement system depends on the product of their confidences in each authentication element, it is important to investigate all authentication techniques, including the human factors. This paper will present an initial effort to identify the most important problems that traditional authentication approaches in safeguards have not addressed and are especially relevant to arms control verification. This will include a survey of the literature and direct engagement with nontraditional experts in areas like psychology and human factors. Based on the identification of problem areas, potential research areas will be identified and a possible research agenda will be developed.

  4. Israel's position on non-proliferation

    International Nuclear Information System (INIS)

    Marom, R.

    1986-01-01

    Israel maintained that the complex international system and worldwide political tension created a situation in which comprehensive plans of disarmament could not produce any positive result. The deadlock in the field of general and complete disarmament has brought Israel to the realization that one possible way to alleviate the stalemate could be progress by stages through partial measures of disarmament. Israel's position on non-proliferation indicates that the establishment of a nuclear-weapon-free-zone (NWFZ), as it relates to the Middle-East, could serve as a credible alternative to the unilateral adherence to the Non-Proliferation of Nuclear Weapon (NPT) and an effective measure of non-proliferation in the region. (Author)

  5. Renovating U.S. Strategic Arms Control Policy. Strategic Forum, Number 178, February 2001

    National Research Council Canada - National Science Library

    Sokolsky, Richard

    2001-01-01

    ...) negotiations concluded in the early 1990s. The Soviet Union and the Warsaw Pact are defunct. America and Russia are no longer enemies and the nuclear arms race between the two countries, for all intents and purposes...

  6. Experimental Test Rig for Optimal Control of Flexible Space Robotic Arms

    Science.gov (United States)

    2016-12-01

    the test bed design. A single link arm with a torsional, helical spring at the base was finalized to investigate the effects of coupling due to...test bed design. A single link arm with a torsional, helical spring at the base was finalized to investigate the effects of coupling due to movement...Source: [4]. A challenge with space systems is that it costs a lot of money to put a satellite or spacecraft into space. Estimates to send one kilogram

  7. Desain Proportional Integral Derrivative (Pid) Controller Pada Model Arm Robot Manipulator

    OpenAIRE

    Pratama, Adhityanendra Pandu; Munadi, Munadi

    2014-01-01

    Dalam rangka menuju proses industrialisasi modern di negara Indonesia, harus didukung dengan teknologi yang canggih, contoh nya adalah arm robot manipulator. sebagai pelaku proses produksi sehingga dihasilkan ketepatan,kepresisian, dan kefektifan pada proses produksi. Dengan hal tersebut dibuat sebuah desain kontrol PID pada arm robot manipulator dengan tujuan menghasilkan tingkat presisi dan kestabilan yang lebih baik. Kontroler tersebut didesain, disimulasikan, dan diaplikasikan pada ha...

  8. Robust adaptive control modeling of human arm movements subject to altered gravity and mechanical loads

    Science.gov (United States)

    Tryfonidis, Michail

    It has been observed that during orbital spaceflight the absence of gravitation related sensory inputs causes incongruence between the expected and the actual sensory feedback resulting from voluntary movements. This incongruence results in a reinterpretation or neglect of gravity-induced sensory input signals. Over time, new internal models develop, gradually compensating for the loss of spatial reference. The study of adaptation of goal-directed movements is the main focus of this thesis. The hypothesis is that during the adaptive learning process the neural connections behave in ways that can be described by an adaptive control method. The investigation presented in this thesis includes two different sets of experiments. A series of dart throwing experiments took place onboard the space station Mir. Experiments also took place at the Biomechanics lab at MIT, where the subjects performed a series of continuous trajectory tracking movements while a planar robotic manipulandum exerted external torques on the subjects' moving arms. The experimental hypothesis for both experiments is that during the first few trials the subjects will perform poorly trying to follow a prescribed trajectory, or trying to hit a target. A theoretical framework is developed that is a modification of the sliding control method used in robotics. The new control framework is an attempt to explain the adaptive behavior of the subjects. Numerical simulations of the proposed framework are compared with experimental results and predictions from competitive models. The proposed control methodology extends the results of the sliding mode theory to human motor control. The resulting adaptive control model of the motor system is robust to external dynamics, even those of negative gain, uses only position and velocity feedback, and achieves bounded steady-state error without explicit knowledge of the system's nonlinearities. In addition, the experimental and modeling results demonstrate that

  9. Safeguards and non-proliferation: current challenges and the implications for Australia

    International Nuclear Information System (INIS)

    Leask, A.; Carlson, J.

    2006-01-01

    Full text: The expansion of nuclear programs raises the issue of how to ensure this does not increase the risk of nuclear weapons proliferation. The non-proliferation regime - based on the NPT and its verification mechanism, the IAEA safeguards system - has been developed to provide assurance that nuclear programs are exclusively peaceful. Although to date the non-proliferation regime has been remarkably successful, in recent years it has come under serious challenge. Nuclear proliferation is emerging as one of the major issues facing the international community. Addressing technical and institutional aspects of the non-proliferation regime - especially safeguards, but also complementary measures such as export controls, proliferation-resistant technology, and an international framework on sensitive technology - is important. But proliferation is a political problem, and ultimately the success of the non-proliferation regime depends on political resolve to uphold compliance, using incentives and if necessary sanctions. These issues are vitally important to Australia's future. Being a major uranium supplier has strengthened Australia's influence in non-proliferation and safeguards developments

  10. Proliferation and Nonproliferation in the Early Twenty-First Century. The Permanent Five Hold the Key to Success

    International Nuclear Information System (INIS)

    Santoro, David

    2012-01-01

    It is a truth universally acknowledged that nuclear proliferation constitutes a threat to international peace and security. However little known its causes may be, this truth is so well fixed in international public consciousness that it is considered an utmost requirement to address the problem expeditiously. Is the international community indeed properly geared to respond quickly, strongly, and unanimously to proliferation? If so, how? Writing for Foreign Affairs in 1961, the late Fred Ikle asked, 'After Detection-What?'He expressed concerns that the international community focused too exclusively on how to detect violations to arms control agreements. He explained that determining the consequences of violations after detection was also essential and described 'a program to deter evasion', but remained pessimistic about its prospects for success. Four decades later, in a 2001 article for the Nonproliferation Review, Brad Roberts assessed how the problem had changed. He showed that many policy tools had been developed, but that they did not guarantee success. Anticipating many of the debates of the 2000's, he reflected on the dilemma of resorting to multilateral action (sanctioned by the UN Security Council) or US unilateral action, and concluded that there was a crisis of confidence about the nonproliferation regime and the role of the major powers. Over ten years have passed since Roberts's review article. It is now a good time to stand back and take stock of how the problem has evolved. To this end, this paper begins with an assessment of the nonproliferation landscape between 2001 and 2011 by looking at the changes that affected the proliferation problem itself, the tools to address that problem, and the actors involved in the process to solve it. Although progress was made to better tackle it, the paper suggests that pessimism is in order today. On that basis, it moves on to explore what the 'winning agenda' might be, what it entails, and what the prospects

  11. Considerations on nonproliferation regime meeting in a changing world

    International Nuclear Information System (INIS)

    Kurihara, Hiroyoshi; Kikuchi, Masahiro

    1994-01-01

    This paper summarizes the past history of worldwide nonproliferation regime, then proposes the future improvements on the regime. Present worldwide nonproliferation regime have been formulated during the cold war era. Therefore, the structure and measures of the regime were heavily influenced by the features of cold war era. Though the cold war was over, still new international order does not seem to be on the horizon, we need to review the present regime and to improve the regime compatible to new world situation. Generally speaking, the nonproliferation regime have gained moderate success so far. We could point out the following features as a kind of success: 1) No increase of overt Nuclear Weapon State (NWS), 2) All five NWSs have finally participated to the NPT, 3) South Africa has destroyed its nuclear weapons and became Non-Nuclear Weapon State (NNWS), 4) Successful conclusions of some regional arrangements, such as Tlatelolco, Ralotonga, and 5) Strengthening of export control on sensitive items. On the other hand, we recognize the following points as the failures of the regime. 6) India, Pakistan and Israel reject to join the NPT, 7) Existence of some violation against NPT regime, i.e. Iraqi case and DPRK case, 8) Insufficient effective measures against brain drain problem, 9) Risk exists for the long term extension of NPT, and 10) Insufficient flexibility to meet changing boundary conditions. We would propose the various measures for strengthening to meet changing boundary conditions, as follows: 11) Measures to be taken along with future civil use of Plutonium, 12) Strengthening and rationalizing international safeguards, 13) Countermeasures for emerging new types of nuclear proliferation, 14) Strengthening nuclear material control in NWS, 15) Measures to be taken for nuclear material from dismantled nuclear weapons, and 16) Nuclear disarmament. (author)

  12. Controlled synthesis of multi-arm star polyether-polycarbonate polyols based on propylene oxide and CO2.

    Science.gov (United States)

    Hilf, Jeannette; Schulze, Patricia; Seiwert, Jan; Frey, Holger

    2014-01-01

    Multi-arm star copolymers based on a hyperbranched poly(propylene oxide) polyether-polyol (hbPPO) as a core and poly(propylene carbonate) (PPC) arms are synthesized in two steps from propylene oxide (PO), a small amount of glycidol and CO2 . The PPC arms are prepared via carbon dioxide (CO2 )/PO copolymerization, using hbPPO as a multifunctional macroinitiator and the (R,R)-(salcy)CoOBzF5 catalyst. Star copolymers with 14 and 28 PPC arms, respectively, and controlled molecular weights in the range of 2700-8800 g mol(-1) are prepared (Mw /Mn = 1.23-1.61). Thermal analysis reveals lowered glass transition temperatures in the range of -8 to 10 °C for the PPC star polymers compared with linear PPC, which is due to the influence of the flexible polyether core. Successful conversion of the terminal hydroxyl groups with phenylisocyanate demonstrates the potential of the polycarbonate polyols for polyurethane synthesis. © 2013 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  13. THE ROLE AND RATIONALE OF THE NUCLEAR NON-PROLIFERATION TREATY IN THE TWENTY-FIRST CENTURY

    Directory of Open Access Journals (Sweden)

    Tom COPPEN

    2012-12-01

    Full Text Available Much has been written about perceived weaknesses of the NPT and the challenges it has been facing over the last decades. Analysing the most important provisions of the NPT, this article demonstrates how the treaty has managed to maintain its central role in the non-proliferation regime since its conclusion, and how it retains enough flexibility within its review mechanism and its managerial approach to supervision to keep this position for the decades to come. The theoretical framework of the article is formed by theory of arms control law, relevant features of which are: a large influence of politics and national interests of states on the rule of law; its flexible yet treaty-based nature; and the distinctive role of supervision in order to ensure compliance with primary rules. The article analyses key NPT provisions. Based on Article VIII, the NPT Review Conferences have both an important political and legal function. They are the NPT’s mechanism for review, implementation and supervision; in legal terms, they enable the evolution of the NPT based on subsequent agreement and practice. The NPT articles on non-proliferation and disarmament illustrate how the NPT has evolved to close off loopholes (Articles I and II and retains its flexibility whilst providing a global platform for negotiations on nuclear disarmament (Article VI. Article III evolved and must be understood to oblige NPT states to sign an Additional Protocol (AP with the IAEA. Article IV sets the parameters for the peaceful uses of nuclear energy, but leaves room for negotiation and conflict. The supervision of the NPT, illustrated by the case of Iran, is a complicated process involving international organisations such as the IAEA and the UNSC; while these may play important roles, however, the enforcement of the NPT is ultimately left to the NPT states themselves.

  14. The Non-Proliferation Treaty of Nuclear Weapons (NPT) and the insertion of the Brazilian State in its regime

    International Nuclear Information System (INIS)

    Silva, Marcos Valle Machado da

    2010-01-01

    The issue of nuclear weapons continues to appear as a focal point of International Relations. The efforts and concrete actions on disarmament, non-proliferation, and nuclear arms control are still issues that generate recurring tensions between States. However, in Brazil, there is little analysis of an academic nature about these issues and, with respect to current and prospective position of the Brazilian State in the Nuclear Weapons Non- Proliferation Regime, studies and analysis are even more scarce, or incipient. The present dissertation has as its object of study to the Treaty on the Non-Proliferation of Nuclear Weapons (NPT), the Regime arisen from NPT, and the Brazilian State insertion process in this Regime. Therefore our research work is structured in three areas: the first one is about the role of nuclear weapons in States security perception, the second is about NPT and its Regime, the third runs over the insertion of the Brazilian state in this regime. So, in summary, the research performed included the reasons that make a State to develop nuclear weapons, the NPT genesis and evolution of the perception of the meaning of that Treaty by the States, and the process and the degree of insertion of Brazil in the Nuclear Weapons Non- Proliferation Regime. The inquiry sought to place this object of study in the broader debate on Foreign Relations, based on the approaches of the discipline devoted to the question of managing the security of States, id est, the two approaches that constitute the mainstream of the discipline: the perspective theoretical liberal (and neoliberal variants) and realistic thinking (and neo-realist). Thus, we have used different theoretical lenses, which we think necessary for understanding the specific parts and causal connections between these parts of a complex issue. (author)

  15. Structure and behavior as determinants: United States nuclear test ban and chemical and biological arms control policy

    International Nuclear Information System (INIS)

    Reich, J.C.

    1991-01-01

    US efforts to control chemical and biological warfare and nuclear testing are examined with the aim of explaining the paucity of US backed agreements in these areas. Two theoretical perspectives, the behavioral and structural approaches, are used to explore US arms control outcomes. In the behavioral approach, the effects of governmental organization and the bargaining dynamics of policy-making elites with different cognitive styles are posited as important influences on US nuclear test ban and chemical and biological arms control policy outcomes. The behavioral perspective accounts for the timing of all US failed and successful entries (with one exception) into nuclear test bans and chemical and biological warfare restraints. A shortcoming of the behavior approach, however, is that it tends to overemphasize the chances for successful US entry into nuclear test and chemical and biological warfare limitations. Analysis of the same events from the structural perspective helps to correct for expectations generated by behavioral variables for a higher success rate than ultimately resulted. In the structural approach, the focus is on the effect of the organization of international politics on US nuclear test ban and chemical and biological arms control policy outcomes

  16. Canada's nuclear non-proliferation policy

    International Nuclear Information System (INIS)

    1985-01-01

    Canada's non-proliferation and safeguards policy has two objectives: 1) to promote the emergence of a more effective and comprehensive international non-proliferation regime; and 2) to assure the Canadian people and the international community that Canadian nuclear exports will not be used for any nuclear explosive purpose. By emphasizing the key role of the NPT, by promoting reliance upon and improvements in the IAEA safeguards system, by treating nuclear weapon and non-nuclear weapon states alike regarding Canadian nuclear exports, by working for new approaches covering the sensitive phases (e.g. reprocessing) of the nuclear fuel cycle, Canada's policy promotes attainment of the first objective. The latter objective is served through the network of bilateral nuclear agreements that Canada has put into place with its nuclear partners. Those agreements provide assurance that Canada's nuclear exports are used solely for legitimate, peaceful, nuclear energy production purposes. At the same time, Canada, having formulated its non-proliferation and safeguards policy during the period 1945 to 1980, has recognized that it has gone as far as it can on its own in this field and that from this point on any further changes should be made on the basis of international agreement. The Canadian objective in post-INFCE forums such as the Committee on Assurances of Supply is to exert Canada's best efforts to persuade the international community to devise a more effective and comprehensive international non-proliferation regime into which Canada and other suppliers might subsume their national requirements

  17. EMP at the Non-Proliferation Experiment

    Energy Technology Data Exchange (ETDEWEB)

    Bell, J. [AWE, Aldermaston (United Kingdom)

    1994-12-31

    This experiment presented an opportunity to field customized equipment designed to detect and record electromagnetic pulse (EMP) emanations from an explosion over a wide frequency range. Any data recorded could be used in conjunction with the seismic methods to further non-proliferation studies. No EMP emanations were detectable from the four sensors deployed outside the tunnel confines.

  18. Legislation to amend the Nuclear Non-Proliferation Act of 1978. Hearings and markup before the Committee on Foreign Affairs and its Subcommittees on International Security and Scientific Affairs, and on International Economic Policy and Trade of the House of Representatives, Ninety-Seventh Congress, Second Session on H.R. 6032 and H.R. 6318, August 3, 10; September 8, 15; and December 14, 1982

    International Nuclear Information System (INIS)

    Anon.

    1983-01-01

    Witnesses evaluated the effectiveness of non-proliferation policies during five days of hearings on H.R. 6032 and H.R. 6318 amending the Nuclear Non-Proliferation Act (NNPA) of 1978. The objective is to retain US leadership in nuclear trade while strengthening restrictions that retard the proliferation of weapons-grade material. They examined the economic benefits of new policy initiatives which permit foreign countries to reprocess and recycle US-supplied fuel and permit US companies to export reprocessing technology. The 19 witnesses spoke for the nuclear industry, organizations involved in arms control, and the administration. The 30 appendices include the texts of H.R. 6032, H.R. 6318, and H.R. 7430 and other comments and materials submitted for the record

  19. The development of fabrication techniques for europia/iron cermet tips for coarse-control arms in DIDO and PLUTO

    International Nuclear Information System (INIS)

    Moore, D.A.; Tarrant, E.A.

    1980-11-01

    The applicability of cermet-fabrication techniques to the production of europia/iron cermets for use as coarse-control arm tips in the materials test reactors DIDO and PLUTO has been investigated. Spheroids of europia were prepared by a dry agglomeration process. These were sintered, dispersed in iron powder and pressed into plates; the plates were then sintered to densify the iron matrix. These stages were optimised to produce a strong cermet with a europia density of >= 2.75 g/cm 3 . The uniformity of distribution of the absorber particles was confirmed by radiography, and adequate neutron-absorption worth by measurements carried out in the GLEEP reactor. An outline flow sheet has been prepared for the manufacture of europia/iron cermet plates suitable for use in the tips of DIDO and PLUTO coarse-control arms. (author)

  20. Managing new arms races

    International Nuclear Information System (INIS)

    Segal, G.

    1992-01-01

    The management of new arms races in the region of Asia-Pacific includes considerations of weapons trade and transfer in the region, with an emphasis on nuclear weapons proliferation. It deals with the problem of controlling the arms trade and the efforts to control conventional weapons and underlines the possible role and influence of Conference on Cooperation and Security in Europe (CSCE)

  1. Approaches to nuclear disarmament and non-proliferation

    International Nuclear Information System (INIS)

    Subrahmanyam, K.

    1981-01-01

    The logic behind the approach of the nuclear weapon states (NWS) to the issue of nuclear disarmament and non-proliferation is based on: (1) The assumption that the less the number of decision makers who could initiate a nuclear war less the probability of war, (2) the claim of the NWS that their nuclear weapons are under strict control, and (3) the claim of the NWS who have signed the Non-Proliferation Treaty (NPT) that the Treaty is being scrupulously observed by them. This logic is critically examined in the light of disclosures that indicate that: (1) both vertical and horizontal proliferation is going on without respite among the NWS, and (2) the fissile material is clandestinely being allowed to be diverted to the favoured clients by one or more of the NWS. These NWS are not subject to any safeguards under the NPT. They are using the NPT and the concept of nuclear free zone as a sort of tactic to divert the attention from the correct approach to the disarmament and to impose their hegemony over the Third World Countries. Moreover, the NPT has conferred a sort of legitimacy to the possession of nuclear weapons by the NWS. In these circumstances their preaching to the Third World countries about nuclear disarmament and non-proliferation sounds hypocritical. The correct approach to these issues would be to put the nuclear weapons under the category of weapons of mass destruction and to ban their use under a non-discriminatory international convention as has been done in the case of biological and chemical weapons. (M.G.B.)

  2. Bobath Concept versus constraint-induced movement therapy to improve arm functional recovery in stroke patients: a randomized controlled trial.

    Science.gov (United States)

    Huseyinsinoglu, Burcu Ersoz; Ozdincler, Arzu Razak; Krespi, Yakup

    2012-08-01

    To compare the effects of the Bobath Concept and constraint-induced movement therapy on arm functional recovery among stroke patients with a high level of function on the affected side. A single-blinded, randomized controlled trial. Outpatient physiotherapy department of a stroke unit. A total of 24 patients were randomized to constraint-induced movement therapy or Bobath Concept group. The Bobath Concept group was treated for 1 hour whereas the constraint-induced movement therapy group received training for 3 hours per day during 10 consecutive weekdays. Main measures were the Motor Activity Log-28, the Wolf Motor Function Test, the Motor Evaluation Scale for Arm in Stroke Patients and the Functional Independence Measure. The two groups were found to be homogeneous based on demographic variables and baseline measurements. Significant improvements were seen after treatment only in the 'Amount of use' and 'Quality of movement' subscales of the Motor Activity Log-28 in the constraint-induced movement therapy group over the the Bobath Concept group (P = 0.003; P = 0.01 respectively). There were no significant differences in Wolf Motor Function Test 'Functional ability' (P = 0.137) and 'Performance time' (P = 0.922), Motor Evaluation Scale for Arm in Stroke Patients (P = 0.947) and Functional Independence Measure scores (P = 0.259) between the two intervention groups. Constraint-induced movement therapy and the Bobath Concept have similar efficiencies in improving functional ability, speed and quality of movement in the paretic arm among stroke patients with a high level of function. Constraint-induced movement therapy seems to be slightly more efficient than the Bobath Concept in improving the amount and quality of affected arm use.

  3. 32 CFR Appendix A to Part 631 - Armed Forces Disciplinary Control Board Procedures Guide

    Science.gov (United States)

    2010-07-01

    ... members present, final action will be taken only on the business for which the meeting was called. c. A... addressing installation or command concerns or issues. (1) Federal, State, and local judicial, legislative... detrimental to the good order and discipline, health, morale, welfare, safety, and morals of Armed Forces...

  4. 49 CFR 1544.221 - Carriage of prisoners under the control of armed law enforcement officers.

    Science.gov (United States)

    2010-10-01

    ... Transportation (Continued) TRANSPORTATION SECURITY ADMINISTRATION, DEPARTMENT OF HOMELAND SECURITY CIVIL AVIATION SECURITY AIRCRAFT OPERATOR SECURITY: AIR CARRIERS AND COMMERCIAL OPERATORS Operations § 1544.221 Carriage... custody of an armed law enforcement officer aboard an aircraft for which screening is required unless, in...

  5. Arm Pain

    Science.gov (United States)

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

  6. Current nuclear non-proliferation policies in the world

    International Nuclear Information System (INIS)

    Kurosawa, Mitsuru

    1997-01-01

    Although a global nuclear confrontation between the U.S. and the Soviet Union has disappeared, many challenges to nuclear non-proliferation have emerged. Sources of concern, like a nuclear weapon program by Iraq and suspicions of North Korea have caused the adoption of a variety of political and technical measures in order to meet these challenges in the post-Cold War era. This paper describes the following ten policies for non-proliferation: 1) Strengthening the NPT; 2) Nuclear reduction; 3) CTBT and cut-off treaty; 4) Establishment of NWFZs; 5) Counterproliferation; 6) Strengthening the IAEA Safeguards; 7) Control and disposal of nuclear material from dismantled nuclear weapons; 8) Export control; 9) Registration of plutonium; and 10) Actions against nuclear smuggling. The first four measures can be said to be mainly political policies, the fifth measure (counterproliferation), can be categorized as basically a military policy, and the last five measures can be said to be technical. (J.P.N.)

  7. Systems resilience: a new analytical framework for nuclear nonproliferation

    International Nuclear Information System (INIS)

    Pregenzer, Arian Leigh

    2011-01-01

    This paper introduces the concept of systems resilience as a new framework for thinking about the future of nonproliferation. Resilience refers to the ability of a system to maintain its vital functions in the face of continuous and unpredictable change. The nonproliferation regime can be viewed as a complex system, and key themes from the literature on systems resilience can be applied to the nonproliferation system. Most existing nonproliferation strategies are aimed at stability rather than resilience, and the current nonproliferation system may be over-constrained by the cumulative evolution of strategies, increasing its vulnerability to collapse. The resilience of the nonproliferation system can be enhanced by diversifying nonproliferation strategies to include general international capabilities to respond to proliferation and focusing more attention on reducing the motivation to acquire nuclear weapons in the first place. Ideas for future research, include understanding unintended consequences and feedbacks among nonproliferation strategies, developing methodologies for measuring the resilience of the nonproliferation system, and accounting for interactions of the nonproliferation system with other systems on larger and smaller scales.

  8. Systems resilience : a new analytical framework for nuclear nonproliferation.

    Energy Technology Data Exchange (ETDEWEB)

    Pregenzer, Arian Leigh

    2011-12-01

    This paper introduces the concept of systems resilience as a new framework for thinking about the future of nonproliferation. Resilience refers to the ability of a system to maintain its vital functions in the face of continuous and unpredictable change. The nonproliferation regime can be viewed as a complex system, and key themes from the literature on systems resilience can be applied to the nonproliferation system. Most existing nonproliferation strategies are aimed at stability rather than resilience, and the current nonproliferation system may be over-constrained by the cumulative evolution of strategies, increasing its vulnerability to collapse. The resilience of the nonproliferation system can be enhanced by diversifying nonproliferation strategies to include general international capabilities to respond to proliferation and focusing more attention on reducing the motivation to acquire nuclear weapons in the first place. Ideas for future research, include understanding unintended consequences and feedbacks among nonproliferation strategies, developing methodologies for measuring the resilience of the nonproliferation system, and accounting for interactions of the nonproliferation system with other systems on larger and smaller scales.

  9. Home-based neurologic music therapy for arm hemiparesis following stroke: results from a pilot, feasibility randomized controlled trial.

    Science.gov (United States)

    Street, Alexander J; Magee, Wendy L; Bateman, Andrew; Parker, Michael; Odell-Miller, Helen; Fachner, Jorg

    2018-01-01

    To assess the feasibility of a randomized controlled trial to evaluate music therapy as a home-based intervention for arm hemiparesis in stroke. A pilot feasibility randomized controlled trial, with cross-over design. Randomization by statistician using computer-generated, random numbers concealed in opaque envelopes. Participants' homes across Cambridgeshire, UK. Eleven people with stroke and arm hemiparesis, 3-60 months post stroke, following discharge from community rehabilitation. Each participant engaged in therapeutic instrumental music performance in 12 individual clinical contacts, twice weekly for six weeks. Feasibility was estimated by recruitment from three community stroke teams over a 12-month period, attrition rates, completion of treatment and successful data collection. Structured interviews were conducted pre and post intervention to establish participant tolerance and preference. Action Research Arm Test and Nine-hole Peg Test data were collected at weeks 1, 6, 9, 15 and 18, pre and post intervention by a blinded assessor. A total of 11 of 14 invited participants were recruited (intervention n = 6, waitlist n = 5). In total, 10 completed treatment and data collection. It cannot be concluded whether a larger trial would be feasible due to unavailable data regarding a number of eligible patients screened. Adherence to treatment, retention and interview responses might suggest that the intervention was motivating for participants. ClinicalTrials.gov identifier NCT 02310438.

  10. Does the use of Nintendo Wii SportsTM improve arm function? Trial of WiiTM in Stroke: a randomized controlled trial and economics analysis.

    Science.gov (United States)

    Adie, Katja; Schofield, Christine; Berrow, Margie; Wingham, Jennifer; Humfryes, John; Pritchard, Colin; James, Martin; Allison, Rhoda

    2017-02-01

    The Trial of Wii™ in Stroke investigated the efficacy of using the Nintendo Wii Sports™ (Wii TM ) to improve affected arm function after stroke. Multicentre, pragmatic, parallel group, randomized controlled trial. Home-based rehabilitation. A total of 240 participants aged 24-90 years with arm weakness following a stroke within the previous six months. Participants were randomly assigned to exercise daily for six weeks using the Wii TM or arm exercises at home. Primary outcome was change in the affected arm function at six weeks follow-up using the Action Research Arm Test. Secondary outcomes included occupational performance, quality of life, arm function at six months and a cost effectiveness analysis. The study was completed by 209 participants (87.1%). There was no significant difference in the primary outcome of affected arm function at six weeks follow-up (mean difference -1.7, 95% CI -3.9 to 0.5, p = 0.12) and no significant difference in secondary outcomes, including occupational performance, quality of life or arm function at six months, between the two groups. No serious adverse events related to the study treatment were reported. The cost effectiveness analysis showed that the Wii TM was more expensive than arm exercises £1106 (SD 1656) vs. £730 (SD 829) (probability 0.866). The trial showed that the Wii TM was not superior to arm exercises in home-based rehabilitation for stroke survivors with arm weakness. The Wii TM was well tolerated but more expensive than arm exercises.

  11. Dynamic Modeling and Fuzzy Self-Tuning Disturbance Decoupling Control for a 3-DOF Serial-Parallel Hybrid Humanoid Arm

    Directory of Open Access Journals (Sweden)

    Yueling Wang

    2013-01-01

    Full Text Available A unique fuzzy self-tuning disturbance decoupling controller (FSDDC is designed for a serial-parallel hybrid humanoid arm (HHA to implement the throwing trajectory-tracking mission. Firstly, the dynamic model of the HHA is established and the input signal of the throwing process is obtained by studying the throwing process of human's arm. Secondly, the FSDDC, incorporating the disturbance decoupling controller (DDC and the fuzzy logic controller (FLC, is designed to ensure trajectory tracking of the HHA in the presence of uncertainties and disturbances. With the FSDDC method, the HHA system can be decoupled by actively estimating and rejecting the effects of both the internal plant dynamics and external disturbances. The self-tuning parameters are adapted online to improve the performance of the FSDDC; thus, it does not require detailed system parameters of the presented FSDDC. Finally, the controller introduced is compared with a PD controller which is commonly used for the robot manipulators control in industry. The effectiveness of the designed FSDDC is illustrated by simulations.

  12. dSPACE real time implementation of fuzzy PID position controller for vertical rotating single link arm robot using four-quadrant BLDC drive

    Directory of Open Access Journals (Sweden)

    Manikandan Ramasamy

    2017-07-01

    Full Text Available Automation has been growing in recent years for the manufacturing industries to increase productivity. Multiple robotic arms are used to handle materials for lifting in flexible directions. The vertical rotation of a 360 degree single arm is considered in this research on a position servo drive with brushless DC motor. The load torque of an arm varies depending upon the angular displacement due to gravity, so it requires four-quadrant operation of the drive with a robust feedback controller. This paper deals with the design and performance comparison of a conventional PID feedback controller with a fuzzy-based PID controller and suggests the most suitable controller. The design was implemented in real time through the dSPACE DS1104 controller environment to verify the dynamic behaviors of the arm.

  13. Cognitive Targeting: A Coercive Air Power Theory for Conventional Escalation Control Against Nuclear Armed Adversaries

    Science.gov (United States)

    2016-06-01

    strategic,” in the cognitive targeting paradigm , are those that directly disable - in the strategic audience’s mind – the attractiveness or...This study analyses the applicability of three operational targeting paradigms to coerce a nuclear-armed adversary in a regional crisis, while...principles and elements of war and understand the coercive ability of utility targeting (a capabilities-based targeting paradigm , CBTP), axiological

  14. Plutonium: key issue in nuclear disarmament and non-proliferation of nuclear weapons

    International Nuclear Information System (INIS)

    Yoshisaki, M.B.

    1993-01-01

    The technical report is a 1993 update on weapons-grade plutonium, a key issue in nuclear disarmament. Its vital significance would again be discussed during the fifth and the last Review Conference on the Non-Proliferation Treaty (NPT) for Nuclear Weapons which would end in 1995. Member States shall decide whether an indefinite or conditional extension of NPT is necessary for world peace and international security. Two Non-NPT States, Russia and U.S.A. are in the forefront working for the reduction of nuclear weapons through nuclear disarmament. Their major effort is focused on the implementation of the Strategic Arms Reduction Treaty I and II or START I and II for world peace. The eventual implementation of START I and II would lead to the dismantling of plutonium from nuclear warheads proposed to be eliminated by both countries. This report gives three technical options to be derived from nuclear disarmament issues for the non-proliferation of nuclear weapons: (a) indefinite storage - there is no guarantee that these will not be used in the future (b) disposal as wastes - possible only in principle, because of lack of experience in mixing plutonium with high level wastes, and (c) source of energy - best option in managing stored weapons materials, because it satisfies non-proliferation objectives. It means fuel for energy in Light Water Reactors (LWR) or Fast Breeder Reactors (FBR). (author). 8 refs

  15. Nuclear power generation and nuclear nonproliferation

    International Nuclear Information System (INIS)

    Walske, C.

    1978-01-01

    In the future outlook around year 2000 of nuclear power, thought must be given to fuel reprocessing and plutonium utilization. The adverse utilization of plutonium may be prevented by the means balanced with its economical value. As the method of less cost with lower effect of nonproliferation, combination of fuel reprocessing and fuel fabrication facilities and mixed plutonium/uranium processing are possible. As the method of more cost with higher effect of nonproliferation the maintenance of high radioactivity and inaccessibility of plutonium is conceivable. As for the agreeable methods in 2000, seven principles may be mentioned, such as the dependence upon the agreements among major nations and upon nuclear exporting countries. These are still inadequate, however. What is important is to provide with the sufficient safeguards to countries concerned to negate the need for nuclear weapons. Efforts are then necessary for leading nuclear countries to extend aids to other nuclear-oriented countries. (Mori, K.)

  16. Nuclear exports and non-proliferation

    International Nuclear Information System (INIS)

    Courteix, Simone.

    1978-01-01

    Increased preoccupation in present times with the risk of proliferation of nuclear weapons is reflected in the multiplication of international agreements such as the Non-proliferation Treaty and in the strengthening of consultations between industrialised countries (London Club). After analysing the IAEA safeguards system under the Non-proliferation Treaty and its shortcomings both technically and otherwise, the author considers how this situation can be remedied in the light of the London Agreements and in view of the position of the main countries concerned. The annex to the book contains the texts of many international agreements and relevant national regulations as well as nuclear policy statements. It also includes a detailed bibliograaphy. (NEA) [fr

  17. Impairment-oriented training or Bobath therapy for severe arm paresis after stroke: a single-blind, multicentre randomized controlled trial.

    Science.gov (United States)

    Platz, T; Eickhof, C; van Kaick, S; Engel, U; Pinkowski, C; Kalok, S; Pause, M

    2005-10-01

    To study the effects of augmented exercise therapy time for arm rehabilitation as either Bobath therapy or the impairment-oriented training (Arm BASIS training) in stroke patients with arm severe paresis. Single blind, multicentre randomized control trial. Three inpatient neurorehabilitation centres. Sixty-two anterior circulation ischaemic stroke patients. Random assignment to three group: (A) no augmented exercise therapy time, (B) augmented exercise therapy time as Bobath therapy and (C) augmented exercise therapy time as Arm BASIS training. Fugl-Meyer arm motor score. Secondary measure: Action Research Arm Test (ARA). Ancillary measures: Fugl-Meyer arm sensation and joint motion/pain scores and the Ashworth Scale (elbow flexors). An overall effect of augmented exercise therapy time on Fugl-Meyer scores after four weeks was not corroborated (mean and 95% confidence interval (CI) of change scores: no augmented exercise therapy time (n=20) 8.8, 5.2-12.3; augmented exercise therapy time (n=40) 9.9, 6.8-13.9; p = 0.2657). The group who received the augmented exercise therapy time as Arm BASIS training (n=20) had, however, higher gains than the group receiving the augmented exercise therapy time as Bobath therapy (n=20) (mean and 95% CI of change scores: Bobath 7.2, 2.6-11.8; BASIS 12.6, 8.4-16.8; p = 0.0432). Passive joint motion/pain deteriorated less in the group who received BASIS training (mean and 95% CI of change scores: Bobath -3.2, -5.2 to -1.1; BASIS 0.1, -1.8-2.0; p = 0.0090). ARA, Fugl-Meyer arm sensation, and Ashworth Scale scores were not differentially affected. The augmented exercise therapy time as Arm BASIS training enhanced selective motor control. Type of training was more relevant for recovery of motor control than therapeutic time spent.

  18. Non-proliferation efforts in South Asia

    International Nuclear Information System (INIS)

    Chellaney, B.

    1994-01-01

    Southern Asia is one of the most volatile regions in the world because of inter-State and intra-State conflicts. Security in the region highly depends on the rival capabilities of the involved states, Pakistan, India, China. Increased Confidence building and nuclear transparency are becoming more significant issues in attaining stability in the region, although non-proliferation efforts in this region have attained little headway

  19. Sovereignty and non-proliferation policy

    International Nuclear Information System (INIS)

    Kimminich, O.

    1990-01-01

    The Non-Proliferation Treaty seems to violate the fundamental principle of the quality of the states. However, if interpreted in the light of the latest developments of the international law, it is possible to justify the discriminations which it imposes on the non-nuclear states. A crucial point is the implementation of article VI by the nuclear states. If the latter procrastinate in nuclear disarmament the whole NPT-regime will collapse. (orig.) [de

  20. INFCE and US non-proliferation policy

    Energy Technology Data Exchange (ETDEWEB)

    Donnelly, W H [Library of Congress, Washington, DC (USA)

    1980-12-01

    The International Fuel Cycle Evaluation (INFCE), which published its final reports in February 1980 produced a massive international effort of a kind never before seen. Over a period of two years its eight working groups held 61 meetings involving 519 experts from 46 countries and five international organizations. This article outlines the background and structure of INFCE and discusses how its recommendations diverge from US non-proliferation policy.

  1. Exploring Ackermann and LQR stability control of stochastic state-space model of hexacopter equipped with robotic arm

    Science.gov (United States)

    Ibrahim, I. N.; Akkad, M. A. Al; Abramov, I. V.

    2018-05-01

    This paper discusses the control of Unmanned Aerial Vehicles (UAVs) for active interaction and manipulation of objects. The manipulator motion with an unknown payload was analysed concerning force and moment disturbances, which influence the mass distribution, and the centre of gravity (CG). Therefore, a general dynamics mathematical model of a hexacopter was formulated where a stochastic state-space model was extracted in order to build anti-disturbance controllers. Based on the compound pendulum method, the disturbances model that simulates the robotic arm with a payload was inserted into the stochastic model. This study investigates two types of controllers in order to study the stability of a hexacopter. A controller based on Ackermann’s method and the other - on the linear quadratic regulator (LQR) approach - were presented. The latter constitutes a challenge for UAV control performance especially with the presence of uncertainties and disturbances.

  2. Robot-assisted reaching exercise promotes arm movement recovery in chronic hemiparetic stroke: a randomized controlled pilot study

    Directory of Open Access Journals (Sweden)

    Rymer W Zev

    2006-06-01

    Full Text Available Abstract Background and purpose Providing active assistance to complete desired arm movements is a common technique in upper extremity rehabilitation after stroke. Such active assistance may improve recovery by affecting somatosensory input, motor planning, spasticity or soft tissue properties, but it is labor intensive and has not been validated in controlled trials. The purpose of this study was to investigate the effects of robotically administered active-assistive exercise and compare those with free reaching voluntary exercise in improving arm movement ability after chronic stroke. Methods Nineteen individuals at least one year post-stroke were randomized into one of two groups. One group performed 24 sessions of active-assistive reaching exercise with a simple robotic device, while a second group performed a task-matched amount of unassisted reaching. The main outcome measures were range and speed of supported arm movement, range, straightness and smoothness of unsupported reaching, and the Rancho Los Amigos Functional Test of Upper Extremity Function. Results and discussion There were significant improvements with training for range of motion and velocity of supported reaching, straightness of unsupported reaching, and functional movement ability. These improvements were not significantly different between the two training groups. The group that performed unassisted reaching exercise improved the smoothness of their reaching movements more than the robot-assisted group. Conclusion Improvements with both forms of exercise confirmed that repeated, task-related voluntary activation of the damaged motor system is a key stimulus to motor recovery following chronic stroke. Robotically assisting in reaching successfully improved arm movement ability, although it did not provide any detectable, additional value beyond the movement practice that occurred concurrently with it. The inability to detect any additional value of robot-assisted reaching

  3. Nonproliferation norms in civilian nuclear fuel cycle

    International Nuclear Information System (INIS)

    Kawata, Tomio

    2005-01-01

    For sustainable use of nuclear energy in large scale, it seems inevitable to choose a closed cycle option. One of the important questions is, then, whether we can really achieve the compatibility between civilian nuclear fuel cycle and nonproliferation norms. In this aspect, Japan is very unique because she is now only one country with full-scope nuclear fuel cycle program as a non-nuclear weapon state in NPT regime. In June 2004 in the midst of heightened proliferation concerns in NPT regime, the IAEA Board of Governors concluded that, for Japanese nuclear energy program, non-diversion of declared nuclear material and the absence of undeclared nuclear material and activities were verified through the inspections and examinations under Comprehensive Safeguards and the Additional Protocol. Based on this conclusion, the IAEA announced the implementation of Integrated Safeguards in Japan in September 2004. This paper reviews how Japan has succeeded in becoming the first country with full-scope nuclear fuel cycle program to qualify for integrated Safeguards, and identifies five key elements that have made this achievement happen: (1) Obvious need of nuclear fuel cycle program, (2) Country's clear intention for renunciation of nuclear armament, (3) Transparency of national nuclear energy program, (4) Record of excellent compliance with nonproliferation obligations for many decades, and (5) Numerous proactive efforts. These five key elements will constitute a kind of an acceptance model for civilian nuclear fuel cycle in NNWS, and may become the basis for building 'Nonproliferation Culture'. (author)

  4. Synergies between nonproliferation regimes: A pragmatic approach

    International Nuclear Information System (INIS)

    Findlay, Trevor; Meier, Oliver

    2001-01-01

    Full text: With the recent progress in establishing international nonproliferation regimes, the question of synergies between different verification and monitoring regimes is becoming more acute. Three multilateral and universal nonproliferation organisations covering safeguards on civil nuclear materials, nuclear testing, and chemical weapons are up and running. A regime on biological weapons is under negotiation. Several regional organisations concerned with monitoring nonproliferation commitments in the nuclear field are in place; others are being established. Past discussions on synergies between these regimes have suffered from being too far-reaching. These discussions often have not reflected adequately the political difficulties of cooperation between regimes with different membership, scope and institutional set-up. This paper takes a pragmatic look at exploiting synergies and identifies some potential and real overlaps in the work between different verification regimes. It argues for a bottom-up approach and identifies building blocks for collaboration between verification regimes. By realising such, more limited potential for cooperation, the ground could be prepared for exploiting other synergies between these regimes. (author)

  5. Nuclear non-proliferation: failures and prospects

    International Nuclear Information System (INIS)

    Imai, R.; Press, R.

    1980-01-01

    The objective of this paper is to examine the evolution of combined political and technical attempts to achieve worldwide acceptance of a commitment to non-proliferation, to note failures to date, and to identify essential factors to be satisfied if greater and necessary success is to be achieved in the immediate future. For this it is necessary to separate the realism and unrealism so often involved in discussing the concept of non-proliferation, as defined above, particularly if treated as a moral principle rather than as part of a general security issue reflecting shifts in regional and global stability. The political nature of the non-proliferation problem is underlined by the fact that whereas five nuclear weapon states are currently accepted, any threatened increase in that number is discouraged by every possible peaceful means. This fact combines political acceptance of an existing international situation with a belief that any addition to the present number must lead to international instability. Success in preventing additions may be more readily achieved through political understanding and perhaps some compromises, in particular cases, rather than through seeking a universal solution to a generalized problem

  6. The positive effect of mirror visual feedback on arm control in children with Spastic hemiparetic cerebral palsy is dependent on which arm is viewed

    NARCIS (Netherlands)

    Smorenburg, A; Ledebt, A.; Feltham, M.; Deconinck, F.; Savelsbergh, G.J.P.

    2011-01-01

    Mirror visual feedback has previously been found to reduce disproportionate interlimb variability and neuromuscular activity in the arm muscles in children with Spastic Hemiparetic Cerebral Palsy (SHCP). The aim of the current study was to determine whether these positive effects are generated by

  7. Nonproliferation Graduate Fellowship Program Annual Report: Class of 2011

    Energy Technology Data Exchange (ETDEWEB)

    McMakin, Andrea H.

    2012-08-20

    Annual report for the Nonproliferation Graduate Fellowship Program (NGFP), which PNNL administers for the National Nuclear Security Administration (NNSA). Features the Class of 2011. The NGFP is a NNSA program with a mission to cultivate future technical and policy leaders in nonproliferation and international security. Through the NGFP, outstanding graduate students with career interests in nonproliferation are appointed to program offices within the Office of Defense Nuclear Nonproliferation (DNN). During their one-year assignment, Fellows participate in programs designed to detect, prevent, and reverse the proliferation of nuclear weapons.

  8. Disarmament and arms control in the policy of the two great powers

    International Nuclear Information System (INIS)

    Klein, J.

    2010-01-01

    This text was published in 1992. The author comments the results of the START agreement which specified a 30 per cent objective for strategic weapon reduction. He also comments the consequences and implication of the USSR splitting where some states possess nuclear arms and warheads, the cooperation for transportation, storage, security and destruction of chemical and nuclear weapons in USSR, and the perspectives of more ambitious disarmament propositions because of the USSR collapse and of the disappearance of its military threat on the USA

  9. Understanding the conventional arms trade

    Science.gov (United States)

    Stohl, Rachel

    2017-11-01

    The global conventional arms trade is worth tens of billions of dollars every year and is engaged in by every country in the world. Yet, it is often difficult to control the legal trade in conventional arms and there is a thriving illicit market, willing to arm unscrupulous regimes and nefarious non-state actors. This chapter examines the international conventional arms trade, the range of tools that have been used to control it, and challenges to these international regimes.

  10. Validation of the NATO Armaments Ballistic Kernel for use in small-arms fire control systems

    Directory of Open Access Journals (Sweden)

    D. Corriveau

    2017-06-01

    Full Text Available In support for the development of a new small-arm ballistic computer based on the NATO Armaments Ballistic Kernel (NABK for the Canadian snipers, DRDC Valcartier Research Centre was asked to carry out high-fidelity 6 degree-of-freedom (6-DOF trajectory simulations for a set of relevant vignettes for the snipers, and to compare the direct fire 6-DOF simulation results with those obtained with the 4-DOF NATO Armaments Ballistic Kernel (NABK adapted to simulate small-arm ammunition trajectories. To conduct this study, DRDC Valcartier Research Centre used BALCO v1.0b. This paper presents (1 the process and the methodology employed to carry out the sniper direct fire solution study, (2 the modeling and the simulation of the sniper projectile, the approach used in calculating the firing solutions, and the results of direct fire simulations for the sniper vignettes, and (3 an analysis of firing solutions obtained with the BALCO engine versus those of NABK. The work presented in this paper serves to validate the use of NABK for the new sniper ballistic computer.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2014-03-01

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

  12. Updating visual memory across eye movements for ocular and arm motor control.

    Science.gov (United States)

    Thompson, Aidan A; Henriques, Denise Y P

    2008-11-01

    Remembered object locations are stored in an eye-fixed reference frame, so that every time the eyes move, spatial representations must be updated for the arm-motor system to reflect the target's new relative position. To date, studies have not investigated how the brain updates these spatial representations during other types of eye movements, such as smooth-pursuit. Further, it is unclear what information is used in spatial updating. To address these questions we investigated whether remembered locations of pointing targets are updated following smooth-pursuit eye movements, as they are following saccades, and also investigated the role of visual information in estimating eye-movement amplitude for updating spatial memory. Misestimates of eye-movement amplitude were induced when participants visually tracked stimuli presented with a background that moved in either the same or opposite direction of the eye before pointing or looking back to the remembered target location. We found that gaze-dependent pointing errors were similar following saccades and smooth-pursuit and that incongruent background motion did result in a misestimate of eye-movement amplitude. However, the background motion had no effect on spatial updating for pointing, but did when subjects made a return saccade, suggesting that the oculomotor and arm-motor systems may rely on different sources of information for spatial updating.

  13. New trends of activity on supporting of non-proliferation regime

    International Nuclear Information System (INIS)

    Issaeva, G.M.; Tyupkina, O.G.

    2002-01-01

    Taking into account the necessity of all possible strengthening of non-proliferation regimes Kazakhstan participates in a number of agreements and associations: Nuclear Non-proliferation Treaty, Comprehensive Test-Ban-Treaty, International Atomic Energy Agency, Nuclear Supplier Group, Missile Technology Control Regime, Conference on Disarmament, etc. The Cooperative Threat Reduction Program (CTR) greatly influenced on the development on non-proliferation regime in Kazakhstan. During initial stage of CTR activity (1993-1995) military projects prevailed. Later (1995-1997) the projects on liquidation of infrastructure for nuclear and bio- weapons were successfully realized. Last years, since 1999, the attention was shifted towards proliferation prevention of hazardous nuclear and biological materials. Recent terrorist acts and world community activity on global safety strengthening underline an urgency of quite new problems that entirely applied to Kazakhstan: monitoring of hazardous materials; enhancement of safety systems of 'risky' facilities and technologies; creation and/or upgrading of safety systems for industry infrastructure. The proposals of these new trends of non-proliferation have been developed. Development of physical protection system for oil and gas industry infrastructure of Kazakhstan based on safety concepts of nuclear facilities; Evaluation of radionuclide contamination and safety of oil and gas facilities of the Caspian region; Counteraction to nuclear materials proliferation; Cooperative approaches in preventing/reducing of illicit trafficking and use of WMD-related explosive materials. Implementation of the project would make of substantial contribution to successful solution of either regional or global safety problem

  14. Nuclear Testing: Arms Control Opportunities. Hearing before the Subcommittee on Arms Control, International Security and Science of the Committee on Foreign Affairs, US House of Representatives, One Hundredth Congress, Second Session, June 28, 1988

    International Nuclear Information System (INIS)

    Anon.

    1988-01-01

    The results of this hearing before the Subcommittee on Arms Control, International Security and Science that had a three-fold purpose are recorded. The three-fold purpose was: (1) to examine the nuclear testing policy of the USA and how that policy fits into a larger USA arms control and national security strategy; (2) to discuss the status of the USA-Soviet Nuclear Testing Talks in Geneva, i.e. what is the status of the protocols of the Threshold Test Ban Treaty (TTBT) and the Peaceful Nuclear Explosion Treaty (PNET)? and what is the next step in the US negotiating strategy after the protocols are completed?; and (3) to examine the conclusions of a 139 page report completed by the Office of Technology Assessment (OTA) on 'Seismic Verification of Nuclear Testing Treaties'. The OTA report addressed two key questions: (1) down to what size explosion can underground testing be seismically monitored with high confidence; and (2) how accurately can the yields of underground explosions be measured seismically? The answers to these questions are featured in the hearings

  15. When ethics constrains clinical research: trial design of control arms in "greater than minimal risk" pediatric trials.

    Science.gov (United States)

    de Melo-Martín, Inmaculada; Sondhi, Dolan; Crystal, Ronald G

    2011-09-01

    For more than three decades clinical research in the United States has been explicitly guided by the idea that ethical considerations must be central to research design and practice. In spite of the centrality of this idea, attempting to balance the sometimes conflicting values of advancing scientific knowledge and protecting human subjects continues to pose challenges. Possible conflicts between the standards of scientific research and those of ethics are particularly salient in relation to trial design. Specifically, the choice of a control arm is an aspect of trial design in which ethical and scientific issues are deeply entwined. Although ethical quandaries related to the choice of control arms may arise when conducting any type of clinical trials, they are conspicuous in early phase gene transfer trials that involve highly novel approaches and surgical procedures and have children as the research subjects. Because of children's and their parents' vulnerabilities, in trials that investigate therapies for fatal, rare diseases affecting minors, the scientific and ethical concerns related to choosing appropriate controls are particularly significant. In this paper we use direct gene transfer to the central nervous system to treat late infantile neuronal ceroid lipofuscinosis to illustrate some of these ethical issues and explore possible solutions to real and apparent conflicts between scientific and ethical considerations.

  16. Non-proliferation policy of the Republic of Kazakhstan

    International Nuclear Information System (INIS)

    Shkol'nik, V.S.; Zhantikin, T.M.

    1997-01-01

    The present abstract reveals the aspects of Kazakstan's non-proliferation policy. After acquiring independence in Kazakstan there remained a huge nuclear inheritance of the USSR. Kazakstan had to determine its policy regarding nuclear stuff. One of the most important test sites of the former USSR - Semipalatinsk test site - was closed. The Republic signed the Lisbon Protocols to the Treaty between the USSR and USA on the reduction and limitation of strategic and offensive arms. On December 13, 1993, Kazakstan and the IAEA concluded the IAEA Safeguards Agreement. All nuclear weapons were removed from Kazakstan territory, work resulting in military nuclear power use was terminated. A wide program on conversion of the former military research infrastructure is being performed with the support of some foreign countries. For instance Kazakstan / USA jointly work on withdrawing highly enriched nuclear materials from Ulba Metallurgical Plant to the USA enterprises for processing ('Sapphere'). Another conversion activity is liquidation of the former testing holes at Semipalatinsk test site. In relation to this there appeared an agreement between U.S. Department of defence and Ministry of Sciences and New Technologies of the Republic of Kazakstan (October, 3, 1995). A sensitive information is present at the area of the former test site. The traditional IAEA safeguards are used to nuclear facilities and nuclear materials

  17. Adaptive neural control for dual-arm coordination of humanoid robot with unknown nonlinearities in output mechanism.

    Science.gov (United States)

    Liu, Zhi; Chen, Ci; Zhang, Yun; Chen, C L P

    2015-03-01

    To achieve an excellent dual-arm coordination of the humanoid robot, it is essential to deal with the nonlinearities existing in the system dynamics. The literatures so far on the humanoid robot control have a common assumption that the problem of output hysteresis could be ignored. However, in the practical applications, the output hysteresis is widely spread; and its existing limits the motion/force performances of the robotic system. In this paper, an adaptive neural control scheme, which takes the unknown output hysteresis and computational efficiency into account, is presented and investigated. In the controller design, the prior knowledge of system dynamics is assumed to be unknown. The motion error is guaranteed to converge to a small neighborhood of the origin by Lyapunov's stability theory. Simultaneously, the internal force is kept bounded and its error can be made arbitrarily small.

  18. Non-proliferation and safeguards in South Africa

    International Nuclear Information System (INIS)

    Broodryk, Alta

    2001-01-01

    South Africa occupies a unique position in the history of the Non-Proliferation Treaty in being the only country with a nuclear weapons capability that was voluntary terminated before acceding to the Treaty. The first nuclear device built was completed in December 1982, five more devices followed at an orderly pace of less than one per year and on 26 February 1990 cabinet officially implemented the termination of its nuclear deterrent capability. The events that flowed from the termination was that South Africa: Acceded to the Non-Proliferation Treaty (10 July 1991); Signed Comprehensive Safeguards Agreement, INFCIRC/394, (16 September 1991); Submitted its initial inventory of nuclear material (30 September 1991); and Received first verification team from the Agency (November 1991). South Africa, being dedicated to the prevention of the proliferation of Nuclear Weapons became a party to various non-proliferation treaties, regimes and groups. The National Non- Proliferation Policy, as published in a Cabinet memorandum, also clearly states this commitment. To comply with the requirements of the Treaty and Agreement the following two acts were published: The Nuclear Energy Act; The Non-Proliferation of Weapons of Mass Destruction Act. The Minister of Minerals and Energy is the State Authority for the implementation of the Safeguards Agreement in South Africa, however, the Minister delegated this Authority to NECSA's Safeguards Division. To implement the requirements of the various acts, control regimes and treaties a State System for Accounting and Control of Nuclear Material, based on the ISO 9001:2000 standard, was designed. This standard focuses on customer satisfaction, continuous improvement, the demonstration of commitment and the prevention of non-conformity. To comply with the requirements of the standard the following procedures were established and maintained: A Quality Manual; Customer focus; Control of documents; Control of quality records; Internal Audits

  19. Sample size determinations for group-based randomized clinical trials with different levels of data hierarchy between experimental and control arms.

    Science.gov (United States)

    Heo, Moonseong; Litwin, Alain H; Blackstock, Oni; Kim, Namhee; Arnsten, Julia H

    2017-02-01

    We derived sample size formulae for detecting main effects in group-based randomized clinical trials with different levels of data hierarchy between experimental and control arms. Such designs are necessary when experimental interventions need to be administered to groups of subjects whereas control conditions need to be administered to individual subjects. This type of trial, often referred to as a partially nested or partially clustered design, has been implemented for management of chronic diseases such as diabetes and is beginning to emerge more commonly in wider clinical settings. Depending on the research setting, the level of hierarchy of data structure for the experimental arm can be three or two, whereas that for the control arm is two or one. Such different levels of data hierarchy assume correlation structures of outcomes that are different between arms, regardless of whether research settings require two or three level data structure for the experimental arm. Therefore, the different correlations should be taken into account for statistical modeling and for sample size determinations. To this end, we considered mixed-effects linear models with different correlation structures between experimental and control arms to theoretically derive and empirically validate the sample size formulae with simulation studies.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2013-10-04

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

  1. [A Multi-arm Placebo-controlled Study with Glutamic Acid Conducted in Rostock in 1953/1954].

    Science.gov (United States)

    Häßler, Frank; Weirich, Steffen

    2017-09-01

    A Multi-arm Placebo-controlled Study with Glutamic Acid Conducted in Rostock in 1953/1954 Glutamic acid was commonly used in the treatment of intellectually disabled children in the 50s. Koch reported first results of an observation of 140 children treated with glutamic acid in 1952. In this line is the multi-arm placebo-controlled study reported here. The original study protocols were available. 58 children with speech problems who attending a school of special needs received glutamic acid, or vitamin B, or St.-John's-wort. The effect of glutamic acid was in few cases an improvement of attention. On the other hand restlessness and stutter increased. The majority of all reported a weight loss. The treatment with vitamin B showed a positive effect concerning concentration. The treatment with St.-John's wort was stopped caused by headache and vomiting in eight of nine cases. The results of the study reported here are unpublished. The reason may be that until the 60s the effects of glutamic acid in the treatment of intellectually disabled children were in generally overestimated.

  2. How do octopuses use their arms?

    Science.gov (United States)

    Mather, J A

    1998-09-01

    A taxonomy of the movement patterns of the 8 flexible arms of octopuses is constructed. Components consist of movements of the arm itself, the ventral suckers and their stalks, as well as the relative position of arms and the skin web between them. Within 1 arm, combinations of components result in a variety of behaviors. At the level of all arms, 1 group of behaviors is described as postures, on the basis of the spread of all arms and the web to make a 2-dimensional surface whose position differs in the 3rd dimension. Another group of arm behaviors is actions, more or less coordinated and involving several to all arms. Arm control appears to be based on radial symmetry, relative equipotentiality of all arms, relative independence of each arm, and separability of components within the arm. The types and coordination of arm behaviors are discussed with relationship to biomechanical limits, muscle structures, and neuronal programming.

  3. Evolution and resilience of the nuclear nonproliferation regime

    International Nuclear Information System (INIS)

    Pregenzer, Arian L.

    2014-01-01

    This paper introduces the concept of systems resilience as a new framework for thinking about the future of the nonproliferation regime. Resilience refers to the ability of a system to maintain its vital functions in the face of continuous and unpredictable change. First, I make the case that the nonproliferation regime can be viewed as a complex system. Next, I discuss key themes from the literature on systems resilience and apply them to the nonproliferation system: the difference between resilience and stability; the need for evolution to maintain function; the importance of functional diversity; and the concept of the adaptive cycle. I show that most existing nonproliferation strategies are aimed at stability rather than resilience and that the current nonproliferation system may be over-constrained by the cumulative evolution of strategies. According to the literature on systems resilience, this increases its vulnerability to collapse. I argue that the resilience of the nonproliferation system can be enhanced by increasing international participation in setting the nonproliferation agenda, developing general international response capabilities, focusing on non-coercive approaches to decreasing demand, and applying systems thinking more rigorously to nonproliferation

  4. Evolution and resilience of the nuclear nonproliferation regime

    Energy Technology Data Exchange (ETDEWEB)

    Pregenzer, Arian L. [Senior Scientist, Retired, Sandia National Laboratories, 13013 Arroyo de Vista NE, Albuquerque, NM 87111 (United States)

    2014-05-09

    This paper introduces the concept of systems resilience as a new framework for thinking about the future of the nonproliferation regime. Resilience refers to the ability of a system to maintain its vital functions in the face of continuous and unpredictable change. First, I make the case that the nonproliferation regime can be viewed as a complex system. Next, I discuss key themes from the literature on systems resilience and apply them to the nonproliferation system: the difference between resilience and stability; the need for evolution to maintain function; the importance of functional diversity; and the concept of the adaptive cycle. I show that most existing nonproliferation strategies are aimed at stability rather than resilience and that the current nonproliferation system may be over-constrained by the cumulative evolution of strategies. According to the literature on systems resilience, this increases its vulnerability to collapse. I argue that the resilience of the nonproliferation system can be enhanced by increasing international participation in setting the nonproliferation agenda, developing general international response capabilities, focusing on non-coercive approaches to decreasing demand, and applying systems thinking more rigorously to nonproliferation.

  5. Twenty years of the Non-proliferation Treaty

    International Nuclear Information System (INIS)

    Goldblat, Jozef.

    1990-01-01

    The report assesses the achievements of the Non-proliferation Treaty (NPT) and discusses ways in which the non-proliferation regime could be strenghtened. It recommends a series of measures to be taken by the parties of the Treaty, both nuclear and non-nuclear weapons states, with a view to reinforcing the Treaty and achieving its universality. 198 refs

  6. Non-proliferation aspects of long term assurance of supply

    International Nuclear Information System (INIS)

    1978-01-01

    The meetings in this section deal with the non-proliferation aspects of long-term assurance of supply of the nuclear fuel cycle. A list of 12 fundamental questions concerning the observation and application of the non-proliferation regulations is followed by the comments made by representatives of 10 countries

  7. Nuclear Nonproliferation Ontology Assessment Team Final Report

    Energy Technology Data Exchange (ETDEWEB)

    Strasburg, Jana D.; Hohimer, Ryan E.

    2012-01-01

    Final Report for the NA22 Simulations, Algorithm and Modeling (SAM) Ontology Assessment Team's efforts from FY09-FY11. The Ontology Assessment Team began in May 2009 and concluded in September 2011. During this two-year time frame, the Ontology Assessment team had two objectives: (1) Assessing the utility of knowledge representation and semantic technologies for addressing nuclear nonproliferation challenges; and (2) Developing ontological support tools that would provide a framework for integrating across the Simulation, Algorithm and Modeling (SAM) program. The SAM Program was going through a large assessment and strategic planning effort during this time and as a result, the relative importance of these two objectives changed, altering the focus of the Ontology Assessment Team. In the end, the team conducted an assessment of the state of art, created an annotated bibliography, and developed a series of ontological support tools, demonstrations and presentations. A total of more than 35 individuals from 12 different research institutions participated in the Ontology Assessment Team. These included subject matter experts in several nuclear nonproliferation-related domains as well as experts in semantic technologies. Despite the diverse backgrounds and perspectives, the Ontology Assessment team functioned very well together and aspects could serve as a model for future inter-laboratory collaborations and working groups. While the team encountered several challenges and learned many lessons along the way, the Ontology Assessment effort was ultimately a success that led to several multi-lab research projects and opened up a new area of scientific exploration within the Office of Nuclear Nonproliferation and Verification.

  8. CT dose modulation using automatic exposure control in whole-body PET/CT: effects of scout imaging direction and arm positioning.

    Science.gov (United States)

    Inoue, Yusuke; Nagahara, Kazunori; Kudo, Hiroko; Itoh, Hiroyasu

    2018-01-01

    Automatic exposure control (AEC) modulates tube current and consequently X-ray exposure in CT. We investigated the behavior of AEC systems in whole-body PET/CT. CT images of a whole-body phantom were acquired using AEC on two scanners from different manufactures. The effects of scout imaging direction and arm positioning on dose modulation were evaluated. Image noise was assessed in the chest and upper abdomen. On one scanner, AEC using two scout images in the posteroanterior (PA) and lateral (Lat) directions provided relatively constant image noise along the z-axis with the arms at the sides. Raising the arms increased tube current in the head and neck and decreased it in the body trunk. Image noise increased in the upper abdomen, suggesting excessive reduction in radiation exposure. AEC using the PA scout alone strikingly increased tube current and reduced image noise in the shoulder. Raising the arms did not substantially influence dose modulation and decreased noise in the abdomen. On the other scanner, AEC using the PA scout alone or Lat scout alone resulted in similar dose modulation. Raising the arms increased tube current in the head and neck and decreased it in the trunk. Image noise was higher in the upper abdomen than in the middle and lower chest, and was not influenced by arm positioning. CT dose modulation using AEC may vary greatly depending on scout direction. Raising the arms tended to decrease radiation exposure; however, the effect depends on scout direction and the AEC system.

  9. Carter faces new dilemmas over non-proliferation

    International Nuclear Information System (INIS)

    Dickson, D.

    1979-01-01

    Questions underlying the current domestic debate as to whether the US should revise its attitude towards the relationship between the spread of nuclear energy and the proliferation of nuclear weapons are considered. Problems arising from the provisional conclusions of the International Nuclear Fuel Cycle Evaluation, set up at President Carter's suggestion in 1977, are evaluated. The thorny question of how to deal with the Non-Proliferation Treaty when it comes up for review in 1980 is discussed. Finally there is the issue, for which it is concluded nobody pretends to have all the answers, of whether a sufficient consensus - involving both developed and developing countries as partners in decision-making - can be forged to develop and apply an effective control regime, or whether increasing competition between both producers and consumers of nuclear power will be such as to limit the possibilities for multilateral action, shifting the focus back to bilateral actions. (UK)

  10. Scientists for non-proliferation of nuclear weapons. Transactions of international seminar

    International Nuclear Information System (INIS)

    1994-01-01

    This publication presents the results of the Second International Seminar 'Scientists for Non-Proliferation of Nuclear Weapons'. The Seminar took place from 11 to 14 October 1994 in Nakhabino Country Club near Moscow. More than 60 specialists from Russia, USA, France, Belgium as well as IAEA and CEU took part in the seminar. Problems of cooperation in the field of nuclear materials accounting, control and safeguards, physical protection of nuclear materials, nuclear export regulations and disarmament control are discussed at the seminar

  11. The Nuclear Progress And The Non-Proliferation Policies

    Energy Technology Data Exchange (ETDEWEB)

    Popa-Simil, Liviu [Los Alamos, NM 87544 (United States)

    2009-06-15

    The 2008 fall crisis showed the limits of globalization under the actual rules and de-regulations promoted by few developed countries. It also showed the weakness of the planetary economy induced by strong economic connections that makes the propagation of crises faster than the spread of welfare. The increase in severe weather and natural disasters showed how fast the civilization can be spoiled while the competition for oil resources made the interstate tensions grow. For almost all states, the development of the nuclear power becomes a prime option, even oil producers started to show interest in nuclear technology and also, policies that in particular are clearly oriented towards national development policies. The fact that anybody mastering nuclear technologies and uses for power production is capable in a reasonable time to produce weapons is a well-known fact. Therefore, in order to reduce the proliferation risk it is necessary to contain the nuclear science development. An alternative is to shift the weight in promoting renewable energies, as potential future energy alternative. Considering rigorously the future climate change effects, it becomes obvious that any delay in nuclear development will turn very costly for any nation ignoring all these facts and, the complexity of the real nonproliferation is growing. This new trend raises serious challenges in front of all states regarding the non-proliferation and, in order to keep control and stimulate a sound nuclear development, some of the actual non-proliferation concepts and policies have to be reformulated and enhanced. This has to be done in parallel with a more intensive implication of the international organisms in the real development of the nuclear power at national level. The large diversity of nuclear applications with huge collateral implication in every national economy makes the role of the international organisms orders of magnitude more important. The new challenges posed in front of the

  12. Evaluation of Arm Processor-based Bionic Intelligent Controller for a Buck-boost Converte

    OpenAIRE

    M.V. Mini; L. Padma Suresh

    2015-01-01

    This study focuses on performance-comparison of different tuning methods for a PI controller applied to a buck-boost converter. Comparison between the controllers is made by analysis of design methodology implementation issues and empirically measured performance. Design of PI controller is based on frequency response of the converter. The optimization of PI controller is based on ant colony algorithm. Experimental results show that, tuning the PI controller using ACO algorithm gave better pe...

  13. Velocity-dependent changes of rotational axes in the non-visual control of unconstrained 3D arm motions.

    Science.gov (United States)

    Isableu, B; Rezzoug, N; Mallet, G; Bernardin, D; Gorce, P; Pagano, C C

    2009-12-29

    We examined the roles of inertial (e(3)), shoulder-centre of mass (SH-CM) and shoulder-elbow articular (SH-EL) rotation axes in the non-visual control of unconstrained 3D arm rotations. Subjects rotated the arm in elbow configurations that yielded either a constant or variable separation between these axes. We hypothesized that increasing the motion frequency and the task complexity would result in the limbs' rotational axis to correspond to e(3) in order to minimize rotational resistances. Results showed two velocity-dependent profiles wherein the rotation axis coincided with the SH-EL axis for S and I velocities and then in the F velocity shifted to either a SH-CM/e(3) trade-off axis for one profile, or to no preferential axis for the other. A third profile was velocity-independent, with the SH-CM/e(3) trade-off axis being adopted. Our results are the first to provide evidence that the rotational axis of a multi-articulated limb may change from a geometrical axis of rotation to a mass or inertia based axis as motion frequency increases. These findings are discussed within the framework of the minimum inertia tensor model (MIT), which shows that rotations about e(3) reduce the amount of joint muscle torque that must be produced by employing the interaction torque to assist movement.

  14. Method of Grasping Control by Computing Internal and External Impedances for Two Robot Fingers, and Its Application to Admittance Control of a Robot Hand-Arm System

    Directory of Open Access Journals (Sweden)

    Jian Huang

    2015-08-01

    Full Text Available Impedance control is an important technology used in the grasping control of a robot hand. Numerous studies related to grasping algorithms have been reported in recent years, with the contact force between robot fingers and the object to be grasped being primarily discussed in most cases. Generally, a coupling effect occurs between the internal loop of the grasping operation and the external loop of the interaction with the environment when a multi-fingered robot hand is used to complete a contact task. Therefore, a robot hand cannot hold an object using a large external force to complete a wide range of tasks by applying the conventional method. In this paper, the coupling of the internal/external forces occurring in grasping operations using multiple fingers is analysed. Then, improved impedance control based on the previous method is proposed as an effective tool to solve the problem of grasping failure caused by single-finger contact. Furthermore, a method for applying the improved grasping algorithm to the admittance control of a robot hand-arm system is also proposed. The proposed method divides the impedance effect into the grasping control of the hand and the cooperative control of the arm, so that expanding the task space and increasing the flexibility of impedance adjustment can be achieved. Experiments were conducted to demonstrate the effectiveness of the proposed method.

  15. Treaty on the non-proliferation of nuclear weapons: Review conference of the States Parties Geneva 1985

    International Nuclear Information System (INIS)

    1984-01-01

    The Third Review Conference of the Parties to the Treaty on the Non-Proliferation of Nuclear Weapons will be held in Geneva, Switzerland, in 1985 with a view to assuring that the purposes and provisions of the Treaty are being realized. The Treaty, commonly referred to as the non-proliferation Treaty, is the fundamental instrument to avert the danger of proliferation of nuclear weapons and is, perhaps, the most important multilateral arms regulation agreement of our time. It was negotiated in the 1960s in the Eighteen-Nation Committee on Disarmament in Geneva and in the United Nations General Assembly. The Treaty was opened for signature in London, Moscow and Washington on July 1, 1968. On that date, it was signed by the three Depositary Governments - the Soviet Union, the United Kingdom and the United States - and by 58 other States. As of December 31, 1983 the number of States parties to the Treaty had risen to 119

  16. Visually and force controlled opening and closing of doors by means of a mobile robot arm

    OpenAIRE

    Milighetti, G.; Hoffmann, E.; Fetzner, Angelika; Kuntze, Helge-Björn

    2012-01-01

    A multi-sensory discrete-continuous control concept has been developed to realize interactive basic skills for humanoid and mobile service robots. In the upper hierarchy level a discrete task control structure enables the flexible execution of primitive skill sequences. In the lower continuous level a suitable controller is chosen with control parameters adapted to the current primitive skill. The basic skill for the frequently occurring task of unlocking and opening a door by means of a mobi...

  17. Equilibrium point control of a monkey arm simulator by a fast learning tree structured artificial neural network.

    Science.gov (United States)

    Dornay, M; Sanger, T D

    1993-01-01

    A planar 17 muscle model of the monkey's arm based on realistic biomechanical measurements was simulated on a Symbolics Lisp Machine. The simulator implements the equilibrium point hypothesis for the control of arm movements. Given initial and final desired positions, it generates a minimum-jerk desired trajectory of the hand and uses the backdriving algorithm to determine an appropriate sequence of motor commands to the muscles (Flash 1987; Mussa-Ivaldi et al. 1991; Dornay 1991b). These motor commands specify a temporal sequence of stable (attractive) equilibrium positions which lead to the desired hand movement. A strong disadvantage of the simulator is that it has no memory of previous computations. Determining the desired trajectory using the minimum-jerk model is instantaneous, but the laborious backdriving algorithm is slow, and can take up to one hour for some trajectories. The complexity of the required computations makes it a poor model for biological motor control. We propose a computationally simpler and more biologically plausible method for control which achieves the benefits of the backdriving algorithm. A fast learning, tree-structured network (Sanger 1991c) was trained to remember the knowledge obtained by the backdriving algorithm. The neural network learned the nonlinear mapping from a 2-dimensional cartesian planar hand position (x,y) to a 17-dimensional motor command space (u1, . . ., u17). Learning 20 training trajectories, each composed of 26 sample points [[x,y], [u1, . . ., u17] took only 20 min on a Sun-4 Sparc workstation. After the learning stage, new, untrained test trajectories as well as the original trajectories of the hand were given to the neural network as input. The network calculated the required motor commands for these movements. The resulting movements were close to the desired ones for both the training and test cases.

  18. A randomized controlled trial of a modified wheelchair arm-support to reduce shoulder pain in stroke patients.

    Science.gov (United States)

    Pan, Ruihuan; Zhou, Mingchao; Cai, Hao; Guo, Youhua; Zhan, Lechang; Li, Mei; Yang, Zhijing; Zhu, Leying; Zhan, Jie; Chen, Hongxia

    2018-01-01

    To evaluate the effect of modified wheelchair arm-support to mitigate hemiplegic shoulder pain and reduce pain frequency in stroke patients. A single-blind randomized controlled trial using computer-generated simple randomization. Participants recruited from inpatients at the Guangdong Provincial Hospital of Chinese Medicine. A total of 120 patients with stroke were divided into two groups. All subjects underwent basic rehabilitation training and wheelchair assistance with eight weeks follow-up period. Patients in the treatment group additionally received modified wheelchair arm-support for at least 60 minutes a day, six days a week, for four weeks. Primary outcome was measured by the Visual Analogue Pain Scale or Numeric Pain Rating Scale. Secondary outcome was measured using the Upper Extremity Fugl-Meyer Assessment scale, Modified Barthel Index and Quality of Life Index. Measurements were made at 4 weeks and 12 weeks, following the intervention. Patients age from 21 to 83 years (mean ± SD = 62.41 ± 12.26). The average duration of disease was 1.9 ± 1.3 months. At four weeks, the median of pain intensity was higher in the control group (median, interquartile range = 3, 5.75 vs. 2, 3.75; P = 0.059). At 12 weeks, the median of pain intensity was higher in the control group (median, interquartile range = 3, 5.00 vs. 0, 1.00; P vs. 1; P stroke patients. It may also improve the patients' quality of life.

  19. An interactive videogame for arm and hand exercise in people with Parkinson's disease: A randomized controlled trial.

    Science.gov (United States)

    Allen, Natalie E; Song, Jooeun; Paul, Serene S; Smith, Stuart; O'Duffy, Jonathan; Schmidt, Matthew; Love, Rachelle; Sherrington, Catherine; Canning, Colleen G

    2017-08-01

    People with Parkinson's disease (PD) have difficulty performing upper extremity (UE) activities. The aim of this study was to investigate if exergames targeting the UE improve arm and hand activities and impairments and to establish the acceptability and feasibility of these games in people with PD. Two tablet-based exergames were developed which were controlled with finger movements or unimanual whole arm movements. Participants with PD were randomized to an exergame (n = 19) or control (n = 19) group. The exergame group performed UE exergames at home, 3 times per week for 12 weeks. The primary outcome measure was the nine hole peg test. Secondary outcomes included measures of UE activities and impairments, including the tapping test [speed (taps/60s), and error (weighted error score/speed)]. There were no between group differences in the nine hole peg test, or in any secondary outcome measures except for the tapping test. Horizontal tapping test results showed that exergame participants improved their speed (mean difference = 10.9 taps/60s, p < 0.001) but increased error (mean difference = 0.03, p = 0.03) compared to the control group. Participants enjoyed the games and improved in their ability to play the games. There were no adverse events. The UE exergames were acceptable and safe, but did not translate to improvement in functional activities. It is likely that the requirement of the games resulted in increased movement speed at the detriment of accuracy. The design of exergames should consider task specificity. Copyright © 2017 Elsevier Ltd. All rights reserved.

  20. Future technology challenges in non-proliferation

    International Nuclear Information System (INIS)

    Richardson, J.H.

    2004-01-01

    Radiation detection technologies are an important tool in the prevention of proliferation. A variety of new developments have enabled enhanced performance in terms of energy resolution, spatial resolution, predictive modeling and simulation, active interrogation, and ease of operation and deployment in the field. For example, various gamma ray imaging approaches are being explored to combine spatial resolution with background suppression in order to enhance sensitivity at reasonable standoff distances and acquisition times. New materials and approaches are being developed in order to provide adequate energy resolution in field use without the necessity for liquid nitrogen. Finally, different detectors combined into distributed networks offer promise for detection and tracking of radioactive materials. As the world moves into the 21st century, the possibility of greater reliance on nuclear energy will impose additional technical requirements to prevent proliferation. In addition to proliferation resistant reactors, a careful examination of the various possible fuel cycles from cradle to grave will provide additional technical and nonproliferation challenges in the areas of conversion, enrichment, transportation, recycling and waste disposal. Radiation detection technology and information management have a prominent role in any future global regime for nonproliferation beyond the current Advanced Protocol. This work was performed under the auspices of the U.S. Department of Energy by University of California, Lawrence Livermore National Laboratory under contract No. W-7405-Eng-48. (author)

  1. Tlatelolco regime and nonproliferation in Latin America

    International Nuclear Information System (INIS)

    Redick, J.R.

    1981-01-01

    The regime established by the Treaty of Tlatelolco supports peace and security in the Latin American region and global nonproliferation efforts. Circumstances leading to the creation of the nuclear-weapon-free zone include careful preparations and negotiations, individual leadership, existence of certain shared cultural and legal traditions of Latin American countries, and the temporary stimulus of the Cuban missile crisis. The lack of overt superpower pressure on Latin America, compared with more turbulent regions, has permitted continued progress toward full realization of the zone. Tlatelolco's negotiating process, as well as the substance of the Treaty, deserve careful consideration relative to other areas. The Treaty enjoys wide international approval, but full support by certain Latin American States (Argentina, Brazil, Chile, Cuba) has been negatively affected by the failure of the US Senate to ratify Tlatelolco's Protocol I. Nuclear programs of Argentina, Brazil, and Mexico are expanding rapidly and these nations are forming linkages with West European countries, rather than the United States. The May 1980 Argentine-Brazilian nuclear agreement foresees significant cooperation between the two nation's nuclear energy commissions and more coordinated resistance to the nuclear supplier countries. Argentine-Brazilian nuclear convergence and the response accorded to it by the United States will have significant implications for the future of the Tlatelolco regime and nonproliferation in Latin America. 52 references

  2. Evaluation method of nuclear nonproliferation credibility

    International Nuclear Information System (INIS)

    Kwon, Eun-ha; Ko, Won Il

    2009-01-01

    This paper presents an integrated multicriteria analysis method for the quantitative evaluation of a state's nuclear nonproliferation credibility level. Underscoring the implications of policy on the sources of political demand for nuclear weapons rather than focusing on efforts to restrict the supply of specific weapons technology from the 'haves' to the 'have-nots', the proposed methodology considers the political, social, and cultural dimensions of nuclear proliferation. This methodology comprises three steps: (1) identifying the factors that influence credibility formation and employing them to construct a criteria tree that will illustrate the relationships among these factors; (2) defining the weight coefficients of each criterion through pairwise comparisons of the Analytical Hierarchy Process (AHP); and (3) assigning numerical scores to a state under each criterion and combining them with the weight coefficients in order to provide an overall assessment of the state. The functionality of this methodology is examined by assessing the current level of nuclear nonproliferation credibility of four countries: Japan, North Korea, South Korea, and Switzerland.

  3. The Non-Proliferation Treaty increases security

    International Nuclear Information System (INIS)

    Kahiluoto, K.

    1995-01-01

    Extension of the Nuclear Non-Proliferation Treaty indefinitely was a historic decision. The Treaty is the most extensive international agreement on security policy to date; now its obligations have become a permanent part of international justice. Moreover, the NPT represents a political and moral obligation. Through the NPT, the international community has made a permanent commitment to restrict the proliferation of nuclear weapons. Increasing pressures will be applied to the few countries still outside the NPT, making it more likely that these countries will eventually change their views. The likelihood of regional bans on nuclear weapons in the Middle East and in Asia, too, will increase. The Treaty promotes the establishment of new nuclear-free zones. The nuclear-free zone in Latin America - the countries covered by the Tlatelolco Treaty - is already very close to its full implementation. Finland is firmly committed to the obligations of the Non-Proliferation Treaty. The NPT Conference of 1995 was among the first international meetings in which Finland participated, and took an active role, as a Member State of the European Union. (orig.)

  4. Nonspecific Arm Pain

    Directory of Open Access Journals (Sweden)

    Ali Moradi

    2013-12-01

    Full Text Available Nonspecific activity-related arm pain is characterized by an absence of objective physical findings and symptoms that do not correspond with objective pathophysiology. Arm pain without strict diagnosis is often related to activity, work-related activity in particular, and is often seen in patients with physically demanding work. Psychological factors such as catastrophic thinking, symptoms of depression, and heightened illness concern determine a substantial percentage of the disability associated with puzzling hand and arm pains. Ergonomic modifications can help to control symptoms, but optimal health may require collaborative management incorporating psychosocial and psychological elements of illness.

  5. Nonspecific Arm Pain

    Directory of Open Access Journals (Sweden)

    Ali Moradi

    2013-12-01

    Full Text Available   Nonspecific activity-related arm pain is characterized by an absence of objective physical findings and symptoms that do not correspond with objective pathophysiology. Arm pain without strict diagnosis is often related to activity, work-related activity in particular, and is often seen in patients with physically demanding work. Psychological factors such as catastrophic thinking, symptoms of depression, and heightened illness concern determine a substantial percentage of the disability associated with puzzling hand and arm pains. Ergonomic modifications can help to control symptoms, but optimal health may require collaborative management incorporating psychosocial and psychological elements of illness.

  6. Experience of Republic of Macedonia in Providing WMD Non-Proliferation Policy

    International Nuclear Information System (INIS)

    Mecinovic, S.

    2007-01-01

    The Republic of Macedonia as a country in transition and as a country which does not posses WMD, has accepted to developed and implemented non-proliferation policy of WMD. First of all, we accepted the definition of WMD as used in international agreements, conventions and protocol and WMD includes nuclear, biological and toxin weapons, agent and precursors. WMD in wide sense includes all toxic chemical substances if they are used as means of attack or if they are the target of attack, all microorganisms and their product, all industrial facilities that use toxic chemicals in their process of production, transport and stockpile if they are a target of military or terrorist attack. For WMD non-proliferation projects to be valid, they must be on the level and carry the weight of international policy and doctrine and involve a most comprehensive sphere of the scientific and professional communities. This is only way to implement the projects in country such is Republic of Macedonia where the public opinion is that WMD are not real security problem because we neither possess nor seek to posses these kinds of weapons. Our WMD non-proliferation policy is tied to control of weapons, agents, precursors, technology and their transfer, market and possibility of use. Because of that we try to control know terrorist organization, groups and individuals. Terrorism caused special concern and attention, particularly when we talk about terrorism with NBC weapons and radiological, chemical and biological warfare agents. Scientific and technological progress led to fact that the instruments for performing terrorism (including WMD) can be produced or procured much easier than before. Rising industry which uses toxic chemicals and microorganisms in the production process created a lot of potential targets for terrorism actions in which they can use be as a target and an executive instrument. The new goal of contemporary treats is safety of life environment, which today includes

  7. Broken Arm

    Science.gov (United States)

    ... of falling — including football, soccer, gymnastics, skiing and skateboarding — also increases the risk of a broken arm. ... for high-risk activities, such as in-line skating, snowboarding, rugby and football. Don't smoke. Smoking ...

  8. Analysis of the features of untrained human movements based on the multichannel EEG for controlling anthropomorphic robotic arm

    Science.gov (United States)

    Maksimenko, Vladimir; Runnova, Anastasia; Pchelintseva, Svetlana; Efremova, Tatiana; Zhuravlev, Maksim; Pisarchik, Alexander

    2018-04-01

    We have considered time-frequency and spatio-temporal structure of electrical brain activity, associated with real and imaginary movements based on the multichannel EEG recordings. We have found that along with wellknown effects of event-related desynchronization (ERD) in α/μ - rhythms and β - rhythm, these types of activity are accompanied by the either ERS (for real movement) or ERD (for imaginary movement) in low-frequency δ - band, located mostly in frontal lobe. This may be caused by the associated processes of decision making, which take place when subject is deciding either perform the movement or imagine it. Obtained features have been found in untrained subject which it its turn gives the possibility to use our results in the development of brain-computer interfaces for controlling anthropomorphic robotic arm.

  9. Speaking and cognitive distractions during EEG-based brain control of a virtual neuroprosthesis-arm

    OpenAIRE

    Foldes, Stephen T; Taylor, Dawn M

    2013-01-01

    Background Brain-computer interface (BCI) systems have been developed to provide paralyzed individuals the ability to command the movements of an assistive device using only their brain activity. BCI systems are typically tested in a controlled laboratory environment were the user is focused solely on the brain-control task. However, for practical use in everyday life people must be able to use their brain-controlled device while mentally engaged with the cognitive responsibilities of daily a...

  10. Comparison between sEMG and force as control interfaces to support planar arm movements in adults with Duchenne: a feasibility study.

    Science.gov (United States)

    Lobo-Prat, Joan; Nizamis, Kostas; Janssen, Mariska M H P; Keemink, Arvid Q L; Veltink, Peter H; Koopman, Bart F J M; Stienen, Arno H A

    2017-07-12

    Adults with Duchenne muscular dystrophy (DMD) can benefit from devices that actively support their arm function. A critical component of such devices is the control interface as it is responsible for the human-machine interaction. Our previous work indicated that surface electromyography (sEMG) and force-based control with active gravity and joint-stiffness compensation were feasible solutions for the support of elbow movements (one degree of freedom). In this paper, we extend the evaluation of sEMG- and force-based control interfaces to simultaneous and proportional control of planar arm movements (two degrees of freedom). Three men with DMD (18-23 years-old) with different levels of arm function (i.e. Brooke scores of 4, 5 and 6) performed a series of line-tracing tasks over a tabletop surface using an experimental active arm support. The arm movements were controlled using three control methods: sEMG-based control, force-based control with stiffness compensation (FSC), and force-based control with no compensation (FNC). The movement performance was evaluated in terms of percentage of task completion, tracing error, smoothness and speed. For subject S1 (Brooke 4) FNC was the preferred method and performed better than FSC and sEMG. FNC was not usable for subject S2 (Brooke 5) and S3 (Brooke 6). Subject S2 presented significantly lower movement speed with sEMG than with FSC, yet he preferred sEMG since FSC was perceived to be too fatiguing. Subject S3 could not successfully use neither of the two force-based control methods, while with sEMG he could reach almost his entire workspace. Movement performance and subjective preference of the three control methods differed with the level of arm function of the participants. Our results indicate that all three control methods have to be considered in real applications, as they present complementary advantages and disadvantages. The fact that the two weaker subjects (S2 and S3) experienced the force-based control

  11. Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot

    Directory of Open Access Journals (Sweden)

    Leijie Jiang

    2017-01-01

    Full Text Available The paper focuses on the design and nonlinear control of the humanoid wrist/shoulder joint based on the cable-driven parallel mechanism which can realize roll and pitch movement. In view of the existence of the flexible parts in the mechanism, it is necessary to solve the vibration control of the flexible wrist/shoulder joint. In this paper, a cable-driven parallel robot platform is developed for the experiment study of the humanoid wrist/shoulder joint. And the dynamic model of the mechanism is formulated by using the coupling theory of the flexible body’s large global motion and small flexible deformation. Based on derived dynamics, antivibration control of the joint robot is studied with a nonlinear control method. Finally, simulations and experiments were performed to validate the feasibility of the developed parallel robot prototype and the proposed control scheme.

  12. Nuclear export policy and regulation for non-proliferation: Federal Republic of Germany

    International Nuclear Information System (INIS)

    Boulanger, Werner.

    1978-01-01

    The nuclear export policy of the Federal Republic of Germany complies with the principle of non-proliferation of nuclear weapons. Already in 1967 the Federal Government stated in a Peace Note that no export was authorised to countries (outside Euratom) which did not comply with the IAEA Safeguards. In the bilateral agreement the Federal Republic signed with Brasil in 1975, emphasis was put on international safeguards and the control exercised on exported materials to avoid any diversion for military purposes. (NEA) [fr

  13. Position controller for the arm of a neutron diffractometer using fuzzy logic

    International Nuclear Information System (INIS)

    Ayala P, G.F.

    1994-01-01

    The neutron diffractometer is an important instrument coupled to one of the radial outlets of the TRIGA-3-Salazar Reactor and is used mainly to analyze textures and crystal lattices. One of its main components is the velocity analysis goniometer which controls in a tangential way the movements of the sensor requiring for this a resolution of a hundredth of degree, but at the same time wide displacements are required. It is necessary to design and construct a system on the basis of a micro controller which control the long movements in a rapid way and with the needed accuracy. In this work, a proposition is presented: to replace the A.C. motor with a D.C. motor with a wide range of velocity and supplied with a card (DAC) to control the velocity by means of digital data. Moreover, a programmed micro controller with an algorithm based on fuzzy logic receiving data in BCD will be use. The use of micro controller will allow to set free the personal computer of the position of the goniometer; nevertheless, the system will report to the P C and its control program about the present position of the goniometer and the time when the desired position is reached. It is also consider that the user will be away from the system (a minimum of 15 meters) in order to avoid the zone with a high intensity of background radiation. (Author)

  14. Armed violence and the politics of gun control in Brazil: an analysis of the 2005 referendum

    OpenAIRE

    Cavalcanti, R.P.

    2017-01-01

    This article analyses the factors behind the paradoxical result of the Brazilian gun-control referendum. It adopts a qualitative approach to explore the dissemination of ideologies surrounding crime, gun control and security. For this purpose, interviews were conducted with activists involved in the referendum's campaign. The results reveal that ideologically driven campaigns in a context of corruption scandals, high levels of violence and fear influenced the result. The neoliberal discourse ...

  15. Territorial Service as part of the social and territorial control of the Salvadoran State during the armed conflict (1972-1992

    Directory of Open Access Journals (Sweden)

    Herard Von Santos

    2016-06-01

    Full Text Available Historiography study done with a narrative approach, based on documentary research and consulting oral sources. A historical review of the social and territorial control developed by the Salvadoran State during the internal armed conflict (1972-1992 is made. This is an academic effort to bring relevant elements that could be useful for contemporary contexts, especially in stages where irregular armed groups have a presence in the territory and exercise powers. The Territorial Service was a strategy to recover the State’s presence in the territory and exercise social control over vulnerable populations.

  16. The Nuclear Non-Proliferation Policy of the Obama Administration

    International Nuclear Information System (INIS)

    Baek, Jin Hyun; Hwang, Ji Hwan

    2009-12-01

    The objective of this study is to analyze and foresee trends of international nuclear non-proliferation regimes focused on the nuclear non-proliferation policy of the Obama administration, and suggest national policy directions which promote utilization and development of nuclear energy in Korea. For the effective and efficient implementation of the national nuclear use and development program in current international nuclear environment, many efforts should be made: to actively and positively participate in the international nuclear non-proliferation regime; to strengthen nuclear diplomacy in a more systematic manner; and to strengthen the international nuclear cooperation

  17. Tactical Command and Control in the Combined Arms Battalion Task Force,

    Science.gov (United States)

    1988-03-08

    described as [ •follows. -.. Acquire information in the basic categories of mission, enemy, terrain, and troops available on a * continual basis through a...became the basic unit." 55 A study by Dr. Gabel describes a wide range of organizational and -*"" control structures which were ultimately used to...FreLelonolSystell each orce evel Commander * Procedures/acioa otrlS a / eCommunication $ 0’ Automation/// _. Other Notion’$ Command *e Facilities ’/ a nd Control

  18. An embedded controller for a 7-degree of freedom prosthetic arm.

    Science.gov (United States)

    Tenore, Francesco; Armiger, Robert S; Vogelstein, R Jacob; Wenstrand, Douglas S; Harshbarger, Stuart D; Englehart, Kevin

    2008-01-01

    We present results from an embedded real-time hardware system capable of decoding surface myoelectric signals (sMES) to control a seven degree of freedom upper limb prosthesis. This is one of the first hardware implementations of sMES decoding algorithms and the most advanced controller to-date. We compare decoding results from the device to simulation results from a real-time PC-based operating system. Performance of both systems is shown to be similar, with decoding accuracy greater than 90% for the floating point software simulation and 80% for fixed point hardware and software implementations.

  19. RNA interference: a new strategy in the evolutionary arms race between human control strategies and insect pests.

    Science.gov (United States)

    Machado, Vilmar; Rodríguez-García, María Juliana; Sánchez-García, Francisco Javier; Galan, Jose

    2014-01-01

    The relationship between humans and the insect pests of cultivated plants may be considered to be an indirect coevolutionary process, i.e., an arms race. Over time, humans have developed several strategies to minimize the negative impacts of insects on agricultural production. However, insects have made adaptive responses via the evolution of resistance to insecticides, and more recently against Bacillus thuriengiensis. Thus, we need to continuously invest resources in the development of new strategies for crop protection. Recent advances in genomics have demonstrated the possibility of a new weapon or strategy in this war, i.e., gene silencing, which involves blocking the expression of specific genes via mRNA inactivation. In the last decade, several studies have demonstrated the effectiveness of this strategy in the control of different species of insects. However, several technical difficulties need to be overcome to transform this potential into reality, such as the selection of target genes, the concentration of dsRNA, the nucleotide sequence of the dsRNA, the length of dsRNA, persistence in the insect body, and the life stage of the target species where gene silencing is most efficient. This study analyzes several aspects related to the use of gene silencing in pest control and it includes an overview of the inactivation process, as well as the problems that need to be resolved to transform gene silencing into an effective pest control method.

  20. Nuclear Deterrence in the Age of Nonproliferation

    Energy Technology Data Exchange (ETDEWEB)

    Richardson, J

    2009-01-21

    The fallacy of zero nuclear weapons, even as a virtual goal, is discussed. Because the complete abolition of nuclear weapons is not verifiable, nuclear weapons will always play a role in the calculus of assure, dissuade, deter and defeat (ADDD). However, the relative contribution of nuclear weapons to international security has diminished. To reconstitute the Cold War nuclear capability, with respect to both the nuclear weapons capability and their associated delivery systems, is fiscally daunting and not warranted due to competing budgetary pressures and their relative contribution to international security and nonproliferation. A proposed pathway to a sustainable nuclear weapons capability end-state is suggested which provides enough ADDD; a Dyad composed of fewer delivery and weapon systems, with trickle production at the National Laboratories and private sector to maintain capability and guard against technological surprise.

  1. Non-proliferation issues for the disposition of fissile materials using reactor alternatives

    International Nuclear Information System (INIS)

    Jaeger, C.D.; Duggan, R.A.; Tolk, K.M.

    1996-01-01

    The Department of Energy (DOE) is analyzing long-term storage on options for excess weapons-usable fissile materials. A number of the disposition alternatives are being considered which involve the use of reactors. The various reactor alternatives are all very similar and include front-end processes that could convert plutonium to a usable form for fuel fabrication, a MOX fuel fab facility, reactors to bum the MOX fuel and ultimate disposal of spent fuel in some geologic repository. They include existing, partially completed, advanced or evolutionary light water reactors and Canadian deuterium uranium (CANDU) reactors. In addition to the differences in the type of reactors, other variants on these alternatives are being evaluated to include the location and number of the reactors, the location of the mixed oxide (MOX) fabrication facility, the ownership of the facilities (private or government) and the colocation and/or separation of these facilities. All of these alternatives and their variants must be evaluated with respect to non-proliferation resistance. Both domestic and international safeguards support are being provided to DOE's Fissile Materials Disposition Program (FMDP) and includes such areas as physical protection, nuclear materials accountability and material containment and surveillance. This paper will focus on how the non-proliferation objective of reducing security risks and strengthening arms reduction will be accomplished and what some of the nonproliferation issues are for the reactor alternatives. Proliferation risk has been defined in terms of material form, physical environment, and the level of security and safeguards that is applied to the material. Metrics have been developed for each of these factors. The reactor alternatives will be evaluated with respect to these proliferation risk factors at each of the unit process locations in the alternative

  2. Non-proliferation issues for the disposition of fissile materials using reactor alternatives

    International Nuclear Information System (INIS)

    Jaeger, C.D.; Duggan, R.A.; Tolk, K.M.

    1996-01-01

    The Department of Energy (DOE) is analyzing long-term storage imposition options for excess weapons-usable fissile materials. A number of the disposition alternatives are being considered which involve the use of reactors. The various reactor alternatives are all very similar and include front-end processes that could convert plutonium to a usable form for fuel fabrication, a MOX fuel fab facility, reactors to burn the MOX fuel and ultimate disposal of spent fuel in some geologic repository. They include existing, partially completed, advanced or evolutionary light water reactors and Canadian deuterium uranium (CANDU) reactors. In addition to the differences in the type of reactors, other variants on these alternatives are being evaluated to include the location and number of the reactors, the location of the mixed oxide (MOX) fabrication facility, the ownership of the facilities (private or government) and the colocation and/or separation of these facilities. All of these alternatives and their variants must be evaluated with respect to non-proliferation resistance. Both domestic and international safeguards support are being provided to DOE's Fissile Materials Disposition Program (FMDP) and includes such areas as physical protection, nuclear materials accountability and material containment and surveillance. This paper will focus on how the non-proliferation objective of reducing security risks and strengthening arms reduction will be accomplished and what some of the non-proliferation issues are for the reactor alternatives. Proliferation risk has been defined in terms of material form, physical environment, and the level of security and safeguards that is applied to the material. Metrics have been developed for each of these factors. The reactor alternatives will be evaluated with respect to these proliferation risk factors at each of the unit process locations in the alternative

  3. Positive steps toward non-proliferation

    Energy Technology Data Exchange (ETDEWEB)

    Greenhalgh, G.

    1979-08-30

    Russel W. Fox and Mason Willrich in their paper, International Custody of Plutonium Stocks: A First Step Toward an International Regime for Sensitive Nuclear Energy Activities, advocate placing excess plutonium in an international custodial facility; critical criteria governing releases are outlined so that, on one hand the owners can have high confidence that their plutonium will be returned promptly, under appropriate circumstances, and on the other hand, all the other participating and concerned countries can have confidence in the assurance that plutonium will be released only for immediate use in a defined and approved civil purpose. The Stockholm International Peace Research Institute in the 1978 issue of its Year Book, recognizes a move towards a more positive approach to the problem of nuclear proliferation. It is noted that the non-proliferation strategies of the main supply countries have largely concentrated on a two-pronged approach of technology denials with tightening of safeguards. But already, enrichment, reprocessing, and breeder reactor programs extend far beyond the five nuclear weapon states. History testifies to the limitations of a policy of technical denials. SIPRI recognizes that another way to dissuade non-nuclear weapon states from creating their own enrichment or reprocessing plants would be to establish an open market for these services, a market characterized by diversity and competition. So far, there has been no case where a country has developed nuclear explosives by diverting material from a civil power station. Development of nuclear weapons by various countries is briefly noted and areas where strengthening of the Non-Proliferation Treaty is needed are noted. (MCW)

  4. Modeling and identification for high-performance robot control : an RRR-robotic arm case study

    NARCIS (Netherlands)

    Kostic, D.; Jager, de A.G.; Steinbuch, M.; Hensen, R.H.A.

    2004-01-01

    We explain a procedure for getting models of robot kinematics and dynamics that are appropriate for robot control design. The procedure consists of the following steps: (i) derivation of robot kinematic and dynamic models and establishing correctness of their structures; (ii) experimental estimation

  5. Gaming and conventional exercises for improvement of arm function after stroke: a randomised controlled pilot study

    NARCIS (Netherlands)

    Kottink, A.I.R.; Prange, Grada Berendina; Krabben, T.; Rietman, Johan Swanik; Buurke, Jaap

    2014-01-01

    Objective: The use of new technologies in rehabilitation, such as virtual reality and/or computerized gaming exercises, may be useful to enable patients to practice intensively in a motivating way. The objective of the present randomized controlled pilot study was to compare the effect of reach

  6. The Non-Proliferation Treaty and the peaceful use of nuclear energy

    International Nuclear Information System (INIS)

    Wilmshurst, M.J.

    1983-01-01

    The author discusses the reasons of criticism and even rejection of the Non-Proliferation Treaty of 1968, dealing in particular with the alledged discriminating nature of the Treaty and with the statement that the Treaty is not apt to prevent proliferation on a vertical plane. He further discusses the motives behind the efforts of potential nuclear weapons states to get nuclear weapons. The system of worldwide and bilateral safeguards and controls covering the transfer of nuclear technologies is explained. In conclusion the author suggests to pay more attention to article IV, sub-section (2) of the Non-Proliferation Treaty as this might offer a suitable approach to restricting the dissemination of nuclear explosives. (HP) [de

  7. Argentina’s nuclear development and the non-proliferation regime

    Directory of Open Access Journals (Sweden)

    Sandra Colombo

    2017-01-01

    Full Text Available The development and transfer of nuclear technology have been put under strict control due to its possible military use, leading to the creation of international non-proliferation regimes. One of the latest proposals was the creation of multilateral banks of low enriched uranium (leu. The article states that, under the goal of non-proliferation, this initiative can contribute to accentuate the asymmetry in the distribution of world economic and political power, damaging the endogenous development of this technology in emerging countries. Against this, the article investigates the existence of margins to maneuver in the international system from the case of study of Argentina, one of the few developing countries that have managed to export nuclear technology, and has declared the development of independent nuclear activity as a State policy

  8. Reach and grasp by people with tetraplegia using a neurally controlled robotic arm

    OpenAIRE

    Hochberg, Leigh R.; Bacher, Daniel; Jarosiewicz, Beata; Masse, Nicolas Y.; Simeral, John D.; Vogel, Joern; Haddadin, Sami; Liu, Jie; Cash, Sydney S.; van der Smagt, Patrick; Donoghue, John P.

    2012-01-01

    Paralysis following spinal cord injury, brainstemstroke, amyotrophic lateral sclerosis and other disorders can disconnect the brain from the body, eliminating the ability to perform volitional movements. A neural interface system could restore mobility and independence for people with paralysis by translating neuronal activity directly into control signals for assistive devices. We have previously shown that people with long-standing tetraplegia can use a neural interface ...

  9. Report on the 8. ESARDA course on nuclear safeguards and non-proliferation

    International Nuclear Information System (INIS)

    Grape, S.; Jonter, T.

    2013-01-01

    The 8. ESARDA course on nuclear safeguards and non-proliferation took place in Uppsala, Sweden, on September 12-16, 2011. 44 participants from 15 countries followed the one week long course, comprising four days of lectures, one group exercise and one full day visit to the Swedish final repository (SFR) for short-lived radioactive waste. The lectures covered political and technical aspects related to the general background of safeguards legislation and treaties, the nuclear fuel cycle, destructive and non-destructive safeguards techniques, physical protection, verification technologies such as nuclear material accountancy and control, safeguards inspections, remote monitoring, containment and surveillance, export control, illicit trafficking and nuclear forensics. The course also contained a group exercise, whereby the participants learnt about different nonproliferation treaties on/or related to Weapons of Mass Destruction (WMD): the Chemical Weapons Convention (CWC), the Biological and Toxin Weapons Convention (BWC), the nuclear Non-Proliferation Treaty (NPT) as well as the Comprehensive Nuclear Test Ban Treaty (CTBT) and the Fissile Material Cut-off Treaty (FMCT). The task of the group exercise was to discuss and compare the treaties with respect to obligations and rights of state parties, verification of compliance, membership, terrorism, similarities/differences, successes and failures. The paper is followed by the slides of the presentation

  10. A pilot single-blind multicentre randomized controlled trial to evaluate the potential benefits of computer-assisted arm rehabilitation gaming technology on the arm function of children with spastic cerebral palsy.

    Science.gov (United States)

    Preston, Nick; Weightman, Andrew; Gallagher, Justin; Levesley, Martin; Mon-Williams, Mark; Clarke, Mike; O'Connor, Rory J

    2016-10-01

    To evaluate the potential benefits of computer-assisted arm rehabilitation gaming technology on arm function of children with spastic cerebral palsy. A single-blind randomized controlled trial design. Power calculations indicated that 58 children would be required to demonstrate a clinically important difference. Intervention was home-based; recruitment took place in regional spasticity clinics. A total of 15 children with cerebral palsy aged five to 12 years were recruited; eight to the device group. Both study groups received 'usual follow-up treatment' following spasticity treatment with botulinum toxin; the intervention group also received a rehabilitation gaming device. ABILHAND-kids and Canadian Occupational Performance Measure were performed by blinded assessors at baseline, six and 12 weeks. An analysis of covariance showed no group differences in mean ABILHAND-kids scores between time points. A non-parametric analysis of variance on Canadian Occupational Performance Measure scores showed a statistically significant improvement across time points (χ 2 (2,15) = 6.778, p = 0.031), but this improvement did not reach minimal clinically important difference. Mean daily device use was seven minutes. Recruitment did not reach target owing to unanticipated staff shortages in clinical services. Feedback from children and their families indicated that the games were not sufficiently engaging to promote sufficient use that was likely to result in functional benefits. This study suggests that computer-assisted arm rehabilitation gaming does not benefit arm function, but a Type II error cannot be ruled out. © The Author(s) 2015.

  11. Path Planning of Mobile Elastic Robotic Arms by Indirect Approach of Optimal Control

    Directory of Open Access Journals (Sweden)

    Moharam Habibnejad Korayem

    2011-03-01

    Full Text Available Finding optimal trajectory is critical in several applications of robot manipulators. This paper is applied the open-loop optimal control approach for generating the optimal trajectory of the flexible mobile manipulators in point-to-point motion. This method is based on the Pontryagin-s minimum principle that by providing a two-point boundary value problem is solved the problem. This problem is known to be complex in particular when combined motion of the base and manipulator, non-holonomic constraint of the base and highly non-linear and complicated dynamic equations as a result of flexible nature of links are taken into account. The study emphasizes on modeling of the complete optimal control problem by remaining all nonlinear state and costate variables as well as control constraints. In this method, designer can compromise between different objectives by considering the proper penalty matrices and it yields to choose the proper trajectory among the various paths. The effectiveness and capability of the proposed approach are demonstrated through simulation studies. Finally, to verify the proposed method, the simulation results obtained from the model are compared with the results of those available in the literature.

  12. Football gambling three arm-controlled study: gamblers, amateurs and laypersons.

    Science.gov (United States)

    Huberfeld, Ronen; Gersner, Roman; Rosenberg, Oded; Kotler, Moshe; Dannon, Pinhas N

    2013-01-01

    Football (soccer) betting, as a strategic form of betting, became one of the favorite wagers for pathological gamblers. Previous studies demonstrated the psychological and biological significance of the 'illusion of control' (personal control) and 'near miss' results in gambling. In our study, we explored whether knowledge and expertise of pathological sports gamblers can ensure a successful bet. Participants were divided into three groups of individuals - pathological gamblers, amateurs and laypersons - and were asked to predict in advance the general result and the exact result of football matches in the European Champions League Round of 16. The 165 participants included 53 pathological sports gamblers (52 males and 1 female), 78 laypersons (45 females and 33 males) and 34 amateurs (all males). After a thorough statistical analysis, we found no significant differences between the groups, no matter what kind of previous knowledge they had acquired. This study demonstrates that the 'illusion of control' of pathological gamblers, attained by knowledge of the game and its latest data and information (especially in a strategic gamble as football betting), has no factual background. Moreover, our study demonstrates without a doubt that there is no significant difference between the male pathological sports gamblers group and the male/female laypersons group. Copyright © 2012 S. Karger AG, Basel.

  13. Non-proliferation and nuclear cooperation - accomplishments and challenges

    International Nuclear Information System (INIS)

    Marshall, H.R. Jr.

    1983-01-01

    The purpose of this paper is to assess the accomplishments in non-proliferation and nuclear co-operation since the beginning of President Reagan's administration, and the challenges remaining to be met in those fields. (NEA) [fr

  14. Canada and international safeguards. Verifying nuclear non-proliferation

    International Nuclear Information System (INIS)

    1990-01-01

    The Non-Proliferation Treaty (NPT) came into force in 1970 and now has about 140 signatory nations. By creating legal barriers against proliferation and by promoting an international non-proliferation ethic, the NPT has promoted international peace and security. A key ingredient has been the confidence generated through verification by IAEA safeguards. By the end of 1988 IAEA safeguards agreements had been concluded with about 100 countries, including Canada. Over 500 nuclear facilities worldwide are under safeguards or contain safeguarded nuclear material. The existence of this credible and effective safeguards system makes international trade in nuclear equipment and materials possible, monitoring the transfer of nuclear technology to developing countries as well as between industrial countries. Canada is committed to non-proliferation and IAEA safeguards. Canadian non-proliferation policy is among the strictest in the world, even though opportunities have been lost to sell Canadian technology abroad as a result

  15. Electroacupuncture to alleviate postoperative pain after a laparoscopic appendectomy: study protocol for a three-arm, randomised, controlled trial.

    Science.gov (United States)

    Lee, Seunghoon; Nam, Dongwoo; Kwon, Minsoo; Park, Won Seo; Park, Sun Jin

    2017-08-04

    The purpose of this study is to evaluate the efficacy and safety of electroacupuncture (EA) for postoperative pain after laparoscopic appendectomy compared with sham electroacupuncture (SEA) and no acupuncture treatment. This study is a protocol for a three-arm, randomised, patient-assessor-blinded (to the type of acupuncture treatment), controlled, parallel trial. 138 participants diagnosed with appendicitis and scheduled for laparoscopic appendectomy will be randomly assigned to the EA group (n=46), SEA group (n=46) or control group (n=46). The EA group will receive acupuncture treatment at both regional and distal acupuncture points with electrostimulation. The SEA group will receive sham acupuncture treatment with mock electrostimulation. Both EA and SEA groups will receive a total of four treatments 1 hour preoperative, 1 hour postoperative and during the morning and afternoon the day after surgery with the same routine postoperative pain control. The control group will receive only routine postoperative pain control. The primary outcome is the 11-point Pain Intensity Numerical Rating Scale (PI-NRS) at 24 hours after surgery. The secondary outcomes are the PI-NRS, analgesic consumption, opioid-related side effects, time to first passing flatus, quality of life and adverse events evaluated 6, 12, 24 and 36 hours and 7 days after surgery. The study was planned in accordance with the Helsinki Declaration and the Korean Good Clinical Practice Guidelines to protect the participants and was approved by the institutional review board (IRB) of Kyung Hee University Medical Center (KMC IRB-1427-02). The results will be disseminated in peer-reviewed journals and presented at international conferences. Clinical Research Information Service (KCT0001328). © Article author(s) (or their employer(s) unless otherwise stated in the text of the article) 2017. All rights reserved. No commercial use is permitted unless otherwise expressly granted.

  16. Parametric motion control of robotic arms: A biologically based approach using neural networks

    Science.gov (United States)

    Bock, O.; D'Eleuterio, G. M. T.; Lipitkas, J.; Grodski, J. J.

    1993-01-01

    A neural network based system is presented which is able to generate point-to-point movements of robotic manipulators. The foundation of this approach is the use of prototypical control torque signals which are defined by a set of parameters. The parameter set is used for scaling and shaping of these prototypical torque signals to effect a desired outcome of the system. This approach is based on neurophysiological findings that the central nervous system stores generalized cognitive representations of movements called synergies, schemas, or motor programs. It has been proposed that these motor programs may be stored as torque-time functions in central pattern generators which can be scaled with appropriate time and magnitude parameters. The central pattern generators use these parameters to generate stereotypical torque-time profiles, which are then sent to the joint actuators. Hence, only a small number of parameters need to be determined for each point-to-point movement instead of the entire torque-time trajectory. This same principle is implemented for controlling the joint torques of robotic manipulators where a neural network is used to identify the relationship between the task requirements and the torque parameters. Movements are specified by the initial robot position in joint coordinates and the desired final end-effector position in Cartesian coordinates. This information is provided to the neural network which calculates six torque parameters for a two-link system. The prototypical torque profiles (one per joint) are then scaled by those parameters. After appropriate training of the network, our parametric control design allowed the reproduction of a trained set of movements with relatively high accuracy, and the production of previously untrained movements with comparable accuracy. We conclude that our approach was successful in discriminating between trained movements and in generalizing to untrained movements.

  17. Vision-based control of robotic arm with 6 degrees of freedom

    OpenAIRE

    Versleegers, Wim

    2014-01-01

    This paper studies the procedure to program a vertically articulated robot with six degrees of freedom, the Mitsubishi Melfa RV-2SD, with Matlab. A major drawback of the programming software provided by Mitsubishi is that it barely allows the use of vision-based programming. The amount of useable cameras is limited and moreover, the cameras are very expensive. Using Matlab, these limitations could be overcome. However there is no direct way to control the robot with Matlab. The goal of this p...

  18. Russian Defense and Arms Control Policy and its Prospects after the Presidential Elections

    OpenAIRE

    Alexander Savelyev

    2008-01-01

    Este artículo explora los posibles escenarios en las políticas de desarme y control de armamentos de Rusia tras la toma de posesión del presidente Medvedev. El autor analiza la experiencia de la presidencia de Putin y de los acuerdos EE.UU.-URSS durante la Guerra Fría, conluyendo que los sistemas ABM y el principio de “estabilidad estratégica” se han convertido en el problema central. Por tanto, Rusia y EE.UU. necesitan revisar sus posiciones y aceptar las nuevas realidades de sus relaciones ...

  19. Russian Defense and Arms Control Policy and its Prospects after the Presidential Elections

    Directory of Open Access Journals (Sweden)

    Alexander Savelyev

    2008-05-01

    Full Text Available Este artículo explora los posibles escenarios en las políticas de desarme y control de armamentos de Rusia tras la toma de posesión del presidente Medvedev. El autor analiza la experiencia de la presidencia de Putin y de los acuerdos EE.UU.-URSS durante la Guerra Fría, conluyendo que los sistemas ABM y el principio de “estabilidad estratégica” se han convertido en el problema central. Por tanto, Rusia y EE.UU. necesitan revisar sus posiciones y aceptar las nuevas realidades de sus relaciones estratégicas en el siglo XXI.

  20. Perspectives and benefits of the non-proliferating fuel cycle

    International Nuclear Information System (INIS)

    Parker, F.

    2012-01-01

    The world community has faced the issues of nuclear non-proliferation for decades. Frank Parker, Emeritus Distinguished Professor at Vanderbilt University, has proposed a non-proliferating fuel cycle, which greatly reduces the risk of use of nuclear materials for military purpose. A simplified fuel cycle with reduced opportunities for proliferation of nuclear weapons and permanent disposal of radioactive wastes as well as a reference sub-seabed HLW disposal system are described [ru