HERMIES-3: A step toward autonomous mobility, manipulation, and perception

Science.gov (United States)

Weisbin, C. R.; Burks, B. L.; Einstein, J. R.; Feezell, R. R.; Manges, W. W.; Thompson, D. H.

1989-01-01

HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omni-directional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information.

Interaction control of a redundant mobile manipulator

International Nuclear Information System (INIS)

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

1998-01-01

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

System Integration for Real-time Mobile Manipulation

OpenAIRE

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

2014-01-01

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

CLIMAN - a mobile manipulator concept

International Nuclear Information System (INIS)

Noltingk, B.E.; Owen, C.K.V.

With increasing age the integrity of more remote parts of reactors, such as the core restraints, is questioned so there is a need for a means of access to these places to carry out inspection, minor repairs and alterations. Conventional standpipe manipulators are about 20 m long so that extending them further presents difficulties of load capacity, rigidity, dexterity and control which must increase steeply with range. The proposal outlined here is for a mobile manipulator which can climb at the end of a cable (CLImbing MANipulator - CLIMAN) into a reactor and reach well beyond the range of a fixed base machine. In addition to virtually unlimited range such a mobile manipulator has twice as many degrees of freedom as a fixed base machine. Its body or base can be manoeuvred with six degrees of freedom so as to obtain the maximum coverage and obstacle avoidance for its manipulator. It is proposed that it should be manually controlled. (author)

Reconfigurable mobile manipulation for accident response

International Nuclear Information System (INIS)

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

2000-01-01

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

Autonomous Industrial Mobile Manipulation (AIMM)

DEFF Research Database (Denmark)

Hvilshøj, Mads; Bøgh, Simon; Nielsen, Oluf Skov

2012-01-01

Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper investiga......Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper......; sustainability, configuration, adaptation, autonomy, positioning, manipulation and grasping, robot-robot interaction, human-robot interaction, process quality, dependability, and physical properties. Findings - The concise yet comprehensive review provides both researchers (academia) and practitioners (industry......) with a quick and gentle overview of AIMM. Furthermore, the paper identifies key open issues and promising research directions to realize real-world integration and maturation of the AIMM technology. Originality/value - This paper reviews the interdisciplinary research field Autonomous Industrial Mobile...

MPC-Based Path Following Control of an Omnidirectional Mobile Robot with Consideration of Robot Constraints

Directory of Open Access Journals (Sweden)

Kiattisin Kanjanawanishkul

2015-01-01

Full Text Available In this paper, the path following problem of an omnidirectional mobile robot (OMR has been studied. Unlike nonholonomic mobile robots, translational and rotational movements of OMRs can be controlled simultaneously and independently. However the constraints of translational and rotational velocities are coupled through the OMR's orientation angle. Therefore, a combination of a virtual-vehicle concept and a model predictive control (MPC strategy is proposed in this work to handle both robot constraints and the path following problem. Our proposed control scheme allows the OMR to follow the reference path successfully and safely, as illustrated in simulation experiments. The forward velocity is close to the desired one and the desired orientation angle is achieved at a given point on the path, while the robot's wheel velocities are maintained within boundaries.

System Integration for Real-Time Mobile Manipulation

Directory of Open Access Journals (Sweden)

Reza Oftadeh

2014-03-01

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

DISTRIBUTED CONTROL ARCHITECTURE OF AN OMNI-DIRECTIONAL AUTONOMOUS GUIDED VEHICLE

Directory of Open Access Journals (Sweden)

N.S. Tlale

2012-01-01

Full Text Available

ENGLISH ABSTRACT: Omni-directionality is the ability of a mobile robot to move instantaneously in any direction. This paper describes the wheel and controller designs of a Mecanumwheeled, autonomous guided vehicle (AGV for reconfigurable manufacturing systems. Mecanum wheels use slip developed between rollers and surface, surface and ground, to achieve omni-directionality. An advantage of omni-directional robotic platforms is that they are capable of performing tasks in congested environments such as those found in factory workshops, narrow aisles, warehouses, etc. Controller Area Network (CAN is implemented as a distributed controller to control motion and navigation tasks of the developed robot. The design of the distributed controller is described and its performance analyzed. This increases the reliability and functionality of the mobile robot.

AFRIKAANSE OPSOMMING: Die artikel beskryf wiel - en beheerontwerpe van ‘n veelrigting mobiele robot. Die robot is ‘n selfstandigbeheerde voertuig vir gebruik by vervaardigingstelsels met veranderbare konfigurasie. Die ontwerp van die robot en bypassende beheerstelsel word beskryf en ontleed teen die agterground van bewegings – en navigeertake. Die betroubaarheid en funksionering van die sisteem word beoordeel.

Design and Construction of a Robotic Vehicle with Omni-directional Mecanum Wheels

Directory of Open Access Journals (Sweden)

Ján VACHÁLEK

2014-06-01

Full Text Available The paper deals with the design and construction of a universal robotic vehicle prototype, used for laboratory and educational purposes. The main goal is its use as a technology demonstrator for the needs of students, therefore it is equipped with several kinds of sensors and universal advanced control technologies and design solutions. Its basis is a control system and construction concept using mobile battery gear and omnidirectional Mecanum wheels. A manipulating arm and advanced tracking and spatial navigation systems are also components of the design. Since the problem of a customized design and construction of such a robotic vehicle is very complex and solved in various scientific fields, in this paper we will mainly focus on the detailed description of the control systems and subsystems of the vehicle.

Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-like Robot

Directory of Open Access Journals (Sweden)

Max Schwarz

2016-10-01

Full Text Available Planetary exploration scenarios illustrate the need for autonomous robots that are capable to operate in unknown environments without direct human interaction. At the DARPA Robotics Challenge, we demonstrated that our Centaur-like mobile manipulation robot Momaro can solve complex tasks when teleoperated. Motivated by the DLR SpaceBot Cup 2015, where robots should explore a Mars-like environment, find and transport objects, take a soil sample, and perform assembly tasks, we developed autonomous capabilities for Momaro. Our robot perceives and maps previously unknown, uneven terrain using a 3D laser scanner. Based on the generated height map, we assess drivability, plan navigation paths, and execute them using the omnidirectional drive. Using its four legs, the robot adapts to the slope of the terrain. Momaro perceives objects with cameras, estimates their pose, and manipulates them with its two arms autonomously. For specifying missions, monitoring mission progress, on-the-fly reconfiguration, and teleoperation, we developed a ground station with suitable operator interfaces. To handle network communication interruptions and latencies between robot and ground station, we implemented a robust network layer for the ROS middleware. With the developed system, our team NimbRo Explorer solved all tasks of the DLR SpaceBot Camp 2015. We also discuss the lessons learned from this demonstration.

Modeling the manipulator and flipper pose effects on tip over stability of a tracked mobile manipulator

CSIR Research Space (South Africa)

Dube, C

2011-11-01

Full Text Available Mobile manipulators are used in a number of different applications such as bomb disposal, mining robotics, and search and rescue operations. These mobile manipulators are highly susceptible to tip over due to the motion of the manipulator...

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

International Nuclear Information System (INIS)

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

1993-01-01

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

CHAMP: A bespoke integrated system for mobile manipulation

CSIR Research Space (South Africa)

Van Eden, B

2014-11-01

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

Review: An Overview of Spinal Manipulation and Mobilization Effects

Directory of Open Access Journals (Sweden)

Behnam Akhbari

2007-07-01

Full Text Available Manipulation and mobilization are two different forms of manual therapy commonly employed in the management of musculoskeletal disorders. Spinal manipulation and mobilization are often distinguished from one another by reference to certain biomechanical parameters such as peak force, duration and magnitude of translation. However, as of yet, there is relatively little research which distinguishes between them in terms of neurological mechanisms or clinical effectiveness. Manipulation may particularly stimulate receptors within deep inter-vertebral muscles, while mobilization techniques most likely affect more superficial axial muscles.

Omnidirectional optical waveguide

Science.gov (United States)

Bora, Mihail; Bond, Tiziana C.

2016-08-02

In one embodiment, a system includes a scintillator material; a detector coupled to the scintillator material; and an omnidirectional waveguide coupled to the scintillator material, the omnidirectional waveguide comprising: a plurality of first layers comprising one or more materials having a refractive index in a first range; and a plurality of second layers comprising one or more materials having a refractive index in a second range, the second range being lower than the first range, a plurality of interfaces being defined between alternating ones of the first and second layers. In another embodiment, a method includes depositing alternating layers of a material having a relatively high refractive index and a material having a relatively low refractive index on a substrate to form an omnidirectional waveguide; and coupling the omnidirectional waveguide to at least one surface of a scintillator material.

Mid-sized omnidirectional robot with hydraulic drive and steering

Science.gov (United States)

Wood, Carl G.; Perry, Trent; Cook, Douglas; Maxfield, Russell; Davidson, Morgan E.

2003-09-01

Through funding from the US Army-Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program, Utah State University's (USU) Center for Self-Organizing and Intelligent Systems (CSOIS) has developed the T-series of omni-directional robots based on the USU omni-directional vehicle (ODV) technology. The ODV provides independent computer control of steering and drive in a single wheel assembly. By putting multiple omni-directional (OD) wheels on a chassis, a vehicle is capable of uncoupled translational and rotational motion. Previous robots in the series, the T1, T2, T3, ODIS, ODIS-T, and ODIS-S have all used OD wheels based on electric motors. The T4 weighs approximately 1400 lbs and features a 4-wheel drive wheel configuration. Each wheel assembly consists of a hydraulic drive motor and a hydraulic steering motor. A gasoline engine is used to power both the hydraulic and electrical systems. The paper presents an overview of the mechanical design of the vehicle as well as potential uses of this technology in fielded systems.

Integration of Mobile Manipulators in an Industrial Production

DEFF Research Database (Denmark)

Madsen, Ole; Bøgh, Simon; Schou, Casper

2015-01-01

Purpose – The purpose of this study has been to evaluate the technology of autonomous mobile manipulation in a real world industrial manufacturing environment. The objective has been to obtain experience in the integration with existing equipment and determine key challenges in maturing...... reports from such a real-world industrial experiment with two mobile manipulators. Design/methodology/approach – In the experiment, autonomous industrial mobile manipulators are integrated into the actual manufacturing environment of the pump manufacturer Grundfos. The two robots together solve the task...... of producing rotors; a task constituted by several sub-tasks ranging from logistics to complex assembly. With a total duration of 10 days, the experiment includes workspace adaptation, safety regulations, rapid robot instruction and running production. Findings – With a setup time of less than one day...

Modeling C-Band Co-Channel Interference From AeroMACS Omni-Directional Antennas to Mobile Satellite Service Feeder Uplinks

Science.gov (United States)

Wilson, Jeffrey D.

2011-01-01

A new C-band (5091 to 5150 MHz) airport communications system designated as Aeronautical Mobile Airport Communications System (AeroMACS) is being planned under the Federal Aviation Administration s NextGen program. An interference analysis software program, Visualyse Professional (Transfinite Systems Ltd), is being utilized to provide guidelines on limitations for AeroMACS transmitters to avoid interference with other systems. A scenario consisting of a single omni-directional transmitting antenna at each of the major contiguous United States airports is modeled and the steps required to build the model are reported. The results are shown to agree very well with a previous study.

Position Estimation and Local Mapping Using Omnidirectional Images and Global Appearance Descriptors

Directory of Open Access Journals (Sweden)

Yerai Berenguer

2015-10-01

Full Text Available This work presents some methods to create local maps and to estimate the position of a mobile robot, using the global appearance of omnidirectional images. We use a robot that carries an omnidirectional vision system on it. Every omnidirectional image acquired by the robot is described only with one global appearance descriptor, based on the Radon transform. In the work presented in this paper, two different possibilities have been considered. In the first one, we assume the existence of a map previously built composed of omnidirectional images that have been captured from previously-known positions. The purpose in this case consists of estimating the nearest position of the map to the current position of the robot, making use of the visual information acquired by the robot from its current (unknown position. In the second one, we assume that we have a model of the environment composed of omnidirectional images, but with no information about the location of where the images were acquired. The purpose in this case consists of building a local map and estimating the position of the robot within this map. Both methods are tested with different databases (including virtual and real images taking into consideration the changes of the position of different objects in the environment, different lighting conditions and occlusions. The results show the effectiveness and the robustness of both methods.

Mobility potential of a robotic six-wheeled omnidirectional drive vehicle (ODV) with z-axis and tire inflation control

Science.gov (United States)

Witus, Gary

2000-07-01

Robot vehicle mobility is the product of the physical configuration, mechatronics (sensors, actuators, and control) and the motion programs for different obstacles, terrain conditions, and maneuver objectives. This paper examines the mobility potential of a robotic 6-by-6 wheeled omni-directional drive vehicle (ODV) with z-axis and tire inflation control. Ad ODV can steer and drive all wheels independently. The direction of motion is independent of the orientation of the body. Z- axis control refers to independent control of the suspension elevation at each wheel. Pneumatic tire inflation control provides the ability to inflate and deflate individual tires. The paper describes motion programs for various discrete obstacles and challenging terrain conditions. The paper illustrates how ODV control, z-axis control and tire inflation control interact to provide high mobility with respect to cornering, maneuvering on slopes, negotiating vertical step and horizontal gap obstacles, and braking/acceleration on soft soil and slick surfaces. The paper derives guidelines for the physical dimensions of the vehicle needed to achieve these capabilities.

Approaches to probabilistic model learning for mobile manipulation robots

CERN Document Server

Sturm, Jürgen

2013-01-01

Mobile manipulation robots are envisioned to provide many useful services both in domestic environments as well as in the industrial context. Examples include domestic service robots that implement large parts of the housework, and versatile industrial assistants that provide automation, transportation, inspection, and monitoring services. The challenge in these applications is that the robots have to function under changing, real-world conditions, be able to deal with considerable amounts of noise and uncertainty, and operate without the supervision of an expert. This book presents novel learning techniques that enable mobile manipulation robots, i.e., mobile platforms with one or more robotic manipulators, to autonomously adapt to new or changing situations. The approaches presented in this book cover the following topics: (1) learning the robot's kinematic structure and properties using actuation and visual feedback, (2) learning about articulated objects in the environment in which the robot is operating,...

"Little Helper" - An Autonomous Industrial Mobile Manipulator Concept

Directory of Open Access Journals (Sweden)

Mads Hvilshoj

2011-06-01

Full Text Available This paper presents the concept "autonomous industrial mobile manipulation" (AIMM based on the mobile manipulator "Little Helper" - an ongoing research project at Aalborg University, Denmark, concerning the development of an autonomous and flexible manufacturing assistant. The paper focuses on the contextual aspects and the working principles of AIMM. Furthermore, the paper deals with the design principles and overall hardware and software architectures of "Little Helper" from a functional and modular mechatronics point of view, in order to create a generic AIMM platform. The design challenges faced in the project is to integrate commercial off‐the‐shelf (COTS and dedicated highly integrated systems into an autonomous mobile manipulator system with the ability to perform diverse tasks in industrial environments. We propose an action based domain specific communication language for AIMM for routine and task definition, in order to lower the entry barriers for the users of the technology. To demonstrate the "Little Helper" concept a full‐scale prototype has been built and different application examples carried out. Experiences and knowledge gained from this show promising results regarding industrial integration, exploitation and maturation of the AIMM technology.

TRANSFORMATION ALGORITHM FOR IMAGES OBTAINED BY OMNIDIRECTIONAL CAMERAS

Directory of Open Access Journals (Sweden)

V. P. Lazarenko

2015-01-01

Full Text Available Omnidirectional optoelectronic systems find their application in areas where a wide viewing angle is critical. However, omnidirectional optoelectronic systems have a large distortion that makes their application more difficult. The paper compares the projection functions of traditional perspective lenses and omnidirectional wide angle fish-eye lenses with a viewing angle not less than 180°. This comparison proves that distortion models of omnidirectional cameras cannot be described as a deviation from the classic model of pinhole camera. To solve this problem, an algorithm for transforming omnidirectional images has been developed. The paper provides a brief comparison of the four calibration methods available in open source toolkits for omnidirectional optoelectronic systems. Geometrical projection model is given used for calibration of omnidirectional optical system. The algorithm consists of three basic steps. At the first step, we calculate he field of view of a virtual pinhole PTZ camera. This field of view is characterized by an array of 3D points in the object space. At the second step the array of corresponding pixels for these three-dimensional points is calculated. Then we make a calculation of the projection function that expresses the relation between a given 3D point in the object space and a corresponding pixel point. In this paper we use calibration procedure providing the projection function for calibrated instance of the camera. At the last step final image is formed pixel-by-pixel from the original omnidirectional image using calculated array of 3D points and projection function. The developed algorithm gives the possibility for obtaining an image for a part of the field of view of an omnidirectional optoelectronic system with the corrected distortion from the original omnidirectional image. The algorithm is designed for operation with the omnidirectional optoelectronic systems with both catadioptric and fish-eye lenses

An FPGA-Based Omnidirectional Vision Sensor for Motion Detection on Mobile Robots

Directory of Open Access Journals (Sweden)

Jones Y. Mori

2012-01-01

Full Text Available This work presents the development of an integrated hardware/software sensor system for moving object detection and distance calculation, based on background subtraction algorithm. The sensor comprises a catadioptric system composed by a camera and a convex mirror that reflects the environment to the camera from all directions, obtaining a panoramic view. The sensor is used as an omnidirectional vision system, allowing for localization and navigation tasks of mobile robots. Several image processing operations such as filtering, segmentation and morphology have been included in the processing architecture. For achieving distance measurement, an algorithm to determine the center of mass of a detected object was implemented. The overall architecture has been mapped onto a commercial low-cost FPGA device, using a hardware/software co-design approach, which comprises a Nios II embedded microprocessor and specific image processing blocks, which have been implemented in hardware. The background subtraction algorithm was also used to calibrate the system, allowing for accurate results. Synthesis results show that the system can achieve a throughput of 26.6 processed frames per second and the performance analysis pointed out that the overall architecture achieves a speedup factor of 13.78 in comparison with a PC-based solution running on the real-time operating system xPC Target.

A Motion Planning Method for Omnidirectional Mobile Robot Based on the Anisotropic Characteristics

Directory of Open Access Journals (Sweden)

Chuntao Leng

2008-11-01

Full Text Available A more suitable motion planning method for an omni-directional mobile robot (OMR, an improved APF method (iAPF, is proposed in this paper by introducing the revolving factor into the artificial potential field (APF. Accordingly, the motion direction derived from traditional artificial potential field (tAPF is regulated. The maximum velocity, maximum acceleration and energy consumption of the OMR moving in different directions are analyzed, based on the kinematic and dynamic constraints of an OMR, and the anisotropy of OMR is presented in this paper. Then the novel concept of an Anisotropic-Function is proposed to indicate the quality of motion in different directions, which can make a very favorable trade-off between time-optimality, stability and efficacy-optimality. In order to obtain the optimal motion, the path that the robot can take in order to avoid the obstacle safely and reach the goal in a shorter path is deduced. Finally, simulations and experiments are carried out to demonstrate that the motion resulting from the iAPF is high-speed, highly stable and highly efficient when compared to the tAPF.

Implementation of Obstacle-Avoidance Control for an Autonomous Omni-Directional Mobile Robot Based on Extension Theory

Directory of Open Access Journals (Sweden)

Yi-Chung Lai

2012-10-01

Full Text Available The paper demonstrates a following robot with omni-directional wheels, which is able to take action to avoid obstacles. The robot design is based on both fuzzy and extension theory. Fuzzy theory was applied to tune the PMW signal of the motor revolution, and correct path deviation issues encountered when the robot is moving. Extension theory was used to build a robot obstacle-avoidance model. Various mobile models were developed to handle different types of obstacles. The ultrasonic distance sensors mounted on the robot were used to estimate the distance to obstacles. If an obstacle is encountered, the correlation function is evaluated and the robot avoids the obstacle autonomously using the most appropriate mode. The effectiveness of the proposed approach was verified through several tracking experiments, which demonstrates the feasibility of a fuzzy path tracker as well as the extensible collision avoidance system.

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

Institute of Scientific and Technical Information of China (English)

CUI Genqun; LI Chunshu; ZHANG Minglu

2006-01-01

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

Portable haptic interface with omni-directional movement and force capability.

Science.gov (United States)

Avizzano, Carlo Alberto; Satler, Massimo; Ruffaldi, Emanuele

2014-01-01

We describe the design of a new mobile haptic interface that employs wheels for force rendering. The interface, consisting of an omni-directional Killough type platform, provides 2DOF force feedback with different control modalities. The system autonomously performs sensor fusion for localization and force rendering. This paper explains the relevant choices concerning the functional aspects, the control design, the mechanical and electronic solution. Experimental results for force feedback characterization are reported.

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

Science.gov (United States)

Shibata, Tsuyoshi; Murakami, Toshiyuki

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

Mobile Robot and Mobile Manipulator Research Towards ASTM Standards Development.

Science.gov (United States)

Bostelman, Roger; Hong, Tsai; Legowik, Steven

2016-01-01

Performance standards for industrial mobile robots and mobile manipulators (robot arms onboard mobile robots) have only recently begun development. Low cost and standardized measurement techniques are needed to characterize system performance, compare different systems, and to determine if recalibration is required. This paper discusses work at the National Institute of Standards and Technology (NIST) and within the ASTM Committee F45 on Driverless Automatic Guided Industrial Vehicles. This includes standards for both terminology, F45.91, and for navigation performance test methods, F45.02. The paper defines terms that are being considered. Additionally, the paper describes navigation test methods that are near ballot and docking test methods being designed for consideration within F45.02. This includes the use of low cost artifacts that can provide alternatives to using relatively expensive measurement systems.

Control of an automated mobile manipulator using artificial immune system

Science.gov (United States)

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

2016-03-01

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

Integration and Assessment of Multiple Mobile Manipulators in a Real-World Industrial Production Facility

DEFF Research Database (Denmark)

Bøgh, Simon; Schou, Casper; Rühr, Thomas

2014-01-01

This paper presents a large-scale research experiment carried out within the TAPAS project, where multiple mobile manipulators were integrated and assessed in an industrial context. We consider an industrial scenario in which mobile manipulators naturally extend automation of logistic tasks towar...

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

International Nuclear Information System (INIS)

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

1994-01-01

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

Omnigradient Based Total Variation Minimization for Enhanced Defocus Deblurring of Omnidirectional Images

Directory of Open Access Journals (Sweden)

Yongle Li

2014-01-01

Full Text Available We propose a new method of image restoration for catadioptric defocus blur using omnitotal variation (Omni-TV minimization based on omnigradient. Catadioptric omnidirectional imaging systems usually consist of conventional cameras and curved mirrors for capturing 360° field of view. The problem of catadioptric omnidirectional imaging defocus blur, which is caused by lens aperture and mirror curvature, becomes more severe when high resolution sensors and large apertures are used. In an omnidirectional image, two points near each other may not be close to one another in the 3D scene. Traditional gradient computation cannot be directly applied to omnidirectional image processing. Thus, omnigradient computing method combined with the characteristics of catadioptric omnidirectional imaging is proposed. Following this Omni-TV minimization is used as the constraint for deconvolution regularization, leading to the restoration of defocus blur in an omnidirectional image to obtain all sharp omnidirectional images. The proposed method is important for improving catadioptric omnidirectional imaging quality and promoting applications in related fields like omnidirectional video and image processing.

A natural-language interface to a mobile robot

Science.gov (United States)

Michalowski, S.; Crangle, C.; Liang, L.

1987-01-01

The present work on robot instructability is based on an ongoing effort to apply modern manipulation technology to serve the needs of the handicapped. The Stanford/VA Robotic Aid is a mobile manipulation system that is being developed to assist severely disabled persons (quadriplegics) in performing simple activities of everyday living in a homelike, unstructured environment. It consists of two major components: a nine degree-of-freedom manipulator and a stationary control console. In the work presented here, only the motions of the Robotic Aid's omnidirectional motion base have been considered, i.e., the six degrees of freedom of the arm and gripper have been ignored. The goal has been to develop some basic software tools for commanding the robot's motions in an enclosed room containing a few objects such as tables, chairs, and rugs. In the present work, the environmental model takes the form of a two-dimensional map with objects represented by polygons. Admittedly, such a highly simplified scheme bears little resemblance to the elaborate cognitive models of reality that are used in normal human discourse. In particular, the polygonal model is given a priori and does not contain any perceptual elements: there is no polygon sensor on board the mobile robot.

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

Directory of Open Access Journals (Sweden)

Ernesto Rodriguez-Leal

2013-01-01

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

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

Directory of Open Access Journals (Sweden)

Bin Zi

2012-11-01

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

Uni- and omnidirectional simulation tools for integrated optics

NARCIS (Netherlands)

Stoffer, Remco

2001-01-01

This thesis presents several improvements on simulation methods in integrated optics, as well as some new methods. Both uni- and omnidirectional tools are presented; for the unidirectional methods, the emphasis is on higher-order accuracy; for the omnidirectional methods, the boundary conditions are

Smooth Jerk-Bounded Optimal Path Planning of Tricycle Wheeled Mobile Manipulators in the Presence of Environmental Obstacles

Directory of Open Access Journals (Sweden)

Moharam Habibnejad Korayem

2012-10-01

Full Text Available In this work, a computational algorithm is developed for the smooth-jerk optimal path planning of tricycle wheeled mobile manipulators in an obstructed environment. Due to a centred orientable wheel, the tricycle mobile manipulator exhibits more steerability and manoeuvrability over traditional mobile manipulators, especially in the presence of environmental obstacles. This paper presents a general formulation based on the combination of the potential field method and optimal control theory in order to plan the smooth point-to-point path of the tricycle mobile manipulators. The nonholonomic constraints of the tricycle mobile base are taken into account in the dynamic formulation of the system and then the optimality conditions are derived considering jerk restrictions and obstacle avoidance. Furthermore, by means of the potential field method, a new formulation of a repulsive potential function is proposed for collision avoidance between any obstacle and each part of the mobile manipulator. In addition, to ensure the accurate placement of the end effector on the target point an attractive potential function is applied to the optimal control formulation. Next, a mixed analytical-numerical algorithm is proposed to generate the point-to-point optimal path. Finally, the proposed method is verified by a number of simulations on a two-link tricycle manipulator.

Helicopter blades running elevation measurement using omnidirectional vision

Directory of Open Access Journals (Sweden)

Chengtao CAI

2017-12-01

Full Text Available Omnidirectional dynamic space parameters of high-speed rotating helicopter blades are precise 3D vector description of the blades. In particular, the elevation difference is directly related to the aerodynamic performance and maneuverability of the helicopter. The state of the art detection techniques based on optics and common vision have several drawbacks, such as high demands on devices but poor extensibility, limited measurement range and fixed measurement position. In this paper, a novel approach of helicopter blades running elevation measurement is proposed based on omnidirectional vision. With the advantages of panoramic visual imaging integration, 360° field of view and rotation in-variance, high-resolution images of all rotating blades positions are obtained at one time. By studying the non-linear calibration and calculation model of omnidirectional vision system, aiming at solving the problem of inaccurate visual space mapping model, the omnidirectional and full-scale measurement of the elevation difference are finalized. Experiments are carried out on our multifunctional simulation blades test system and the practical blades test tower, respectively. The experimental results demonstrate the effectiveness of the proposed method and show that the proposed method can considerably reduce the complexity of measurement. Keywords: Full-scale measurement, Helicopter blades elevation, Non-linear calibration, Omnidirectional vision, Unified sphere model

Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator

Directory of Open Access Journals (Sweden)

Huangsheng Xie

2014-01-01

Full Text Available This paper focuses on the problem of visual servo grasping of household objects for nonholonomic mobile manipulator. Firstly, a new kind of artificial object mark based on QR (Quick Response Code is designed, which can be affixed to the surface of household objects. Secondly, after summarizing the vision-based autonomous mobile manipulation system as a generalized manipulator, the generalized manipulator’s kinematic model is established, the analytical inverse kinematic solutions of the generalized manipulator are acquired, and a novel active vision based camera calibration method is proposed to determine the hand-eye relationship. Finally, a visual servo switching control law is designed to control the service robot to finish object grasping operation. Experimental results show that QR Code-based artificial object mark can overcome the difficulties brought by household objects’ variety and operation complexity, and the proposed visual servo scheme makes it possible for service robot to grasp and deliver objects efficiently.

Experimental evaluation of the omnidirectional behavior of platonic polyhedron loudspeakers

Science.gov (United States)

Rollins, Sarah; Leishman, Timothy; Dix, Gordon

2003-10-01

Many architectural acoustics measurements require the use of an omnidirectional source. For several years, the source predominantly used for such applications has been the dodecahedron loudspeaker with small in-phase drivers mounted in each face. While other platonic polyhedron loudspeakers (PPLs) have not been used as frequently, they also produce nearly omnidirectional fields over limited bandwidths. Above cutoff frequencies specific to their geometries, all PPLs depart from ideal omnidirectional behavior, with varying degrees of directivity. While these cutoff frequencies are typically higher for higher-order polyhedra, they commonly fall within the bandwidths of standard measurements. The five types of PPLs have been constructed and measured to gain greater insight into their omnidirectional behaviors. Their frequency responses were taken at 2664 points over a sphere (5-deg polar and azimuthal angle increments) in an anechoic chamber. The measurements were then processed to produce directivity balloon plots. However, to better compare directivities and find the source consistently producing the most omnidirectional field over a useful bandwidth, a frequency-dependent standard deviation formula was implemented. Average values of the standard deviation parameter produce figures of merit that further characterize omnidirectionality. [Research supported by funding from the NSF REU program.

An Omni-Directional Wall-Climbing Microrobot with Magnetic Wheels Directly Integrated with Electromagnetic Micromotors

Directory of Open Access Journals (Sweden)

Xiaoning Tang

2012-04-01

Full Text Available This paper presents an omni-directional wall-climbing microrobot with magnetic wheels. The integral design with an actuator and adhesive is realized by integrating stators and rotors of an MEMS-based electromagnetic micromotor with a magnetic wheel. The omni-directional wall-climbing mechanism is designed by a set of steering gears and three standard magnetic wheels. The required torque and magnetic force for microrobot movement are derived by its static analysis. The size of the magnetic wheel is optimized, with consideration of its own design constraints, by ANSOFT and Pro/Engineer simulation so as to reduce unnecessary torque consumption under the same designed load. Related experiments demonstrate that the microrobot (diameter: 26mm; height: 16.4; mass: 7.2g; load capacity: 3g we have developed has a good wall-climbing ability and flexible mobility, and it can perform visual detection in a ferromagnetic environment.

A Reconfigurable Omnidirectional Soft Robot Based on Caterpillar Locomotion.

Science.gov (United States)

Zou, Jun; Lin, Yangqiao; Ji, Chen; Yang, Huayong

2018-04-01

A pneumatically powered, reconfigurable omnidirectional soft robot based on caterpillar locomotion is described. The robot is composed of nine modules arranged as a three by three matrix and the length of this matrix is 154 mm. The robot propagates a traveling wave inspired by caterpillar locomotion, and it has all three degrees of freedom on a plane (X, Y, and rotation). The speed of the robot is about 18.5 m/h (two body lengths per minute) and it can rotate at a speed of 1.63°/s. The modules have neodymium-iron-boron (NdFeB) magnets embedded and can be easily replaced or combined into other configurations. Two different configurations are presented to demonstrate the possibilities of the modular structure: (1) by removing some modules, the omnidirectional robot can be reassembled into a form that can crawl in a pipe and (2) two omnidirectional robots can crawl close to each other and be assembled automatically into a bigger omnidirectional robot. Omnidirectional motion is important for soft robots to explore unstructured environments. The modular structure gives the soft robot the ability to cope with the challenges of different environments and tasks.

Engineering Gecko-Inspired Adhesives for Robotic Mobility and Manipulation in Microgravity

Data.gov (United States)

National Aeronautics and Space Administration — The goal of the proposed research is to customize gecko-inspired adhesive technologies for space applications in manipulation and mobility, primarily addressing...

Estimating the position and orientation of a mobile robot with respect to a trajectory using omnidirectional imaging and global appearance.

Directory of Open Access Journals (Sweden)

Luis Payá

Full Text Available Along the past years, mobile robots have proliferated both in domestic and in industrial environments to solve some tasks such as cleaning, assistance, or material transportation. One of their advantages is the ability to operate in wide areas without the necessity of introducing changes into the existing infrastructure. Thanks to the sensors they may be equipped with and their processing systems, mobile robots constitute a versatile alternative to solve a wide range of applications. When designing the control system of a mobile robot so that it carries out a task autonomously in an unknown environment, it is expected to take decisions about its localization in the environment and about the trajectory that it has to follow in order to arrive to the target points. More concisely, the robot has to find a relatively good solution to two crucial problems: building a model of the environment, and estimating the position of the robot within this model. In this work, we propose a framework to solve these problems using only visual information. The mobile robot is equipped with a catadioptric vision sensor that provides omnidirectional images from the environment. First, the robot goes along the trajectories to include in the model and uses the visual information captured to build this model. After that, the robot is able to estimate its position and orientation with respect to the trajectory. Among the possible approaches to solve these problems, global appearance techniques are used in this work. They have emerged recently as a robust and efficient alternative compared to landmark extraction techniques. A global description method based on Radon Transform is used to design mapping and localization algorithms and a set of images captured by a mobile robot in a real environment, under realistic operation conditions, is used to test the performance of these algorithms.

A fully omnidirectional wheeled assembly for robotic vehicles

International Nuclear Information System (INIS)

Killough, S.M.; Pin, F.G.

1990-01-01

A large number of wheeled or tracked platform mechanisms have been studied and developed to provide their mobility capability to teleoperated and autonomous robot vehicles. This paper presents an original wheeled platform based on an orthogonal wheel assembly that provides a full (three-degrees-of-freedom) omnidirectionality of the platform without wheel slippage and with the capability for simultaneous motions in rotation and translation (including sideways movements). A schematic of the basic wheel assembly is shown. The motion of the assembly is unconstrained (freewheeling) in the direction parallel to the main assembly shaft, while it is constrained in the direction perpendicular to the shaft, being driven in this direction by rotation of the shaft. A prototype platform was constructed to demonstrate the feasibility of this new concept

“Little Helper” — An Autonomous Industrial Mobile Manipulator Concept

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Mads Hvilshøj

2011-06-01

Full Text Available This paper presents the concept “autonomous industrial mobile manipulation” (AIMM based on the mobile manipulator “Little Helper” – an ongoing research project at Aalborg University, Denmark, concerning the development of an autonomous and flexible manufacturing assistant. The paper focuses on the contextual aspects and the working principles of AIMM. Furthermore, the paper deals with the design principles and overall hardware and software architectures of “Little Helper” from a functional and modular mechatronics point of view, in order to create a generic AIMM platform. The design challenges faced in the project is to integrate commercial off-the-shelf (COTS and dedicated highly integrated systems into an autonomous mobile manipulator system with the ability to perform diverse tasks in industrial environments. We propose an action based domain specific communication language for AIMM for routine and task definition, in order to lower the entry barriers for the users of the technology. To demonstrate the “Little Helper” concept a full-scale prototype has been built and different application examples carried out. Experiences and knowledge gained from this show promising results regarding industrial integration, exploitation and maturation of the AIMM technology.

Simulation of cooperating robot manipulators on a mobile platform

Science.gov (United States)

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

1990-01-01

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

Vertically Polarized Omnidirectional Printed Slot Loop Antenna

DEFF Research Database (Denmark)

Kammersgaard, Nikolaj Peter Iversen; Kvist, Søren H.; Thaysen, Jesper

2015-01-01

A novel vertically polarized omnidirectional printed slot loop antenna has been designed, simulated, fabricated and measured. The slot loop works as a magnetic loop. The loop is loaded with inductors to insure uniform and in-phase fields in the slot in order to obtain an omnidirectional radiation...... pattern. The antenna is designed for the 2.45 GHz Industrial, Scientific and Medical band. Applications of the antenna are many. One is for on-body applications since it is ideal for launching a creeping waves due to the polarization....

Omnidirectional sparse visual path following with occlusion-robust feature tracking

OpenAIRE

Goedemé, Toon; Tuytelaars, Tinne; Van Gool, Luc; Vanacker, Gerolf; Nuttin, Marnix

2005-01-01

Goedemé T., Tuytelaars T., Van Gool L., Vanacker G., Nuttin M., ''Omnidirectional sparse visual path following with occlusion-robust feature tracking'', Proceedings 6th workshop on omnidirectional vision, camera networks and non-classical cameras, 8 pp., October 21, 2005, Beijing, China.

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

Science.gov (United States)

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

2013-11-01

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

Outline of a Hardware Reconfiguration Framework for Modular Industrial Mobile Manipulators

DEFF Research Database (Denmark)

Schou, Casper; Bøgh, Simon; Madsen, Ole

2014-01-01

This paper presents concepts and ideas of a hard- ware reconfiguration framework for modular industrial mobile manipulators. Mobile manipulators pose a highly flexible pro- duction resource due to their ability to autonomously navigate between workstations. However, due to this high flexibility new...... approaches to the operation of the robots are needed. Reconfig- uring the robot to a new task should be carried out by shop floor operators and, thus, be both quick and intuitive. Late research has already proposed a method for intuitive robot programming. However, this relies on a predetermined hardware...... configuration. Finding a single multi-purpose hardware configuration suited to all tasks is considered unrealistic. As a result, the need for reconfiguration of the hardware is inevitable. In this paper an outline of a framework for making hardware reconfiguration quick and intuitive is presented. Two main...

Augmented reality user interface for mobile ground robots with manipulator arms

Science.gov (United States)

Vozar, Steven; Tilbury, Dawn M.

2011-01-01

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

Omnidirectional light absorption of disordered nano-hole structure inspired from Papilio ulysses.

Science.gov (United States)

Wang, Wanlin; Zhang, Wang; Fang, Xiaotian; Huang, Yiqiao; Liu, Qinglei; Bai, Mingwen; Zhang, Di

2014-07-15

Butterflies routinely produce nanostructured surfaces with useful properties. Here, we report a disordered nano-hole structure with ridges inspired by Papilio ulysses that produce omnidirectional light absorption compared with the common ordered structure. The result shows that the omnidirectional light absorption is affected by polarization, the incident angle, and the wavelength. Using the finite-difference time-domain (FDTD) method, the stable omnidirectional light absorption is achieved in the structure inspired from the Papilio ulysses over a wide incident angle range and with various wavelengths. This explains some of the mysteries of the structure of the Papilio ulysses butterfly. These conclusions can guide the design of omnidirectional absorption materials.

A Spherical Model Based Keypoint Descriptor and Matching Algorithm for Omnidirectional Images

Directory of Open Access Journals (Sweden)

Guofeng Tong

2014-04-01

Full Text Available Omnidirectional images generally have nonlinear distortion in radial direction. Unfortunately, traditional algorithms such as scale-invariant feature transform (SIFT and Descriptor-Nets (D-Nets do not work well in matching omnidirectional images just because they are incapable of dealing with the distortion. In order to solve this problem, a new voting algorithm is proposed based on the spherical model and the D-Nets algorithm. Because the spherical-based keypoint descriptor contains the distortion information of omnidirectional images, the proposed matching algorithm is invariant to distortion. Keypoint matching experiments are performed on three pairs of omnidirectional images, and comparison is made among the proposed algorithm, the SIFT and the D-Nets. The result shows that the proposed algorithm is more robust and more precise than the SIFT, and the D-Nets in matching omnidirectional images. Comparing with the SIFT and the D-Nets, the proposed algorithm has two main advantages: (a there are more real matching keypoints; (b the coverage range of the matching keypoints is wider, including the seriously distorted areas.

An approach to robot SLAM based on incremental appearance learning with omnidirectional vision

Science.gov (United States)

Wu, Hua; Qin, Shi-Yin

2011-03-01

Localisation and mapping with an omnidirectional camera becomes more difficult as the landmark appearances change dramatically in the omnidirectional image. With conventional techniques, it is difficult to match the features of the landmark with the template. We present a novel robot simultaneous localisation and mapping (SLAM) algorithm with an omnidirectional camera, which uses incremental landmark appearance learning to provide posterior probability distribution for estimating the robot pose under a particle filtering framework. The major contribution of our work is to represent the posterior estimation of the robot pose by incremental probabilistic principal component analysis, which can be naturally incorporated into the particle filtering algorithm for robot SLAM. Moreover, the innovative method of this article allows the adoption of the severe distorted landmark appearances viewed with omnidirectional camera for robot SLAM. The experimental results demonstrate that the localisation error is less than 1 cm in an indoor environment using five landmarks, and the location of the landmark appearances can be estimated within 5 pixels deviation from the ground truth in the omnidirectional image at a fairly fast speed.

77 FR 76003 - Submission for OMB Review; Comment Request-Safety Standard for Omnidirectional Citizens Band Base...

Science.gov (United States)

2012-12-26

... Request--Safety Standard for Omnidirectional Citizens Band Base Station Antennas AGENCY: Consumer Product... information associated with the Commission's safety standard for omnidirectional citizens band base station... information required in the Safety Standard for Omnidirectional Citizens Band Base Station (16 CFR Part 1204...

Upper cervical and upper thoracic thrust manipulation versus nonthrust mobilization in patients with mechanical neck pain: a multicenter randomized clinical trial.

Science.gov (United States)

Dunning, James R; Cleland, Joshua A; Waldrop, Mark A; Arnot, Cathy F; Young, Ian A; Turner, Michael; Sigurdsson, Gisli

2012-01-01

Randomized clinical trial. To compare the short-term effects of upper cervical and upper thoracic high-velocity low-amplitude (HVLA) thrust manipulation to nonthrust mobilization in patients with neck pain. Although upper cervical and upper thoracic HVLA thrust manipulation and nonthrust mobilization are common interventions for the management of neck pain, no studies have directly compared the effects of both upper cervical and upper thoracic HVLA thrust manipulation to nonthrust mobilization in patients with neck pain. Patients completed the Neck Disability Index, the numeric pain rating scale, the flexion-rotation test for measurement of C1-2 passive rotation range of motion, and the craniocervical flexion test for measurement of deep cervical flexor motor performance. Following the baseline evaluation, patients were randomized to receive either HVLA thrust manipulation or nonthrust mobilization to the upper cervical (C1-2) and upper thoracic (T1-2) spines. Patients were reexamined 48-hours after the initial examination and again completed the outcome measures. The effects of treatment on disability, pain, C1-2 passive rotation range of motion, and motor performance of the deep cervical flexors were examined with a 2-by-2 mixed-model analysis of variance (ANOVA). One hundred seven patients satisfied the eligibility criteria, agreed to participate, and were randomized into the HVLA thrust manipulation (n = 56) and nonthrust mobilization (n = 51) groups. The 2-by-2 ANOVA demonstrated that patients with mechanical neck pain who received the combination of upper cervical and upper thoracic HVLA thrust manipulation experienced significantly (Ppain (58.5%) than those of the nonthrust mobilization group (12.8% and 12.6%, respectively) following treatment. In addition, the HVLA thrust manipulation group had significantly (Pcervical flexor muscles as compared to the group that received nonthrust mobilization. The number needed to treat to avoid an unsuccessful outcome

Using the combination refraction-reflection solid to design omni-directional light source used in underwater wireless optical communication

Science.gov (United States)

Rao, Jionghui; Yao, Wenming; Wen, Linqiang

2015-10-01

Underwater wireless optical communication is a communication technology which uses laser as an information carrier and transmits data through water. Underwater wireless optical communication has some good features such as broader bandwidth, high transmission rate, better security, anti—interference performance. Therefore, it is promising to be widely used in the civil and military communication domains. It is also suitable for high-speed, short-range communication between underwater mobile vehicles. This paper presents a design approach of omni-directional light source used in underwater wireless optical communication, using TRACEPRO simulation tool to help design a combination solid composed of the lens, conical reflector and parabolic reflector, and using the modulated DPSS green laser in the transmitter module to output the laser beam in small divergence angles, after expanded by the combination refraction-reflection solid, the angle turns into a space divergence angle of 2π, achieving the omni-directional light source of hemisphere space, and test in the air and underwater, the result shows that the effect is fine. This paper analyzes the experimental test in the air and water, in order to make further improvement of the uniformity of light distribution, we optimize the reflector surface parameters of combination refraction-reflection solid and test in the air and water. The result shows that omni-directional light source used in underwater wireless optical communication optimized could achieve the uniformity of light distribution of underwater space divergence angle of 2π. Omni-directional light source used in underwater wireless optical communication designed in this paper has the characteristics of small size and uniformity of light distribution, it is suitable for application between UUVs, AUVs, Swimmer Delivery Vehicles (SDVs) and other underwater vehicle fleet, it realizes point-to-multipoint communications.

Development of an advanced mobile base for personal mobility and manipulation appliance generation II robotic wheelchair.

Science.gov (United States)

Wang, Hongwu; Candiotti, Jorge; Shino, Motoki; Chung, Cheng-Shiu; Grindle, Garrett G; Ding, Dan; Cooper, Rory A

2013-07-01

This paper describes the development of a mobile base for the Personal Mobility and Manipulation Appliance Generation II (PerMMA Gen II robotic wheelchair), an obstacle-climbing wheelchair able to move in structured and unstructured environments, and to climb over curbs as high as 8 inches. The mechanical, electrical, and software systems of the mobile base are presented in detail, and similar devices such as the iBOT mobility system, TopChair, and 6X6 Explorer are described. The mobile base of PerMMA Gen II has two operating modes: "advanced driving mode" on flat and uneven terrain, and "automatic climbing mode" during stair climbing. The different operating modes are triggered either by local and dynamic conditions or by external commands from users. A step-climbing sequence, up to 0.2 m, is under development and to be evaluated via simulation. The mathematical model of the mobile base is introduced. A feedback and a feed-forward controller have been developed to maintain the posture of the passenger when driving over uneven surfaces or slopes. The effectiveness of the controller has been evaluated by simulation using the open dynamics engine tool. Future work for PerMMA Gen II mobile base is implementation of the simulation and control on a real system and evaluation of the system via further experimental tests.

Adverse events associated with the use of cervical manipulation or mobilization and patient characteristics : a systematic review

NARCIS (Netherlands)

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

2016-01-01

Cervical spinal manipulation (CSM) and cervical mobilization are frequently used in patients with neck pain and headache. Pre-manipulative cervical instability and arterial integrity tests appear to be unreliable in identifying patients at risk at risk for adverse events. It would be valuable if

A Developmental Learning Approach of Mobile Manipulator via Playing

Directory of Open Access Journals (Sweden)

Ruiqi Wu

2017-10-01

Full Text Available Inspired by infant development theories, a robotic developmental model combined with game elements is proposed in this paper. This model does not require the definition of specific developmental goals for the robot, but the developmental goals are implied in the goals of a series of game tasks. The games are characterized into a sequence of game modes based on the complexity of the game tasks from simple to complex, and the task complexity is determined by the applications of developmental constraints. Given a current mode, the robot switches to play in a more complicated game mode when it cannot find any new salient stimuli in the current mode. By doing so, the robot gradually achieves it developmental goals by playing different modes of games. In the experiment, the game was instantiated into a mobile robot with the playing task of picking up toys, and the game is designed with a simple game mode and a complex game mode. A developmental algorithm, “Lift-Constraint, Act and Saturate,” is employed to drive the mobile robot move from the simple mode to the complex one. The experimental results show that the mobile manipulator is able to successfully learn the mobile grasping ability after playing simple and complex games, which is promising in developing robotic abilities to solve complex tasks using games.

Articular dysfunction patterns in patients with mechanical neck pain: a clinical algorithm to guide specific mobilization and manipulation techniques.

Science.gov (United States)

Dewitte, Vincent; Beernaert, Axel; Vanthillo, Bart; Barbe, Tom; Danneels, Lieven; Cagnie, Barbara

2014-02-01

In view of a didactical approach for teaching cervical mobilization and manipulation techniques to students as well as their use in daily practice, it is mandatory to acquire sound clinical reasoning to optimally apply advanced technical skills. The aim of this Masterclass is to present a clinical algorithm to guide (novice) therapists in their clinical reasoning to identify patients who are likely to respond to mobilization and/or manipulation. The presented clinical reasoning process is situated within the context of pain mechanisms and is narrowed to and applicable in patients with a dominant input pain mechanism. Based on key features in subjective and clinical examination, patients with mechanical nociceptive pain probably arising from articular structures can be categorized into specific articular dysfunction patterns. Pending on these patterns, specific mobilization and manipulation techniques are warranted. The proposed patterns are illustrated in 3 case studies. This clinical algorithm is the corollary of empirical expertise and is complemented by in-depth discussions and knowledge exchange with international colleagues. Consequently, it is intended that a carefully targeted approach contributes to an increase in specificity and safety in the use of cervical mobilizations and manipulation techniques as valuable adjuncts to other manual therapy modalities. Copyright © 2013 Elsevier Ltd. All rights reserved.

Feature based omnidirectional sparse visual path following

OpenAIRE

Goedemé, Toon; Tuytelaars, Tinne; Van Gool, Luc; Vanacker, Gerolf; Nuttin, Marnix

2005-01-01

Goedemé T., Tuytelaars T., Van Gool L., Vanacker G., Nuttin M., ''Feature based omnidirectional sparse visual path following'', Proceedings IEEE/RSJ international conference on intelligent robots and systems - IROS2005, pp. 1003-1008, August 2-6, 2005, Edmonton, Alberta, Canada.

Adverse events associated with the use of cervical spine manipulation or mobilization and patient characteristics : A systematic review

NARCIS (Netherlands)

Kranenburg, H. A.; Schmitt, M. A.; Puentedura, E. J.; Luijckx, G. J.; van der Schans, C. P.

Cervical spinal manipulation (CSM) and cervical mobilization are frequently used in patients with neck pain and headache. Pre-manipulative cervical instability and arterial integrity tests appear to be unreliable in identifying patients at risk for adverse events. It would be valuable if patients at

A Hybrid Constant and Oscillatory Field Ion Mobility Analyzer Using Structures for Lossless Ion Manipulations

Science.gov (United States)

Prabhakaran, Aneesh; Hamid, Ahmed M.; Garimella, Sandilya V. B.; Valenzuela, Blandina R.; Ewing, Robert G.; Ibrahim, Yehia M.; Smith, Richard D.

2018-02-01

Here we explore the combination of constant and oscillatory fields applied in a single device to affect the continuous separation and filtering of ions based on their mobilities. The device explored allows confining and manipulating ions utilizing a combination of radio frequency (rf), direct current (DC) fields, and traveling waves (TW) in a structures for lossless ion manipulations (SLIM) module. We have investigated theoretically and experimentally a concept for continuous filtering of ions based on their mobilities where ions are mobility separated and selected by passage through two regions, both of which incorporated combined TW and constant fields providing opposing forces on the ions. The SLIM module was composed of two surfaces with mirror-image arrays of electrodes and had two regions where the different TW and opposing DC fields could be applied. The filtering capabilities are determined by the applied DC gradient and the TW parameters, such as speed, amplitude, and the TW sequence (i.e., the duty cycle of the traveling wave). The effects of different parameters on the sensitivity and the ion mobility (IM) resolution of the device have been investigated. By appropriately choosing the DC gradient and TW parameters for the two sections, it is possible to transmit ions of a selected mobility while filtering out others of both higher and lower mobility. The novel device described here provides a basis for the targeted analysis of compounds based upon the continuous selection of ions according to their mobility and without the need for high electric fields or pulsed injection.

Dual Circularly Polarized Omnidirectional Antenna with Slot Array on Coaxial Cylinder

Directory of Open Access Journals (Sweden)

Bin Zhou

2015-01-01

Full Text Available A dual circularly polarized (CP omnidirectional antenna based on slot array in coaxial cylinder structure is presented in this paper. It is constructed by perpendicular slot pairs around and along the axis of the coaxial cylinder to realize the omnidirectional CP property, and two ports are assigned in its two sides as left hand circularly polarized (LHCP port and right hand circularly polarized (RHCP port, respectively. The proposed antenna achieves a bandwidth of 16.4% ranging from 5.05 to 5.95 GHz with an isolation higher than 15 dB between the two CP ports, and the return loss (RL is higher than 10 dB within the bandwidth in both of the two ports. From the measured results, the average axial ratio (AR of the proposed antenna in omnidirectional plane is lower than 1.5 dB.

An omnidirectional electromagnetic absorber made of metamaterials

International Nuclear Information System (INIS)

Cheng Qiang; Cui Tiejun; Jiang Weixiang; Cai Bengeng

2010-01-01

In a recent theoretical work by Narimanov and Kildishev (2009 Appl. Phys. Lett. 95 041106) an optical omnidirectional light absorber based on metamaterials was proposed, in which theoretical analysis and numerical simulations showed that all optical waves hitting the absorber are trapped and absorbed. Here we report the first experimental demonstration of an omnidirectional electromagnetic absorber in the microwave frequency. The proposed device is composed of non-resonant and resonant metamaterial structures, which can trap and absorb electromagnetic waves coming from all directions spirally inwards without any reflections due to the local control of electromagnetic fields. It is shown that the absorption rate can reach 99 per cent in the microwave frequency. The all-directional full absorption property makes the device behave like an 'electromagnetic black body', and the wave trapping and absorbing properties simulate, to some extent, an 'electromagnetic black hole.' We expect that such a device could be used as a thermal emitting source and to harvest electromagnetic waves.

An Omnidirectional Stereo Vision-Based Smart Wheelchair

Directory of Open Access Journals (Sweden)

Yutaka Satoh

2007-06-01

Full Text Available To support safe self-movement of the disabled and the aged, we developed an electric wheelchair that realizes the functions of detecting both the potential hazards in a moving environment and the postures and gestures of a user by equipping an electric wheelchair with the stereo omnidirectional system (SOS, which is capable of acquiring omnidirectional color image sequences and range data simultaneously in real time. The first half of this paper introduces the SOS and the basic technology behind it. To use the multicamera system SOS on an electric wheelchair, we developed an image synthesizing method of high speed and high quality and the method of recovering SOS attitude changes by using attitude sensors is also introduced. This method allows the SOS to be used without being affected by the mounting attitude of the SOS. The second half of this paper introduces the prototype electric wheelchair actually manufactured and experiments conducted using the prototype. The usability of the electric wheelchair is also discussed.

Articular dysfunction patterns in patients with mechanical low back pain: A clinical algorithm to guide specific mobilization and manipulation techniques.

Science.gov (United States)

Dewitte, V; Cagnie, B; Barbe, T; Beernaert, A; Vanthillo, B; Danneels, L

2015-06-01

Recent systematic reviews have demonstrated reasonable evidence that lumbar mobilization and manipulation techniques are beneficial. However, knowledge on optimal techniques and doses, and its clinical reasoning is currently lacking. To address this, a clinical algorithm is presented so as to guide therapists in their clinical reasoning to identify patients who are likely to respond to lumbar mobilization and/or manipulation and to direct appropriate technique selection. Key features in subjective and clinical examination suggestive of mechanical nociceptive pain probably arising from articular structures, can categorize patients into distinct articular dysfunction patterns. Based on these patterns, specific mobilization and manipulation techniques are suggested. This clinical algorithm is merely based on empirical clinical expertise and complemented through knowledge exchange between international colleagues. The added value of the proposed articular dysfunction patterns should be considered within a broader perspective. Copyright © 2014 Elsevier Ltd. All rights reserved.

Dynamaid, an Anthropomorphic Robot for Research on Domestic Service Applications

OpenAIRE

Stückler, Jörg; Behnke, Sven

2011-01-01

Domestic tasks require three main skills from autonomous robots: robust navigation, object manipulation, and intuitive communication with the users. Most robot platforms, however, support only one or two of the above skills. In this paper we present Dynamaid, a robot platform for research on domestic service applications. For robust navigation, Dynamaid has a base with four individually steerable differential wheel pairs, which allow omnidirectional motion. For mobile manipulation, Dynamaid i...

Development of an omnidirectional Automated Guided Vehicle with MY3 wheels

Directory of Open Access Journals (Sweden)

Suyang Yu

2016-03-01

Full Text Available This paper presents an omnidirectional Automated Guided Vehicle (AGV with a novel omnidirectional wheel named MY3 wheel. Due to the special structure and material of the MY3 wheel, the AGV has full three DOFs in the motion plane and good capabilities of load carrying and slip resisting. In addition, the kinematic model of the AGV is derived, and the guiding method that can make the AGV to follow a specified path is established. Finally, experiments are performed to verify the kinematic model and guiding method.

A new omnidirectional shear horizontal wave transducer using face-shear (d24) piezoelectric ring array.

Science.gov (United States)

Miao, Hongchen; Huan, Qiang; Wang, Qiangzhong; Li, Faxin

2017-02-01

The non-dispersive fundamental shear horizontal (SH 0 ) wave in plate-like structures is of practical importance in non-destructive testing (NDT) and structural health monitoring (SHM). Theoretically, an omnidirectional SH 0 transducer phased array system can be used to inspect defects in a large plate in the similar manner to the phased array transducers used in medical B-scan ultrasonics. However, very few omnidirectional SH 0 transducers have been proposed so far. In this work, an omnidirectional SH 0 wave piezoelectric transducer (OSH-PT) was proposed, which consists of a ring array of twelve face-shear (d 24 ) trapezoidal PZT elements. Each PZT element can produce face-shear deformation under applied voltage, resulting in circumferential shear deformation in the OSH-PT and omnidirectional SH 0 waves in the hosting plate. Both finite element simulations and experiments were conducted to examine the performance of the proposed OSH-PT. Experimental testing shows that the OSH-PT exhibits good omnidirectional properties, no matter it is used as a SH 0 wave transmitter or a SH 0 wave receiver. This work may greatly promote the applications of SH 0 waves in NDT and SHM. Copyright © 2016 Elsevier B.V. All rights reserved.

Sound beam manipulation based on temperature gradients

Energy Technology Data Exchange (ETDEWEB)

Qian, Feng [Key Laboratory of Modern Acoustics, Institute of Acoustics and School of Physics, Collaborative Innovation Center of Advanced Microstructures, Nanjing University, Nanjing 210093 (China); School of Physics & Electronic Engineering, Changshu Institute of Technology, Changshu 215500 (China); Quan, Li; Liu, Xiaozhou, E-mail: xzliu@nju.edu.cn; Gong, Xiufen [Key Laboratory of Modern Acoustics, Institute of Acoustics and School of Physics, Collaborative Innovation Center of Advanced Microstructures, Nanjing University, Nanjing 210093 (China)

2015-10-28

Previous research with temperature gradients has shown the feasibility of controlling airborne sound propagation. Here, we present a temperature gradients based airborne sound manipulation schemes: a cylindrical acoustic omnidirectional absorber (AOA). The proposed AOA has high absorption performance which can almost completely absorb the incident wave. Geometric acoustics is used to obtain the refractive index distributions with different radii, which is then utilized to deduce the desired temperature gradients. Since resonant units are not applied in the scheme, its working bandwidth is expected to be broadband. The scheme is temperature-tuned and easy to realize, which is of potential interest to fields such as noise control or acoustic cloaking.

Development of an omni-directional shear horizontal mode magnetostrictive patch transducer

Science.gov (United States)

Liu, Zenghua; Hu, Yanan; Xie, Muwen; Fan, Junwei; He, Cunfu; Wu, Bin

2018-04-01

The fundamental shear horizontal wave, SH0 mode, has great potential in defect detection and on-line monitoring with large scale and high efficiency in plate-like structures because of its non-dispersive characteristics. Aiming at consistently exciting single SH0 mode in plate-like structures, an omni-directional shear horizontal mode magnetostrictive patch transducer (OSHM-MPT) is developed on the basis of magnetostrictive effect. It consists of four fan-shaped array elements and corresponding plane solenoid array (PSA) coils, four fan-shaped permanent magnets and a circular nickel patch. The experimental results verify that the developed transducer can effectively produce the single SH0 mode in an aluminum plate. The frequency response characteristics of this developed transducer are tested. The results demonstrate that the proposed OSHM-MPT has a center frequency of 300kHz related to the distance between adjacent arc-shaped steps of the PSA coils. Furthermore, omni-directivity of this developed transducer is tested. The results demonstrate that the developed transducer has a high omnidirectional consistency.

Fault Tolerant Control Architecture Design for Mobile Manipulation in Scientific Facilities

Directory of Open Access Journals (Sweden)

Mohammad M. Aref

2015-01-01

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

A preliminary study comparing the use of cervical/upper thoracic mobilization and manipulation for individuals with mechanical neck pain.

Science.gov (United States)

Griswold, David; Learman, Ken; O'Halloran, Bryan; Cleland, Josh

2015-05-01

Neck pain is routinely managed using manual therapy (MT) to the cervical and thoracic spines. While both mobilizations and manipulations to these areas have been shown to reduce neck pain, increase cervical range of motion, and reduce disability, the most effective option remains elusive. The purpose of this preliminary trial was to compare the pragmatic use of cervical and thoracic mobilizations vs. manipulation for mechanical neck pain. This trial included 20 patients with mechanical neck pain. Each patient was randomized to receive either mobilization or manipulation to both the cervical and thoracic spines during their plan of care. Within-group analyses were made with Wilcoxon signed-rank tests and between-group analyses were made with Mann-Whitney U. There were no between-group differences for any of the dependent variables including cervical active range of motion (CAROM) (P = 0.18), deep cervical flexion (DCF) endurance (P = 0.06), numerical pain rating scale (NPRS) (P = 0.26), the neck disability index (NDI, P = 0.33), patient-specific functional scale (PSFS, P = 0.20), or the global rating of change (GROC) scale (P = 0.94). Within-group results were significant for all outcome variables (Ppain.

The development of robotic system for the nuclear power plants -The development of advanced robotics for the nuclear industry-

International Nuclear Information System (INIS)

Kim, Seung Ho; Kim, Chang Hoi; Kim, Byung Soo; Lee, Yong Bum; Hwang, Suk Yeoung; Kim, Woong Ki; Park, Soon Yong; Lee, Young Kwang; Lee, Jae Gyeong; Seo, Yong Chil

1994-07-01

The omni-directional planetary wheel type mobile robot (KAEROT/ml) has been developed on the concepts of the modularity, reliability, and stability. Manipulator system is designed in order to be able to install on mobile system and to upgrade operating capability. Control system consists of 68030 processor board, servo motor controller and I/O board. The 6 DOFs hydraulic manipulator is designed for nozzle dam installation and removal. The reachable length of manipulator is 1.7 m with the wrist configuration of pitch-yaw-roll. For the easy installation of manipulator from outside steam generator, specially designed guider is considered. Also master manipulator is designed for force feedback control. RCP (Remote Control Part) is constructed with Sparc processor boards and servo control boards. Graphic simulation has done for the evaluation of manipulator performance of nozzle dam works. (Author)

METHOD FOR CREATION OF SPHERICAL PANORAMAS FROM IMAGES OBTAINED BY OMNIDIRECTIONAL OPTOELECTRONIC SYSTEMS

Directory of Open Access Journals (Sweden)

V. P. Lazarenko

2016-01-01

Full Text Available Subject of Study. The key feature of spherical panoramas is the maximum possible angle of view (360 × 180 degrees. Omnidirectional optical-electronic systems are able to produce images that show most of this space, but these images are different from the canonical spherical panoramas. This paper proposes a method of converting the circular images obtained by omnidirectional optical systems, to canonical spherical panoramic images with the use ofcalibration procedure of omnidirectional optical-electronic system. Method. The process of spherical panoramas creation consists of three steps.The first step includesthe forming of virtual surface in the object space corresponding to a field of view of the spherical panorama. The surface is defined by the three-dimensional array of pixels.At the second step the coordinates of images of these points in the plane of the detectorare specified. At the third step pixel-by-pixel forming of the output imageisperformed from the original omnidirectional image with the use of coordinates obtained at the second step. Main Results. We have considered the geometric projectionmodel of spherical panoramas. The algorithm has been proposed calculating the three-dimensional array of pixels, characterizing the field of view of a spherical panorama and convenient for practical usage. The developed method is designed to work with omnidirectional optical-electronic systems both with catadioptric optical systems and with fisheye lens. Experimental results confirming the validity of this method are presented. The reprojection mean-square error was equal to 0.794 px. Practical Relevance. The proposed method can be applied in technologies of creating of virtual tours or panoramas of streets where spherical panoramic images are the standard for storing visual information. The method may also find its application in various fields of robotics, orientation and navigation of space vehicles and UAVs.

A compliant underactuated hand with suction flow for underwater mobile manipulation

KAUST Repository

Stuart, Hannah S.

2014-05-01

© 2014 IEEE. Fingertip suction is investigated using a compliant, underactuated, tendon-driven hand designed for underwater mobile manipulation. Tendon routing and joint stiffnesses are designed to provide ease of closure while maintaining finger rigidity, allowing the hand to pinch small objects, as well as secure large objects, without diminishing strength. While the hand is designed to grasp a range of objects, the addition of light suction flow to the fingertips is especially effective for small, low-friction (slippery) objects. Numerical simulations confirm that changing suction parameters can increase the object acquisition region, providing guidelines for future versions of the hand.

A compliant underactuated hand with suction flow for underwater mobile manipulation

KAUST Repository

Stuart, Hannah S.; Wang, Shiquan; Gardineer, Bayard; Christensen, David L.; Aukes, Daniel M.; Cutkosky, Mark

2014-01-01

© 2014 IEEE. Fingertip suction is investigated using a compliant, underactuated, tendon-driven hand designed for underwater mobile manipulation. Tendon routing and joint stiffnesses are designed to provide ease of closure while maintaining finger rigidity, allowing the hand to pinch small objects, as well as secure large objects, without diminishing strength. While the hand is designed to grasp a range of objects, the addition of light suction flow to the fingertips is especially effective for small, low-friction (slippery) objects. Numerical simulations confirm that changing suction parameters can increase the object acquisition region, providing guidelines for future versions of the hand.

Omnidirectional photonic band gap enlarged by one-dimensional ternary unmagnetized plasma photonic crystals based on a new Fibonacci quasiperiodic structure

Energy Technology Data Exchange (ETDEWEB)

Zhang Haifeng [College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016 (China); Nanjing Artillery Academy, Nanjing 211132 (China); Liu Shaobin [College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016 (China); State Key Laboratory of Millimeter Waves of Southeast University, Nanjing Jiangsu 210096 (China); Kong Xiangkun; Bian Borui; Dai Yi [College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016 (China)

2012-11-15

In this paper, an omnidirectional photonic band gap realized by one-dimensional ternary unmagnetized plasma photonic crystals based on a new Fibonacci quasiperiodic structure, which is composed of homogeneous unmagnetized plasma and two kinds of isotropic dielectric, is theoretically studied by the transfer matrix method. It has been shown that such an omnidirectional photonic band gap originates from Bragg gap in contrast to zero-n gap or single negative (negative permittivity or negative permeability) gap, and it is insensitive to the incidence angle and the polarization of electromagnetic wave. From the numerical results, the frequency range and central frequency of omnidirectional photonic band gap can be tuned by the thickness and density of the plasma but cease to change with increasing Fibonacci order. The bandwidth of omnidirectional photonic band gap can be notably enlarged. Moreover, the plasma collision frequency has no effect on the bandwidth of omnidirectional photonic band gap. It is shown that such new structure Fibonacci quasiperiodic one-dimensional ternary plasma photonic crystals have a superior feature in the enhancement of frequency range of omnidirectional photonic band gap compared with the conventional ternary and conventional Fibonacci quasiperiodic ternary plasma photonic crystals.

Finding the Quickest Straight-Line Trajectory for a Three-Wheeled Omnidirectional Robot under Input Voltage Constraints

Directory of Open Access Journals (Sweden)

Ki Bum Kim

2015-01-01

Full Text Available We provide an analytical solution to the problem of generating the quickest straight-line trajectory for a three-wheeled omnidirectional mobile robot, under the practical constraint of limited voltage. Applying the maximum principle to the geometric properties of the input constraints, we find that an optimal input vector of motor voltages has at least one extreme value when the orientation of the robot is fixed and two extreme values when rotation is allowed. We can find an explicit representation of the optimal vector for a motion under fixed orientation. We derive several properties of quickest straight-line trajectories and verify them through simulation. We show that the quickest trajectory when rotation is allowed is always faster than the quickest with fixed orientation.

Autonomous Industrial Mobile Manipulation (AIMM) - Maturation, Exploitation and Implementation

DEFF Research Database (Denmark)

Bøgh, Simon

) "Little Helper" is introduced, a manufacturing assistant inspired by the Walt Disney character. The main rationale of the AIMM concept is a compromise between traditional automation (efficiency) and manual labor (flexibility), which contributes to realizing transformable manufacturing systems. From...... a state-of-the-art review, it is observed that implementations of mobile manipulators in industry have been limited although the needs for flexible automation are present. The second topic is “Identifying skills for AIMM robots” and is dedicated to defining a unifying terminology for task......-level programming by means of skills with focus on the identification of skills for AIMM robots. The terminology is built as a hierarchy similar to that of human action modeling (e.g. actions and activities) or human language (e.g. words and sentences). Two approaches are applied for identifying relevant skills...

Triband Omnidirectional Circularly Polarized Dielectric Resonator Antenna with Top-Loaded Alford Loop

Directory of Open Access Journals (Sweden)

Chunxia Cheng

2014-01-01

Full Text Available A triband omnidirectional circularly polarized dielectric resonator antenna with a top-loaded modified Alford loop for GSM, WLAN, and WiMAX applications is proposed. Fed by an axial probe, the DRA (dielectric resonator antenna radiates like a vertically polarized electric monopole. The top-loaded modified Alford loop provides an equivalent horizontally polarized magnetic dipole mode at triband. Omnidirectional CP (circular polarized fields can be obtained when the two orthogonally polarized fields are equal in amplitude with phase quadrature. The antenna has been successfully simulated, fabricated, and measured. The experimental and numerical results exhibit that the antenna can obtain usable CP bandwidths of 1.925–1.955 GHz, 2.36–2.48 GHz, and 3.502–3.53 GHz with return loss larger than 10 dB and axial ratio less than 3 dB. In addition, over the three bands, the antenna obtains very good omnidirectional CP radiation patterns in the azimuth plane. Moreover, an average CP gain in the azimuth plane of 1.2, 1.6, and −1.5 dBic for the lower, middle, and upper bands has been obtained.

Ion Mobility Separations of Isomers based upon Long Path Length Structures for Lossless Ion Manipulations Combined with Mass Spectrometry

Energy Technology Data Exchange (ETDEWEB)

Deng, Liulin [Biological Sciences Division and Environmental Molecular Sciences Laboratory, Pacific Northwest National Laboratory, 902 Battelle Blvd Richland, WA 99352 USA; Ibrahim, Yehia M. [Biological Sciences Division and Environmental Molecular Sciences Laboratory, Pacific Northwest National Laboratory, 902 Battelle Blvd Richland, WA 99352 USA; Baker, Erin S. [Biological Sciences Division and Environmental Molecular Sciences Laboratory, Pacific Northwest National Laboratory, 902 Battelle Blvd Richland, WA 99352 USA; Aly, Noor A. [Biological Sciences Division and Environmental Molecular Sciences Laboratory, Pacific Northwest National Laboratory, 902 Battelle Blvd Richland, WA 99352 USA; Hamid, Ahmed M. [Biological Sciences Division and Environmental Molecular Sciences Laboratory, Pacific Northwest National Laboratory, 902 Battelle Blvd Richland, WA 99352 USA; Zhang, Xing [Biological Sciences Division and Environmental Molecular Sciences Laboratory, Pacific Northwest National Laboratory, 902 Battelle Blvd Richland, WA 99352 USA; Zheng, Xueyun [Biological Sciences Division and Environmental Molecular Sciences Laboratory, Pacific Northwest National Laboratory, 902 Battelle Blvd Richland, WA 99352 USA; Garimella, Sandilya V. B. [Biological Sciences Division and Environmental Molecular Sciences Laboratory, Pacific Northwest National Laboratory, 902 Battelle Blvd Richland, WA 99352 USA; Webb, Ian K. [Biological Sciences Division and Environmental Molecular Sciences Laboratory, Pacific Northwest National Laboratory, 902 Battelle Blvd Richland, WA 99352 USA; Prost, Spencer A. [Biological Sciences Division and Environmental Molecular Sciences Laboratory, Pacific Northwest National Laboratory, 902 Battelle Blvd Richland, WA 99352 USA; Sandoval, Jeremy A. [Biological Sciences Division and Environmental Molecular Sciences Laboratory, Pacific Northwest National Laboratory, 902 Battelle Blvd Richland, WA 99352 USA; Norheim, Randolph V. [Biological Sciences Division and Environmental Molecular Sciences Laboratory, Pacific Northwest National Laboratory, 902 Battelle Blvd Richland, WA 99352 USA; Anderson, Gordon A. [Biological Sciences Division and Environmental Molecular Sciences Laboratory, Pacific Northwest National Laboratory, 902 Battelle Blvd Richland, WA 99352 USA; Tolmachev, Aleksey V. [Biological Sciences Division and Environmental Molecular Sciences Laboratory, Pacific Northwest National Laboratory, 902 Battelle Blvd Richland, WA 99352 USA; Smith, Richard D. [Biological Sciences Division and Environmental Molecular Sciences Laboratory, Pacific Northwest National Laboratory, 902 Battelle Blvd Richland, WA 99352 USA

2016-07-01

Mass spectrometry (MS)-based multi-omic measurements, including proteomics, metabolomics, lipidomics, and glycomics, are increasingly transforming our ability to characterize and understand biological systems, but, presently have limitations due to the chemical diversity and range of abundances of biomolecules in complex samples. Advances addressing these challenges increasingly are based upon the ability to quickly separate, react and otherwise manipulate sample components for analysis by MS. Here we report on a new approach using Structures for Lossless Ion Manipulations (SLIM) to enable long serpentine path ion mobility spectrometry (IMS) separations followed by MS analyses. This approach provides previously unachieved mobility biomolecule isomer separations for biomolecular species, in conjunction with more effective ion utilization, and producing a basis for the improved characterization of very small samples.

Rosie: A mobile worksystem for decontamination and dismantlement operations

International Nuclear Information System (INIS)

Thompson, B.R.; Conley, L.

1996-01-01

RedZone Robotics, Inc. and Carnegie Mellon University's Field Robotics Center have undertaken a contract to develop a next-generation worksystem for decommissioning and dismantlement tasks in Department of Energy (DOE) facilities. Currently, the authors are closing the second phase of this three phase effort and have completed the design and fabrication of the worksystem: Rosie. Rosie includes a locomotor, heavy manipulator, control center, and control system for robot operation. The locomotor is an omni-directional platform with tether management and hydraulic power capabilities. The heavy manipulator is a high-payload, long-reach system intended to deploy tools into the work area. The heavy manipulator is capable of deploying systems such as the Dual-Arm Work Module--a five degree-of-freedom platform supporting two highly dexterous manipulators--or a single manipulator for performing simpler, less dexterous tasks. Rosie is telerobotic to the point of having servo-controlled motions which can be operated and coordinated through the control center

Dexterous Manipulation: Making Remote Manipulators Easy to Use

International Nuclear Information System (INIS)

HARRIGAN, RAYMOND W.; BENNETT, PHIL C.

2001-01-01

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

Low back pain and kidney mobility: local osteopathic fascial manipulation decreases pain perception and improves renal mobility.

Science.gov (United States)

Tozzi, P; Bongiorno, D; Vitturini, C

2012-07-01

a) To calculate and compare a Kidney Mobility Score (KMS) in asymptomatic and Low Back Pain (LBP) individuals through real-time Ultrasound (US) investigation. b) To assess the effect of Osteopathic Fascial Manipulation (OFM), consisting of Still Technique (ST) and Fascial Unwinding (FU), on renal mobility in people with non-specific LBP. c) To evaluate 'if' and 'to what degree' pain perception may vary in patients with LBP, after OFM is applied. 101 asymptomatic people (F 30; M 71; mean age 38.9 ± 8) were evaluated by abdominal US screening. The distance between the superior renal pole of the right kidney and the ipsilateral diaphragmatic pillar was calculated in both maximal expiration (RdE) and maximal inspiration (RdI). The mean of the RdE-RdI ratios provided a Kidney Mobility Score (KMS) in the cohort of asymptomatic people. The same procedure was applied to 140 participants (F 66; M 74; mean age 39.3 ± 8) complaining of non-specific LBP: 109 of whom were randomly assigned to the Experimental group and 31 to the Control group. For both groups, a difference of RdE and RdI values was calculated (RD = RdE-RdI), before (RD-T0) and after (RD-T1) treatment was delivered, to assess the effective range of right kidney mobility. A blind assessment of each patient was carried using US screening. Both groups completed a Short-Form McGill Pain Assessment Questionnaire (SF-MPQ) on the day of recruitment (SF-MPQ T0) as well as on the third day following treatment (SF-MPQ T1). An Osteopathic assessment of the thoraco-lumbo-pelvic region to all the Experimental participants was performed, in order to identify specific areas of major myofascial tension. Each individual of the Experimental group received OFM by the same Osteopath who had previously assessed them. A sham-treatment was applied to the Control group for the equivalent amount of time. a) The factorial ANOVA test showed a significant difference (p-value < 0.05) between KMS in asymptomatic individuals (1.92�

Manipulators inspired by the tongue of the chameleon.

Science.gov (United States)

Debray, Alexis

2011-06-01

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

Manipulators inspired by the tongue of the chameleon

International Nuclear Information System (INIS)

Debray, Alexis

2011-01-01

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

Manipulators inspired by the tongue of the chameleon

Energy Technology Data Exchange (ETDEWEB)

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

2011-06-15

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

Effect of temperature on terahertz photonic and omnidirectional band gaps in one-dimensional quasi-periodic photonic crystals composed of semiconductor InSb.

Science.gov (United States)

Singh, Bipin K; Pandey, Praveen C

2016-07-20

Engineering of thermally tunable terahertz photonic and omnidirectional bandgaps has been demonstrated theoretically in one-dimensional quasi-periodic photonic crystals (PCs) containing semiconductor and dielectric materials. The considered quasi-periodic structures are taken in the form of Fibonacci, Thue-Morse, and double periodic sequences. We have shown that the photonic and omnidirectional bandgaps in the quasi-periodic structures with semiconductor constituents are strongly depend on the temperature, thickness of the constituted semiconductor and dielectric material layers, and generations of the quasi-periodic sequences. It has been found that the number of photonic bandgaps increases with layer thickness and generation of the quasi-periodic sequences. Omnidirectional bandgaps in the structures have also been obtained. Results show that the bandwidths of photonic and omnidirectional bandgaps are tunable by changing the temperature and lattice parameters of the structures. The generation of quasi-periodic sequences can also change the properties of photonic and omnidirectional bandgaps remarkably. The frequency range of the photonic and omnidirectional bandgaps can be tuned by the change of temperature and layer thickness of the considered quasi-periodic structures. This work will be useful to design tunable terahertz PC devices.

Rotational Kinematics Model Based Adaptive Particle Filter for Robust Human Tracking in Thermal Omnidirectional Vision

Directory of Open Access Journals (Sweden)

Yazhe Tang

2015-01-01

Full Text Available This paper presents a novel surveillance system named thermal omnidirectional vision (TOV system which can work in total darkness with a wild field of view. Different to the conventional thermal vision sensor, the proposed vision system exhibits serious nonlinear distortion due to the effect of the quadratic mirror. To effectively model the inherent distortion of omnidirectional vision, an equivalent sphere projection is employed to adaptively calculate parameterized distorted neighborhood of an object in the image plane. With the equivalent projection based adaptive neighborhood calculation, a distortion-invariant gradient coding feature is proposed for thermal catadioptric vision. For robust tracking purpose, a rotational kinematic modeled adaptive particle filter is proposed based on the characteristic of omnidirectional vision, which can handle multiple movements effectively, including the rapid motions. Finally, the experiments are given to verify the performance of the proposed algorithm for human tracking in TOV system.

Omnidirectional narrow optical filters for circularly polarized light in a nanocomposite structurally chiral medium.

Science.gov (United States)

Avendaño, Carlos G; Palomares, Laura O

2018-04-20

We consider the propagation of electromagnetic waves throughout a nanocomposite structurally chiral medium consisting of metallic nanoballs randomly dispersed in a structurally chiral material whose dielectric properties can be represented by a resonant effective uniaxial tensor. It is found that an omnidirectional narrow pass band and two omnidirectional narrow band gaps are created in the blue optical spectrum for right and left circularly polarized light, as well as narrow reflection bands for right circularly polarized light that can be controlled by varying the light incidence angle and the filling fraction of metallic inclusions.

Experimental evaluation of a novel robotic hospital bed mover with omni-directional mobility.

Science.gov (United States)

Guo, Zhao; Yee, Rachael Bei; Mun, Kyung-Ryoul; Yu, Haoyong

2017-11-01

Bed pushing during patient transfer is one of the most physically demanding and yet common tasks in the hospital setting. Powered bed movers have been increasingly introduced to hospitals to reduce physiological strains on the users. This study introduces and quantifies the manpower efficiency and health benefits of a novel robotic-assisted omni-directional hospital bed transporter (SESTO Bed Mover) in comparison with a conventional manual transport stretcher (Stryker Trauma Stretcher 1037) and a powered transport stretcher (HOSPIMEK HMPT 740), which has a fifth powered wheel providing power assistance only in the forward direction. A total of 14 subjects were recruited (7 porters and 7 students) and were tasked to complete a course within a controlled lab environment. It is concluded that the robotic bed mover is able to halve the required manpower to push hospital beds as compared to conventional bed pushing without any additional physiological strain, potentially improving efficiency by two-fold. Electromyography (EMG) patterns showed that users relied on the shoulder and back muscles in a fashion similar to conventional pushing, further confirming the intuitive drive of the robotic bed mover. Overall, the robotic bed mover shows reduced physical demands, less manpower required for patient transport and reduced back muscle activities, which strongly suggest health benefits for workers in the hospital. Copyright © 2017 Elsevier Ltd. All rights reserved.

Investigation of omnidirectional reflection band in ZnTe/ZnSe distributed Bragg reflector

Energy Technology Data Exchange (ETDEWEB)

Huang, Ying-Shin [Department of Electrical Engineering, National Taiwan Ocean University, Keelung 20224, Taiwan (China); Hu, Sheng-Yao [Department of Digital Technology Design, Tungfang Design University, Kaohsiung 82941, Taiwan (China); Lee, Yueh-Chien, E-mail: jacklee@mail.tnu.edu.tw [Department of Electronic Engineering, Tungnan University, New Taipei City 22202, Taiwan (China); Chang, Chung-Cheng; Tiong, Kwong-Kau [Department of Electrical Engineering, National Taiwan Ocean University, Keelung 20224, Taiwan (China); Shen, Ji-Lin [Department of Physics, Chung Yuan Christian University, Chung-Li 32023, Taiwan (China); Chou, Wu-Ching [Department of Electrophysics, National Chiao Tung University, Hsinchu 30010, Taiwan (China)

2015-11-15

We report the characteristics of reflectance spectra of the 15- and 20-period ZnTe/ZnSe distributed Bragg reflector grown on GaAs (001) substrates by molecular beam epitaxy. The reflectance spectra measured at various incident angles and polarizations were investigated by the theoretical curves simulated using transfer matrix method. The wavelength variation of the refractive indices described by Sellmeier equation and random thickness model were also considered for the interpretation of the experimentally observed curves. An omnidirectional reflection range defined from the edge of incident-angle-dependent reflection band with TE and TM polarizations is about 15 nm, and is consistent with the observed experimental curves. The results showed that the selected ZnTe and ZnSe materials are suitable for constructing multilayer structures having omnidirectional reflection band. - Highlights: • ZnTe/ZnSe distributed Bragg reflector grown by molecular beam epitaxy. • The reflectance spectra are measured at various incidence angles and polarizations. • The theoretical curves are considered by Sellmeier and random thickness models. • An observed omnidirectional reflection range in ZnTe/ZnSe DBR is about 15 nm.

Hierarchical Graphene Foam for Efficient Omnidirectional Solar-Thermal Energy Conversion.

Science.gov (United States)

Ren, Huaying; Tang, Miao; Guan, Baolu; Wang, Kexin; Yang, Jiawei; Wang, Feifan; Wang, Mingzhan; Shan, Jingyuan; Chen, Zhaolong; Wei, Di; Peng, Hailin; Liu, Zhongfan

2017-10-01

Efficient solar-thermal energy conversion is essential for the harvesting and transformation of abundant solar energy, leading to the exploration and design of efficient solar-thermal materials. Carbon-based materials, especially graphene, have the advantages of broadband absorption and excellent photothermal properties, and hold promise for solar-thermal energy conversion. However, to date, graphene-based solar-thermal materials with superior omnidirectional light harvesting performances remain elusive. Herein, hierarchical graphene foam (h-G foam) with continuous porosity grown via plasma-enhanced chemical vapor deposition is reported, showing dramatic enhancement of broadband and omnidirectional absorption of sunlight, which thereby can enable a considerable elevation of temperature. Used as a heating material, the external solar-thermal energy conversion efficiency of the h-G foam impressively reaches up to ≈93.4%, and the solar-vapor conversion efficiency exceeds 90% for seawater desalination with high endurance. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

JackIn Head: Immersive Visual Telepresence System with Omnidirectional Wearable Camera.

Science.gov (United States)

Kasahara, Shunichi; Nagai, Shohei; Rekimoto, Jun

2017-03-01

Sharing one's own immersive experience over the Internet is one of the ultimate goals of telepresence technology. In this paper, we present JackIn Head, a visual telepresence system featuring an omnidirectional wearable camera with image motion stabilization. Spherical omnidirectional video footage taken around the head of a local user is stabilized and then broadcast to others, allowing remote users to explore the immersive visual environment independently of the local user's head direction. We describe the system design of JackIn Head and report the evaluation results of real-time image stabilization and alleviation of cybersickness. Then, through an exploratory observation study, we investigate how individuals can remotely interact, communicate with, and assist each other with our system. We report our observation and analysis of inter-personal communication, demonstrating the effectiveness of our system in augmenting remote collaboration.

Mobile Manipulation, Tool Use, and Intuitive Interaction for Cognitive Service Robot Cosero

Directory of Open Access Journals (Sweden)

Jörg Stückler

2016-11-01

Full Text Available Cognitive service robots that shall assist persons in need in performing their activities of daily living have recently received much attention in robotics research.Such robots require a vast set of control and perception capabilities to provide useful assistance through mobile manipulation and human-robot interaction.In this article, we present hardware design, perception, and control methods for our cognitive service robot Cosero.We complement autonomous capabilities with handheld teleoperation interfaces on three levels of autonomy.The robot demonstrated various advanced skills, including the use of tools.With our robot we participated in the annual international RoboCup@Home competitions, winning them three times in a row.

High-efficiency omnidirectional photoresponses based on monolayer lateral p–n heterojunctions

KAUST Repository

Tsai, Meng-Lin; Li, Ming-yang; Shi, Yumeng; Chen, Lih-Juann; Li, Lain-Jong; He, Jr-Hau

2016-01-01

Electrical and optical properties of lateral monolayer WSe2–MoS2 p–n heterojunctions were characterized to demonstrate a high responsivity of 0.26 A W−1 with an excellent omnidirectional photodetection capability. The heterojunction functioning as a

Development of Omnidirectional Gamma-imager with Stacked Scintillators

International Nuclear Information System (INIS)

Takahashi, Tone; Kawarabayashi, Jun; Tomita, Hideki; Iguchi, Tetsuo; Takada, Eiji

2013-06-01

In the severe accident at nuclear power plant, a rapid measurement of radioactive fallout is required. So we have developed a Compton imager with high efficiency and omni-directional sensitivity. Three dimensional position resolutions were evaluated about several kinds of scintillators. The all-directional imaging was demonstrated by the simulation of detection of 137 Cs point source. Imaging quality with angle resolution of 28 deg. and detection efficiency of 1.1% was estimated. (authors)

Topological Structure of Manipulators Used in Amusement Parks

Directory of Open Access Journals (Sweden)

Liviu Marian Ungureanu

2014-06-01

Full Text Available This paper focuses on the mobility analysis of spatial and planar manipulators used in amusement parks. In this paper is presented a topological structure analysis for many types of serial and parallel manipulators, referring to the calculation of mobility (degree of freedom of these types of complex mechanisms. It is used a new formula to calculate the mobility according to the number of drivelines, which are considered having identical operations.

Rapid prototyping of an adaptive light-source for mobile manipulators with EasyKit and EasyLab

Science.gov (United States)

Wojtczyk, Martin; Barner, Simon; Geisinger, Michael; Knoll, Alois

2008-08-01

While still not common in day-to-day business, mobile robot platforms form a growing market in robotics. Mobile platforms equipped with a manipulator for increased flexibility have been used successfully in biotech laboratories for sample management as shown on the well-known ESACT meetings. Navigation and object recognition is carried out by the utilization of a mounted machine vision camera. To cope with the different illumination conditions in a large laboratory, development of an adaptive light source was indispensable. We present our approach of rapid developing a computer controlled, adaptive LED light within one single business day, by utilizing the hardware toolbox EasyKit and our appropriate software counterpart EasyLab.

Development of a novel omnidirectional magnetostrictive transducer for plate applications

Science.gov (United States)

Vinogradov, Sergey; Cobb, Adam; Bartlett, Jonathan; Udagawa, Youichi

2018-04-01

The application of guided waves for the testing of plate-type structures has been recently investigated by a number of research groups due to the ability of guided waves to detect corrosion in remote and hidden areas. Guided wave sensors for plate applications can be either directed (i.e., the waves propagate in a single direction) or omnidirectional. Each type has certain advantages and disadvantages. Omnidirectional sensors can inspect large areas from a single location, but it is challenging to define where a feature is located. Conversely, directed sensors can be used to precisely locate an indication, but have no sensitivity to flaws away from the wave propagation direction. This work describes a newly developed sensor that combines the strengths of both sensor types to create a novel omnidirectional transducer. The sensor transduction is based on a custom magnetostrictive transducer (MsT). In this new probe design, a directed, plate-application MsT with known characteristics was incorporated into an automated scanner. This scanner rotates the directed MsT for data collection at regular intervals. Coupling of the transducer to the plate is accomplished using a shear wave couplant. The array of data that is received is used for compiling B-scans and imaging, utilizing a synthetic aperture focusing algorithm (SAFT). The performance of the probe was evaluated on a 0.5-inch thick carbon steel plate mockup with a surface area of over 100 square feet. The mockup had a variety of known anomalies representing localized and distributed pitting corrosion, gradual wall thinning, and notches of different depths. Experimental data was also acquired using the new probe on a retired storage tank with known corrosion damage. The performance of the new sensor and its limitations are discussed together with general directions in technology development.

Design and implementation of a personal mobility of single spherical drive

International Nuclear Information System (INIS)

Hoshino, Tasuku; Yazawa, Miki; Naganuma, Ryota; Takada, Kotaro

2016-01-01

This paper deals with a personal electric vehicle driven by a single spherical wheel. Using an appropriate feedback control, this driving strategy realizes dynamic stability in all directions and the vehicle can always be kept upright on the road surface of variety of slopes. It also enables immediate mobility to all directions, unlike personal vehicles of two- wheel type. The spherical wheel is driven by omnidirectional wheels as usual; however, since the number and location of wheels have huge effect on the driving performance, the authors firstly analyze kinematics of omnidirectional wheels and sphere and derive new configuration to achieve maximum power. Based on the kinematic analysis, the equation of motion of the vehicle is derived via Lagrangian formulation. The full dynamic model including kinematic constraints is then derived. Using the full model, a stabilizing controller for driving is designed based on partial feedback linearization technique. The vehicle is constructed and tested with a human driver. The proposed configuration of omnidirectional wheels, the controller design model and the control scheme are examined in practice. Results of the experiments, including going over uphill road and uneven ground, show much better driving performance than authors’ previous prototype of the similar. (paper)

A new type of artificial structure to achieve broadband omnidirectional acoustic absorption

KAUST Repository

Zheng, L.-Y.; Wu, Y.; Zhang, X.-L.; Ni, X.; Chen, Z.-G.; Lu, M.-H.; Chen, Y.-F.

2013-01-01

We present a design for a two-dimensional omnidirectional acoustic absorber that can achieve 98.6% absorption of acoustic waves in water, forming an effective acoustic black hole. This artificial black hole consists of an absorptive core coated

A new omni-directional multi-camera system for high resolution surveillance

Science.gov (United States)

Cogal, Omer; Akin, Abdulkadir; Seyid, Kerem; Popovic, Vladan; Schmid, Alexandre; Ott, Beat; Wellig, Peter; Leblebici, Yusuf

2014-05-01

Omni-directional high resolution surveillance has a wide application range in defense and security fields. Early systems used for this purpose are based on parabolic mirror or fisheye lens where distortion due to the nature of the optical elements cannot be avoided. Moreover, in such systems, the image resolution is limited to a single image sensor's image resolution. Recently, the Panoptic camera approach that mimics the eyes of flying insects using multiple imagers has been presented. This approach features a novel solution for constructing a spherically arranged wide FOV plenoptic imaging system where the omni-directional image quality is limited by low-end sensors. In this paper, an overview of current Panoptic camera designs is provided. New results for a very-high resolution visible spectrum imaging and recording system inspired from the Panoptic approach are presented. The GigaEye-1 system, with 44 single cameras and 22 FPGAs, is capable of recording omni-directional video in a 360°×100° FOV at 9.5 fps with a resolution over (17,700×4,650) pixels (82.3MP). Real-time video capturing capability is also verified at 30 fps for a resolution over (9,000×2,400) pixels (21.6MP). The next generation system with significantly higher resolution and real-time processing capacity, called GigaEye-2, is currently under development. The important capacity of GigaEye-1 opens the door to various post-processing techniques in surveillance domain such as large perimeter object tracking, very-high resolution depth map estimation and high dynamicrange imaging which are beyond standard stitching and panorama generation methods.

Squeezing of Ion Populations and Peaks in Traveling Wave Ion Mobility Separations and Structures for Lossless Ion Manipulations using Compression Ratio Ion Mobility Programming

Energy Technology Data Exchange (ETDEWEB)

Garimella, Venkata BS; Hamid, Ahmed M.; Deng, Liulin; Ibrahim, Yehia M.; Webb, Ian K.; Baker, Erin M.; Prost, Spencer A.; Norheim, Randolph V.; Anderson, Gordon A.; Smith, Richard D.

2016-11-02

In this work, we report an approach for spatial and temporal gas phase ion population manipulation, and demonstrate its application for the collapse of the ion distributions in ion mobility (IM) separations into tighter packets providing higher sensitivity measurements in conjunction with mass spectrometry (MS). We do this for ions moving from a conventionally traveling wave (TW)-driven region to a region where the TW is intermittently halted or ‘stuttered’. This approach causes the ion packets spanning a number of TW-created traveling traps (TT) to be redistributed into fewer TT, resulting in spatial compression. The degree of spatial compression is controllable and determined by the ratio of stationary time of the TW in the second region to its moving time. This compression ratio ion mobility programming (CRIMP) approach has been implemented using Structures for Lossless Ion Manipulations (SLIM) in conjunction with MS. CRIMP with the SLIM-MS platform is shown to provide increased peak intensities, reduced peak widths, and improved S/N ratios with MS detection. CRIMP also provides a foundation for extremely long path length and multi-pass IM separations in SLIM providing greatly enhanced IM resolution by reducing the detrimental effects of diffusional peak broadening due to increasing peak widths.

Realization of Quasi-Omnidirectional Solar Cells with Superior Electrical Performance by All-Solution-Processed Si Nanopyramids.

Science.gov (United States)

Zhong, Sihua; Wang, Wenjie; Tan, Miao; Zhuang, Yufeng; Shen, Wenzhong

2017-11-01

Large-scale (156 mm × 156 mm) quasi-omnidirectional solar cells are successfully realized and featured by keeping high cell performance over broad incident angles (θ), via employing Si nanopyramids (SiNPs) as surface texture. SiNPs are produced by the proposed metal-assisted alkaline etching method, which is an all-solution-processed method and highly simple together with cost-effective. Interestingly, compared to the conventional Si micropyramids (SiMPs)-textured solar cells, the SiNPs-textured solar cells possess lower carrier recombination and thus superior electrical performances, showing notable distinctions from other Si nanostructures-textured solar cells. Furthermore, SiNPs-textured solar cells have very little drop of quantum efficiency with increasing θ, demonstrating the quasi-omnidirectional characteristic. As an overall result, both the SiNPs-textured homojunction and heterojunction solar cells possess higher daily electric energy production with a maximum relative enhancement approaching 2.5%, when compared to their SiMPs-textured counterparts. The quasi-omnidirectional solar cell opens a new opportunity for photovoltaics to produce more electric energy with a low cost.

Rosie: A mobile workstation for decontamination and dismantlement operations

International Nuclear Information System (INIS)

1994-01-01

RedZone Robotics, Inc. and Carnegie Mellon University's Field Robotics Center have undertaken a contract to develop a next-generation worksystem for decommissioning and dismantlement tasks in Department of Energy (DOE) facilities. Currently, the authors are in the second phase of this three phase effort and are completing the design of the worksystem. Within this project RedZone is designing and fabricating a worksystem: Rosie. Rosie will include a locomotor, heavy manipulator, control center, and control system for robot operation. The locomotor is an omni-directional platform with tether management and hydraulic power capabilities. The heavy manipulator is a high-payload, long-reach system to deploy tools into the work area. The heavy manipulator will be capable of deploying systems such as the Dual-Arm Work Module--a five degree-of-freedom platform supporting two highly dexterous manipulators--or a single manipulator for performing simpler, less dexterous tasks. Rosie will be telerobotic to the point of having servo-controlled motions which can be operated and coordinated through the control center. This report describes the design of the systems. In phase three Rosie will be radiation-hardened and perform a demonstration in a contaminated facility

Experiments in augmented teleoperation for mobile robots: I

Science.gov (United States)

Witus, Gary; Hunt, Shawn; Ellis, R. Darrin

2007-04-01

Teleoperated mobile robots are beginning to be used for a variety of tasks that require movement in close quarters in the vicinity of moving and parked vehicles, buildings and other man-made structures, and the target object for inspection or manipulation. The robots must be close enough to deploy short-range sensors and manipulators, and must be able to maneuver without potentially damaging collisions. Teleoperation is fatiguing and stressful even without the requirement for close positioning. In cooperation with the TARDEC Robotic Mobility Laboratory (TRML), we are investigating approaches to reduce workload and improve performance through augmented teleoperation. Human-robot interfaces for teleoperation commonly provide two degrees-of-freedom (DoF) motion control with visual feedback from an on-board egocentric camera and no supplemental distance or orientation cueing. This paper reports on the results of preliminary experiments to assess the effects on man-machine task performance of several options for augmented teleoperation: (a) 3 DoF motion control (rotation and omni-directional translation) versus 2 DoF control (rotation and forward/reverse motion), (b) on-board egocentric camera versus fixed-position overwatch camera versus dual egocentric-and-overwatch cameras, and (c) presence or absence of distance and orientation visual cueing. We examined three dimensions of performance: completion time, spatial accuracy, and workspace area. We investigated effects on the expected completion time and on the variance in completion time. Spatial accuracy had three components: orientation, aimpoint, and distance. We collected performance under different task conditions: (a) three position-and-orientation tolerance or accuracy objectives, and (b) four travel distances between successive inspection points. We collected data from three subjects. We analyzed the main effects and conditional interaction effects among the teleoperation options and task conditions. We were

Robust and efficient method for matching features in omnidirectional images

Science.gov (United States)

Zhu, Qinyi; Zhang, Zhijiang; Zeng, Dan

2018-04-01

Binary descriptors have been widely used in many real-time applications due to their efficiency. These descriptors are commonly designed for perspective images but perform poorly on omnidirectional images, which are severely distorted. To address this issue, this paper proposes tangent plane BRIEF (TPBRIEF) and adapted log polar grid-based motion statistics (ALPGMS). TPBRIEF projects keypoints to a unit sphere and applies the fixed test set in BRIEF descriptor on the tangent plane of the unit sphere. The fixed test set is then backprojected onto the original distorted images to construct the distortion invariant descriptor. TPBRIEF directly enables keypoint detecting and feature describing on original distorted images, whereas other approaches correct the distortion through image resampling, which introduces artifacts and adds time cost. With ALPGMS, omnidirectional images are divided into circular arches named adapted log polar grids. Whether a match is true or false is then determined by simply thresholding the match numbers in a grid pair where the two matched points located. Experiments show that TPBRIEF greatly improves the feature matching accuracy and ALPGMS robustly removes wrong matches. Our proposed method outperforms the state-of-the-art methods.

Discontinuity minimization for omnidirectional video projections

Science.gov (United States)

Alshina, Elena; Zakharchenko, Vladyslav

2017-09-01

Advances in display technologies both for head mounted devices and television panels demand resolution increase beyond 4K for source signal in virtual reality video streaming applications. This poses a problem of content delivery trough a bandwidth limited distribution networks. Considering a fact that source signal covers entire surrounding space investigation reviled that compression efficiency may fluctuate 40% in average depending on origin selection at the conversion stage from 3D space to 2D projection. Based on these knowledge the origin selection algorithm for video compression applications has been proposed. Using discontinuity entropy minimization function projection origin rotation may be defined to provide optimal compression results. Outcome of this research may be applied across various video compression solutions for omnidirectional content.

Kinematic evaluation of mobile robotic platforms for overground gait neurorehabilitation

Science.gov (United States)

Alias, N. Akmal; Huq, M. Saiful; Ibrahim, B. S. K. K.; Omar, Rosli

2017-09-01

Gait assistive devices offer a great solution to the walking re-education which reduce patients theoretical limit by aiding the anatomical joints to be in line with the rehabilitation session. Overground gait training, which is differs significantly from body-weight supported treadmill training in many aspects, essentially consists of a mobile robotic base to support the subject securely (usually with overhead harness) while its motion and orientation is controlled seamlessly to facilitate subjects free movement. In this study, efforts have been made for evaluation of both holonomic and nonholonomic drives, the outcome of which may constitute the primarily results to the effective approach in designing a robotic platform for the mobile rehabilitation robot. The sets of kinematic equations are derived using typical geometries of two different drives. The results indicate that omnidirectional mecanum wheel platform is capable for more sophisticated discipline. Although the differential drive platform happens to be more simple and easy to construct, but it is less desirable as it has limited number of motions applicable to the system. The omnidirectional robot consisting of mecanum wheels, which is classified as holonomic is potentially the best solution in terms of its capability to move in arbitrary direction without concerning the changing of wheel's direction.

Lazy motion planning for robotic manipulators

NARCIS (Netherlands)

Andrien, A.R.P.; van de Molengraft, M.J.G.; Bruyninckx, H.P.J.

2017-01-01

Robotic manipulators are making a shift towards mobile bases in both industry and domestic environments, which puts high demands on efficient use of the robot’s limited energy resources. In this work, the problem of reducing energy usage of a robot manipulator during a task is investigated. We

Design of free space optical omnidirectional transceivers for indoor applications using non-imaging optical devices

Science.gov (United States)

Agrawal, Navik; Davis, Christopher C.

2008-08-01

Omnidirectional free space optical communication receivers can employ multiple non-imaging collectors, such as compound parabolic concentrators (CPCs), in an array-like fashion to increase the amount of possible light collection. CPCs can effectively channel light collected over a large aperture to a small area photodiode. The aperture to length ratio of such devices can increase the overall size of the transceiver unit, which may limit the practicality of such systems, especially when small size is desired. New non-imaging collector designs with smaller sizes, larger field of view (FOV), and comparable transmission curves to CPCs, offer alternative transceiver designs. This paper examines how transceiver performance is affected by the use of different non-imaging collector shapes that are designed for wide FOV with reduced efficiency compared with shapes such as the CPC that are designed for small FOV with optimal efficiency. Theoretical results provide evidence indicating that array-like transceiver designs using various non-imaging collector shapes with less efficient transmission curves, but a larger FOV will be an effective means for the design of omnidirectional optical transceiver units. The results also incorporate the effects of Fresnel loss at the collector exit aperture-photodiode interface, which is an important consideration for indoor omnidirectional FSO systems.

Omnidirectional photonic band gap in magnetron sputtered TiO{sub 2}/SiO{sub 2} one dimensional photonic crystal

Energy Technology Data Exchange (ETDEWEB)

Jena, S., E-mail: shuvendujena9@gmail.com [Atomic & Molecular Physics Division, Bhabha Atomic Research Centre, Trombay, Mumbai 400 085 (India); Tokas, R.B.; Sarkar, P. [Atomic & Molecular Physics Division, Bhabha Atomic Research Centre, Trombay, Mumbai 400 085 (India); Misal, J.S.; Maidul Haque, S.; Rao, K.D. [Photonics & Nanotechnology Section, BARC-Vizag, Autonagar, Atomic & Molecular Physics Division, Bhabha Atomic Research Centre facility, Visakhapatnam 530 012 (India); Thakur, S.; Sahoo, N.K. [Atomic & Molecular Physics Division, Bhabha Atomic Research Centre, Trombay, Mumbai 400 085 (India)

2016-01-29

One dimensional photonic crystal (1DPC) of TiO{sub 2}/SiO{sub 2} multilayer has been fabricated by sequential asymmetric bipolar pulsed dc magnetron sputtering of TiO{sub 2} and radio frequency magnetron sputtering of SiO{sub 2} to achieve wide omnidirectional photonic band in the visible region. The microstructure and optical response of the TiO{sub 2}/SiO{sub 2} photonic crystal have been characterized by atomic force microscopy, scanning electron microscopy and spectrophotometry respectively. The surface of the photonic crystal is very smooth having surface roughness of 2.6 nm. Reflection and transmission spectra have been measured in the wavelength range 300 to 1000 nm for both transverse electric and transverse magnetic waves. Wide high reflection photonic band gap (∆ λ = 245 nm) in the visible and near infrared regions (592–837 nm) at normal incidence has been achieved. The measured photonic band gap (PBG) is found well matching with the calculated photonic band gap of an infinite 1DPC. The experimentally observed omnidirectional photonic band 592–668 nm (∆ λ = 76 nm) in the visible region with band to mid-band ratio ∆ λ/λ = 12% for reflectivity R > 99% over the incident angle range of 0°–70° is found almost matching with the calculated omnidirectional PBG. The omnidirectional reflection band is found much wider as compared to the values reported in literature so far in the visible region for TiO{sub 2}/SiO{sub 2} periodic photonic crystal. - Highlights: • TiO{sub 2}/SiO{sub 2} 1DPC has been fabricated using magnetron sputtering technique. • Experimental optical response is found good agreement with simulation results. • Wide omnidirectional photonic band in the visible spectrum has been achieved.

Vertically Polarized Omnidirectional Printed Slot Loop AntennaPrinted Slot Loop Antenna (invited)

DEFF Research Database (Denmark)

Kammersgaard, Nikolaj Peter Iversen; Kvist, Søren Helstrup; Thaysen, Jesper

2015-01-01

and in-phase fields in the slot in order to obtain an omnidirectional radiation pattern. The antenna is designed for the 2.45 GHz Industrial, Scientific and Medical band. Applications of the antenna are many. One is for on-body applications since it is ideal for launching a creeping waves due...

A Low-Profile and Compact Split-Ring Antenna with Horizontally Polarized Omnidirectional Radiation

Directory of Open Access Journals (Sweden)

Kittima Lertsakwimarn

2015-01-01

Full Text Available This paper presents a low-profile and compact printed antenna having an omnidirectional radiation pattern with horizontal polarization to the ground. The proposed antenna consists of an inner small fed ring, an outer coupled split ring, and a ground plane. The overall dimension of the proposed antenna is 45 mm × 50.5 mm × 11.6 mm (0.138λ0 × 0.155λ0 × 0.036λ0. The −10-dB S11 of the antenna covers the 920-MHz RFID band, and the gain is about 1.45 dBi in the parallel direction to the ground plane. The measured results show good agreements with the simulated results. Furthermore, the reasons for the low-profile structure and the omnidirectional radiation pattern are also discussed.

Omnidirectional configuration and control approach on mini heavy loaded forklift autonomous guided vehicle

Directory of Open Access Journals (Sweden)

Adam Norsharimie

2017-01-01

Full Text Available This paper presents the omnidirectional configuration and control approach on Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV for flexibility maneuverability in confine and narrow area. The issue in turning motion for nonholonomic vehicle in confine area becoming a motivation in MHeLFAGV design to provide holonomic vehicle with flexible movement. Therefore an omni-wheeled named Mecanum wheel has been configured in this vehicle design as well as omnidirectional control algorithm. MHeLFAGV system is developed with collaboration and inspired from Vacuumshmelze (M Sdn. Bhd. Pekan, Pahang in order to have a customized mini forklift that able to work in a very confined warehouse (170cm × 270cm square with heavy payload in a range of 20-200kg. In electronics control design, two stages of controller boards are developed namely as Board 1 and 2 that specifically for movement controller board and monitoring controller board respectively. In addition separate module of left, right, forward, backward, diagonal and zigzagging movement is developed as embedded modules for MHeLFAGV system’s control architecture. A few experiments are done to verify the algorithm for each omnidirectional movement of MHeLFAGV system in the wide area. The waypoint of MHeLFAGV movement is plotted using Global Positioning System (GPS as well as a digital compass by mapping the longitude and latitude of the vehicle. There are slightly different between the targeted movements with recorded data since Mecanum wheeled affected by the uneven surface of the landscape. The experiment is also further on moving in confine are on the actual targeted warehouse.

3D Laser Scanner for Underwater Manipulation.

Science.gov (United States)

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

2018-04-04

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

Automatic camera tracking for remote manipulators

International Nuclear Information System (INIS)

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

1984-07-01

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

Automatic camera tracking for remote manipulators

International Nuclear Information System (INIS)

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

1984-04-01

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

Omnidirectional Photonic Band Gap Using Low Refractive Index Contrast Materials and its Application in Optical Waveguides

KAUST Repository

Vidal Faez, Angelo

2012-07-01

Researchers have argued for many years that one of the conditions for omnidirectional reflection in a one-dimensional photonic crystal is a strong refractive index contrast between the two constituent dielectric materials. Using numerical simulations and the theory of Anderson localization of light, in this work we demonstrate that an omnidirectional band gap can indeed be created utilizing low refractive index contrast materials when they are arranged in a disordered manner. Moreover, the size of the omnidirectional band gap becomes a controllable parameter, which now depends on the number of layers and not only on the refractive index contrast of the system, as it is widely accepted. This achievement constitutes a major breakthrough in the field since it allows for the development of cheaper and more efficient technologies. Of particular interest is the case of high index contrast one-dimensional photonic crystal fibers, where the propagation losses are mainly due to increased optical scattering from sidewall roughness at the interfaces of high index contrast materials. By using low index contrast materials these losses can be reduced dramatically, while maintaining the confinement capability of the waveguide. This is just one of many applications that could be proven useful for this discovery.

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

Directory of Open Access Journals (Sweden)

Lagerev A.V.

2018-03-01

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

Omnidirectional ventilated acoustic barrier

Science.gov (United States)

Zhang, Hai-long; Zhu, Yi-fan; Liang, Bin; Yang, Jing; Yang, Jun; Cheng, Jian-chun

2017-11-01

As an important problem in acoustics, sound insulation finds applications in a great variety of situations. In the existing schemes, however, there has always been a trade-off between the thinness of sound-insulating devices and their ventilating capabilities, limiting their potentials in the control of low-frequency sound in high ventilation environments. Here, we design and experimentally implement an omnidirectional acoustic barrier with a planar profile, subwavelength thickness ( 0.18 λ ), yet high ventilation. The proposed mechanism is based on the interference between the resonant scattering of discrete states and the background scattering of continuous states which induces a Fano-like asymmetric transmission profile. Benefitting from the binary-structured design of the coiled unit and hollow pipe, it maximally simplifies the design and fabrication while ensuring the ventilation for all the non-resonant units with open tubes. The simulated and measured results agree well, showing the effectiveness of our proposed mechanism to block low frequency sound coming from various directions while allowing 63% of the air flow to pass. We anticipate our design to open routes to design sound insulators and to enable applications in traditionally unattainable cases such as those calling for noise reduction and cooling simultaneously.

Structure Assembly by a Heterogeneous Team of Robots Using State Estimation, Generalized Joints, and Mobile Parallel Manipulators

Science.gov (United States)

Komendera, Erik E.; Adhikari, Shaurav; Glassner, Samantha; Kishen, Ashwin; Quartaro, Amy

2017-01-01

Autonomous robotic assembly by mobile field robots has seen significant advances in recent decades, yet practicality remains elusive. Identified challenges include better use of state estimation to and reasoning with uncertainty, spreading out tasks to specialized robots, and implementing representative joining methods. This paper proposes replacing 1) self-correcting mechanical linkages with generalized joints for improved applicability, 2) assembly serial manipulators with parallel manipulators for higher precision and stability, and 3) all-in-one robots with a heterogeneous team of specialized robots for agent simplicity. This paper then describes a general assembly algorithm utilizing state estimation. Finally, these concepts are tested in the context of solar array assembly, requiring a team of robots to assemble, bond, and deploy a set of solar panel mockups to a backbone truss to an accuracy not built into the parts. This paper presents the results of these tests.

Hydraulic manipulator research at ORNL

International Nuclear Information System (INIS)

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

1997-01-01

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

Hydraulic manipulator research at ORNL

Energy Technology Data Exchange (ETDEWEB)

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

1997-03-01

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

3D Laser Scanner for Underwater Manipulation

Directory of Open Access Journals (Sweden)

Albert Palomer

2018-04-01

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

Dynamic whole-body robotic manipulation

Science.gov (United States)

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

2013-05-01

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

A comparative study on omnidirectional anti-reflection SiO2 nanostructure films coating by glancing angle deposition

Science.gov (United States)

Prachachet, R.; Samransuksamer, B.; Horprathum, M.; Eiamchai, P.; Limwichean, S.; Chananonnawathorn, C.; Lertvanithphol, T.; Muthitamongkol, P.; Boonruang, S.; Buranasiri, P.

2018-02-01

Fabricated omnidirectional anti-reflection nanostructure films as a one of the promising alternative solar cell applications have attracted enormous scientific and industrial research benefits to their broadband, effective over a wide range of incident angles, lithography-free and high-throughput process. Recently, the nanostructure SiO2 film was the most inclusive study on anti-reflection with omnidirectional and broadband characteristics. In this work, the three-dimensional silicon dioxide (SiO2) nanostructured thin film with different morphologies including vertical align, slant, spiral and thin films were fabricated by electron beam evaporation with glancing angle deposition (GLAD) on the glass slide and silicon wafer substrate. The morphological of the prepared samples were characterized by field-emission scanning electron microscope (FE-SEM) and high-resolution transmission electron microscope (HRTEM). The transmission, omnidirectional and birefringence property of the nanostructure SiO2 films were investigated by UV-Vis-NIR spectrophotometer and variable angle spectroscopic ellipsometer (VASE). The spectrophotometer measurement was performed at normal incident angle and a full spectral range of 200 - 2000 nm. The angle dependent transmission measurements were investigated by rotating the specimen, with incidence angle defined relative to the surface normal of the prepared samples. This study demonstrates that the obtained SiO2 nanostructure film coated on glass slide substrate exhibits a higher transmission was 93% at normal incident angle. In addition, transmission measurement in visible wavelength and wide incident angles -80 to 80 were increased in comparison with the SiO2 thin film and glass slide substrate due to the transition in the refractive index profile from air to the nanostructure layer that improve the antireflection characteristics. The results clearly showed the enhanced omnidirectional and broadband characteristic of the three dimensional Si

Plasmonic Hotspots in Air: An Omnidirectional Three-Dimensional Platform for Stand-Off In-Air SERS Sensing of Airborne Species.

Science.gov (United States)

Phan-Quang, Gia Chuong; Lee, Hiang Kwee; Teng, Hao Wen; Koh, Charlynn Sher Lin; Yim, Barnabas Qinwei; Tan, Eddie Khay Ming; Tok, Wee Lee; Phang, In Yee; Ling, Xing Yi

2018-05-14

Molecular-level airborne sensing is critical for early prevention of disasters, diseases, and terrorism. Currently, most 2D surface-enhanced Raman spectroscopy (SERS) substrates used for air sensing have only one functional surface and exhibit poor SERS-active depth. "Aerosolized plasmonic colloidosomes" (APCs) are introduced as airborne plasmonic hotspots for direct in-air SERS measurements. APCs function as a macroscale 3D and omnidirectional plasmonic cloud that receives laser irradiation and emits signals in all directions. Importantly, it brings about an effective plasmonic hotspot in a length scale of approximately 2.3 cm, which affords 100-fold higher tolerance to laser misalignment along the z-axis compared with 2D SERS substrates. APCs exhibit an extraordinary omnidirectional property and demonstrate consistent SERS performance that is independent of the laser and analyte introductory pathway. Furthermore, the first in-air SERS detection is demonstrated in stand-off conditions at a distance of 200 cm, highlighting the applicability of 3D omnidirectional plasmonic clouds for remote airborne sensing in threatening or inaccessible areas. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

Directional Acoustic Wave Manipulation by a Porpoise via Multiphase Forehead Structure

Science.gov (United States)

Zhang, Yu; Song, Zhongchang; Wang, Xianyan; Cao, Wenwu; Au, Whitlow W. L.

2017-12-01

Porpoises are small-toothed whales, and they can produce directional acoustic waves to detect and track prey with high resolution and a wide field of view. Their sound-source sizes are rather small in comparison with the wavelength so that beam control should be difficult according to textbook sonar theories. Here, we demonstrate that the multiphase material structure in a porpoise's forehead is the key to manipulating the directional acoustic field. Computed tomography (CT) derives the multiphase (bone-air-tissue) complex, tissue experiments obtain the density and sound-velocity multiphase gradient distributions, and acoustic fields and beam formation are numerically simulated. The results suggest the control of wave propagations and sound-beam formations is realized by cooperation of the whole forehead's tissues and structures. The melon size significantly impacts the side lobes of the beam and slightly influences the main beams, while the orientation of the vestibular sac mainly adjusts the main beams. By compressing the forehead complex, the sound beam can be expanded for near view. The porpoise's biosonar allows effective wave manipulations for its omnidirectional sound source, which can help the future development of miniaturized biomimetic projectors in underwater sonar, medical ultrasonography, and other ultrasonic imaging applications.

Multichannel tunable omnidirectional photonic band gaps of 1D ternary photonic crystal containing magnetized cold plasma

Science.gov (United States)

Awasthi, Suneet Kumar; Panda, Ranjita; Chauhan, Prashant Kumar; Shiveshwari, Laxmi

2018-05-01

By using the transfer matrix method, theoretical investigations have been carried out in the microwave region to study the reflection properties of multichannel tunable omnidirectional photonic bandgaps (OPBGs) based on the magneto-optic Faraday effect. The proposed one dimensional ternary plasma photonic crystal consists of alternate layers of quartz, magnetized cold plasma (MCP), and air. In the absence of an external magnetic field, the proposed structure possesses two OPBGs induced by Bragg scattering and is strongly dependent on the incident angle, the polarization of the incident light, and the lattice constant unlike to the single-negative gap and zero- n ¯ gap. Next, the reflection properties of OPBGs have been made tunable by the application of external magnetic field under right hand and left hand polarization configurations. The results of this manuscript may be utilized for the development of a new kind of tunable omnidirectional band stop filter with ability to completely stop single to multiple bands (called channels) of microwave frequencies in the presence of external static magnetic field under left-hand polarization and right-hand polarization configurations, respectively. Moreover, outcomes of this study open a promising way to design tunable magneto-optical devices, omnidirectional total reflectors, and planar waveguides of high Q microcavities as a result of evanescent fields in the MCP layer to allow propagation of light.

Low noise omnidirectional optical receiver for the mobile FSO networks

Science.gov (United States)

Witas, Karel; Hejduk, Stanislav; Vasinek, Vladimir; Vitasek, Jan; Latal, Jan

2013-05-01

A high sensitive optical receiver design for the mobile free space optical (FSO) networks is presented. There is an array of photo-detectors and preamplifiers working into same load. It is the second stage sum amplifier getting all signals together. This topology creates a parallel amplifier with an excellent signal to noise ratio (SNR). An automatic gain control (AGC) feature is included also. As a result, the effective noise suppression at the receiver side increases optical signal coverage even with the transmitter power being constant. The design has been verified on the model car which was able to respond beyond the line of sight (LOS).

Task-oriented structural design of manipulators based on operability evaluation

International Nuclear Information System (INIS)

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

1995-01-01

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

Performance Analysis of Mobile Ad Hoc Unmanned Aerial Vehicle Communication Networks with Directional Antennas

Directory of Open Access Journals (Sweden)

Abdel Ilah Alshbatat

2010-01-01

Full Text Available Unmanned aerial vehicles (UAVs have the potential of creating an ad hoc communication network in the air. Most UAVs used in communication networks are equipped with wireless transceivers using omnidirectional antennas. In this paper, we consider a collection of UAVs that communicate through wireless links as a mobile ad-hoc network using directional antennas. The network design goal is to maximize the throughput and minimize the end-to-end delay. In this respect, we propose a new medium access control protocol for a network of UAVs with directional antennas. We analyze the communication channel between the UAVs and the effect of aircraft attitude on the network performance. Using the optimized network engineering tool (OPNET, we compare our protocol with the IEEE 802.11 protocol for omnidirectional antennas. The simulation results show performance improvement in end-to-end delay as well as throughput.

Modular manual control device for manipulators

International Nuclear Information System (INIS)

Dzholdasbekov, U.A.; Lukyanov, A.T.; Slutsky, L.I.; Safontsev, E.A.; Dzhamalov, N.K.

1991-01-01

The device described in this patent comprises a base, a series of connected modules, each with a position pickup and a handle. One module is provided for each degree of mobility of the manipulator being controlled; the modular construction enables the control of manipulators with differing degrees of mobility. One rotary movement module and three orthogonal linear movement modules are provided. Each linear module has two parallel guides between which a carriage is supported for movement by balls. The position pickup is provided on the carriage. The rotary module comprises inner and outer casings, relative movement of which is detected by pickup. Further rotary pickups may be provided for rotation about axes. A close/open switch and a speed control pickup may also be provided. (author)

Balanced distributed coding of omnidirectional images

Science.gov (United States)

Thirumalai, Vijayaraghavan; Tosic, Ivana; Frossard, Pascal

2008-01-01

This paper presents a distributed coding scheme for the representation of 3D scenes captured by stereo omni-directional cameras. We consider a scenario where images captured from two different viewpoints are encoded independently, with a balanced rate distribution among the different cameras. The distributed coding is built on multiresolution representation and partitioning of the visual information in each camera. The encoder transmits one partition after entropy coding, as well as the syndrome bits resulting from the channel encoding of the other partition. The decoder exploits the intra-view correlation and attempts to reconstruct the source image by combination of the entropy-coded partition and the syndrome information. At the same time, it exploits the inter-view correlation using motion estimation between images from different cameras. Experiments demonstrate that the distributed coding solution performs better than a scheme where images are handled independently, and that the coding rate stays balanced between encoders.

GO Shaping of Omnidirectional Dual-Reflector Antennas with Arbitrary Main-Beam Direction in Elevation Plane by Connecting Conic Sections

Directory of Open Access Journals (Sweden)

Rafael A. Penchel

2018-01-01

Full Text Available This work discusses an alternative geometrical optics (GO technique to synthesize omnidirectional dual-reflector antennas with uniform aperture phase distribution together with an arbitrary main-beam direction for the antenna radiation pattern. Sub- and main reflectors are bodies of revolution generated by shaped curves defined by local conic sections consecutively concatenated. The shaping formulation is derived for configurations like ADC (axis-displaced Cassegrain and ADE (axis-displaced ellipse omnidirectional antennas. As case studies, two configurations fed by a TEM coaxial horn are designed and analyzed by a hybrid technique based on mode matching and method of moments in order to validate the GO shaping procedure.

Optimization of elastic elements of a damping devices for cylindrical hinges in crane-manipulating installations of mobile machines

Directory of Open Access Journals (Sweden)

Lagerev I.A.

2016-03-01

Full Text Available The article considers the problems of designing an original damping devices worn for cylindrical hinges in crane-manipulating installations of mobile machines. These devices can significantly reduce the additional impact load on a steel structure manipulators due to the presence of increased gaps in the hinges. Formulated the general formulation of nonlinear constrained optimization of the sizes of the elastic elements of the damping devices. Considered a promising design variants of elastic elements. For circular and arc elastic elements with circular and rectangular cross-section for-mulated the problems of optimal design including criterion functions and systems of geometric, technological, stiffness and strength penalty constraints. Analysis of the impact of various operating and design parameters on the results of optimal design of elastic elements was performed. Were set to the recommended the use of the constructive types of elastic elements to generate the required stiffness of the damper devices.

High-efficiency omnidirectional photoresponses based on monolayer lateral p–n heterojunctions

KAUST Repository

Tsai, Meng-Lin

2016-10-28

Electrical and optical properties of lateral monolayer WSe2–MoS2 p–n heterojunctions were characterized to demonstrate a high responsivity of 0.26 A W−1 with an excellent omnidirectional photodetection capability. The heterojunction functioning as a diode exhibits a prominent gate-tuning behavior with an ideality factor of 1.25. In addition, ultrafast photoresponse, low-light detectability, and high-temperature operation have been achieved. These unique characteristics pave a way for the future development of sub-nano semiconductor devices.

Characterization of applied fields for ion mobility in traveling wave based structures for lossless ion manipulations (SLIM)

Energy Technology Data Exchange (ETDEWEB)

Hamid, Ahmed M.; Prabhakaran Nair Syamala Amma, Aneesh; Garimella, Venkata BS; Ibrahim, Yehia M.; Smith, Richard D.

2018-03-21

Ion mobility (IM) is rapidly gaining attention for the analysis of biomolecules due to the ability to distinguish the shapes of ions. However, conventional constant electric field drift tube IM has limited resolving power, constrained by practical limitations on the path length and maximum applied voltage. The implementation of traveling waves (TW) in IM removes the latter limitation, allowing higher resolution to be achieved using extended path lengths. These can be readily obtainable in structures for lossless ion manipulations (SLIM), which are fabricated from electric fields that are generated by appropriate potentials applied to arrays of electrodes patterned on two parallel surfaces. In this work we have investigated the relationship between the various SLIM variables, such as electrode dimensions, inter-surface gap, and the TW applied voltages, that directly impact the fields experienced by ions. Ion simulation and theoretical calculations have been utilized to understand the dependence of SLIM geometry and effective electric field. The variables explored impact both ion confinement and the observed IM resolution in Structures for Lossless Ion Manipulations (SLIM) modules.

Omnidirectional Wireless Power Transfer System Based on Rotary Transmitting Coil for Household Appliances

Directory of Open Access Journals (Sweden)

Gongjun Liu

2018-04-01

Full Text Available An omnidirectional magnetically coupled resonant wireless power transfer (WPT system based on rotary transmitting coil is presented. The proposed scheme can ease the variations of the transfer efficiency and output power caused by the deviation of transfer direction, and improve the unbalanced power distribution phenomenon between the receivers, which are still not fully achieved in current WPT systems. The modified coupled-mode model is built first to describe the non-rotary multi-receiver WPT system. The analysis indicates that the transfer efficiency and output power of the system can be expressed as functions of the deviation angle between the transmitting coil and receiving coil, which has a non-negligible influence on the system performances. Then, the modified high order coupled-mode model containing time-varying parameters about the deviation angle is derived for the proposed omnidirectional WPT system. Theoretical analysis and simulated results indicate that this system can transfer power to multiple receivers around the transmitter synchronously and evenly, which is very suitable for wireless charging for household appliances indoors. The scheme feasibility and theoretical analysis are verified by experimental results.

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

International Nuclear Information System (INIS)

Rininsland, H.; Boehme, G.

1986-01-01

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

Investigation of human-robot interface performance in household environments

Science.gov (United States)

Cremer, Sven; Mirza, Fahad; Tuladhar, Yathartha; Alonzo, Rommel; Hingeley, Anthony; Popa, Dan O.

2016-05-01

Today, assistive robots are being introduced into human environments at an increasing rate. Human environments are highly cluttered and dynamic, making it difficult to foresee all necessary capabilities and pre-program all desirable future skills of the robot. One approach to increase robot performance is semi-autonomous operation, allowing users to intervene and guide the robot through difficult tasks. To this end, robots need intuitive Human-Machine Interfaces (HMIs) that support fine motion control without overwhelming the operator. In this study we evaluate the performance of several interfaces that balance autonomy and teleoperation of a mobile manipulator for accomplishing several household tasks. Our proposed HMI framework includes teleoperation devices such as a tablet, as well as physical interfaces in the form of piezoresistive pressure sensor arrays. Mobile manipulation experiments were performed with a sensorized KUKA youBot, an omnidirectional platform with a 5 degrees of freedom (DOF) arm. The pick and place tasks involved navigation and manipulation of objects in household environments. Performance metrics included time for task completion and position accuracy.

PyMOL mControl: Manipulating Molecular Visualization with Mobile Devices

Science.gov (United States)

Lam, Wendy W. T.; Siu, Shirley W. I.

2017-01-01

Viewing and manipulating three-dimensional (3D) structures in molecular graphics software are essential tasks for researchers and students to understand the functions of molecules. Currently, the way to manipulate a 3D molecular object is mainly based on mouse-and-keyboard control that is usually difficult and tedious to learn. While gesture-based…

Omni-directional selective shielding material based on amorphous glass coated microwires.

Science.gov (United States)

Ababei, G; Chiriac, H; David, V; Dafinescu, V; Nica, I

2012-01-01

The shielding effectiveness of the omni-directional selective shielding material based on CoFe-glass coated amorphous wires in 0.8 GHz-3 GHz microwave frequency range is investigated. The measurements were done in a controlled medium using a TEM cell and in the free space using horn antennas, respectively. Experimental results indicate that the composite shielding material can be developed with desired shielding effectiveness and selective absorption of the microwave frequency range by controlling the number of the layers and the length of microwires.

Development of the heavy manipulator vehicle system

International Nuclear Information System (INIS)

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

1993-01-01

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

Ultra-wideband, omni-directional, low distortion coaxial antenna

Science.gov (United States)

Eubanks, Travis Wayne; Gibson, Christopher Lawrence

2015-01-06

An antenna for producing an omni-directional pattern, and using all frequencies of a frequency range simultaneously, is provided with first and second electrically conductive elements disposed coaxially relative to a central axis. The first element has a first surface of revolution about the axis, the first surface of revolution tapering radially outwardly while extending axially away from the second element to terminate at a first axial end of the first element. The second element has a second surface of revolution about the axis, the second surface of revolution tapering radially outwardly while extending axially toward the first element to terminate at a first axial end of the second element. The first and second surfaces of revolution overlap one another radially and axially, and are mutually non-conformal.

Quantitative analysis of the improvement in omnidirectional maritime surveillance and tracking due to real-time image enhancement

CSIR Research Space (South Africa)

De Villiers, JP

2011-04-01

Full Text Available Omnidirectional camera systems are used to supplement RADAR in tracking small craft close in to the ship in a maritime environment. They can simultaneously track multiple targets to provide a more complete situational awareness. Due to their wide...

A Novel Generic Ball Recognition Algorithm Based on Omnidirectional Vision for Soccer Robots

Directory of Open Access Journals (Sweden)

Hui Zhang

2013-11-01

Full Text Available It is significant for the final goal of RoboCup to realize the recognition of generic balls for soccer robots. In this paper, a novel generic ball recognition algorithm based on omnidirectional vision is proposed by combining the modified Haar-like features and AdaBoost learning algorithm. The algorithm is divided into offline training and online recognition. During the phase of offline training, numerous sub-images are acquired from various panoramic images, including generic balls, and then the modified Haar-like features are extracted from them and used as the input of the AdaBoost learning algorithm to obtain a classifier. During the phase of online recognition, and according to the imaging characteristics of our omnidirectional vision system, rectangular windows are defined to search for the generic ball along the rotary and radial directions in the panoramic image, and the learned classifier is used to judge whether a ball is included in the window. After the ball has been recognized globally, ball tracking is realized by integrating a ball velocity estimation algorithm to reduce the computational cost. The experimental results show that good performance can be achieved using our algorithm, and that the generic ball can be recognized and tracked effectively.

Design of an omnidirectional single-point photodetector for large-scale spatial coordinate measurement

Science.gov (United States)

Xie, Hongbo; Mao, Chensheng; Ren, Yongjie; Zhu, Jigui; Wang, Chao; Yang, Lei

2017-10-01

In high precision and large-scale coordinate measurement, one commonly used approach to determine the coordinate of a target point is utilizing the spatial trigonometric relationships between multiple laser transmitter stations and the target point. A light receiving device at the target point is the key element in large-scale coordinate measurement systems. To ensure high-resolution and highly sensitive spatial coordinate measurement, a high-performance and miniaturized omnidirectional single-point photodetector (OSPD) is greatly desired. We report one design of OSPD using an aspheric lens, which achieves an enhanced reception angle of -5 deg to 45 deg in vertical and 360 deg in horizontal. As the heart of our OSPD, the aspheric lens is designed in a geometric model and optimized by LightTools Software, which enables the reflection of a wide-angle incident light beam into the single-point photodiode. The performance of home-made OSPD is characterized with working distances from 1 to 13 m and further analyzed utilizing developed a geometric model. The experimental and analytic results verify that our device is highly suitable for large-scale coordinate metrology. The developed device also holds great potential in various applications such as omnidirectional vision sensor, indoor global positioning system, and optical wireless communication systems.

Comparative analysis of hydraulic crane-manipulating installations transport and technological machines and industrial robots hydraulic manipulators

Directory of Open Access Journals (Sweden)

Lagerev I.A.

2016-09-01

Full Text Available The article presents results of comparative analysis of hydraulic crane-manipulator installations of mobile transport and technological machines and hydraulic manipulators of industrial robots. The comparative analysis is based on consid-eration of a wide range of types and sizes indicated technical devices of both domestic and foreign production: 1580 structures of cranes and more than 450 structures of industrial robots. It was performed in the following areas: func-tional purpose and basic technical characteristics; a design; the loading conditions of the model and failures in operation process; approaches to the design, calculation methods and mathematical modeling. The conclusions about the degree of similarity and the degree of difference hydraulic crane-manipulator installations of transport and technological ma-chines and hydraulic industrial robot manipulators from the standpoint of their design and modeling occurring in them during operation of dynamic and structural processes.

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

Directory of Open Access Journals (Sweden)

Rocco Furferi

2016-10-01

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

Omnidirectional reflection in one-dimensional ternary photonic crystals and photonic heterostructures

Energy Technology Data Exchange (ETDEWEB)

Wang, Shiqi [MOE Key Laboratory of Laser Life Science and Institute of Laser Life Science, College of Biophotonics, South China Normal University, Guangzhou 510631 (China); Yang, Xiangbo, E-mail: 20001038@m.scnu.edu.cn [MOE Key Laboratory of Laser Life Science and Institute of Laser Life Science, College of Biophotonics, South China Normal University, Guangzhou 510631 (China); School of Physical Education and Sports Science, South China Normal University, Guangzhou 510006 (China); Liu, Chengyi Timon [School of Physical Education and Sports Science, South China Normal University, Guangzhou 510006 (China)

2014-03-01

Designing dielectric systems to create omnidirectional band gaps (OBGs) is an attractive topic in the field of photonic band gap (PBG) structures. In this Letter, we propose a new approach to create OBGs by ternary photonic heterostructures (TPHs) composed of three kinds of materials with different refractive indices and obtain the formulae of the structures of TPHs, i.e., those of the thicknesses of materials and the number of sub-ternary photonic crystals. It may provide a powerful technique for designing the structures being able to produce OBGs by use of usual materials, lowcost materials, and materials with low refractive indices, etc.

Omnidirectional reflection in one-dimensional ternary photonic crystals and photonic heterostructures

International Nuclear Information System (INIS)

Wang, Shiqi; Yang, Xiangbo; Liu, Chengyi Timon

2014-01-01

Designing dielectric systems to create omnidirectional band gaps (OBGs) is an attractive topic in the field of photonic band gap (PBG) structures. In this Letter, we propose a new approach to create OBGs by ternary photonic heterostructures (TPHs) composed of three kinds of materials with different refractive indices and obtain the formulae of the structures of TPHs, i.e., those of the thicknesses of materials and the number of sub-ternary photonic crystals. It may provide a powerful technique for designing the structures being able to produce OBGs by use of usual materials, lowcost materials, and materials with low refractive indices, etc.

Mining Users Mobility at Public Transportation

Directory of Open Access Journals (Sweden)

joao ferreira

2017-02-01

Full Text Available In this research work we propose a new approach to estimate the number of passengers in a public transportation and determinate the users’ route path based on a passive approach without user intervention. The method is based on the probe requests of users mobile device through the collected data in wireless access point. This data is manipulated to extract the information about the numbers of users with mobile devices and track their route path and time. This data can be manipulated to extract useful knowledge related with users’ habits at public transportation and extract user mobility patterns.

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

International Nuclear Information System (INIS)

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

2016-01-01

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

移動ロボットのための全方位画像を使ったDeep Learning 環境認識法

OpenAIRE

竹林, 洋亮

2017-01-01

This paper describes a study of Deep Learning based environment recognition by applying Omni-directional images. In order to apply Omni-directional images to deep neural network, we decompose image which may be suitable for detecting moving direction. The validity of proposed approach is confirmed by applying actual outdoor omnidirectional images.Key Words : Machine Learning, Deep Learning, Mobile Robot.

A Novel Solar Tracker Based on Omnidirectional Computer Vision

Directory of Open Access Journals (Sweden)

Zakaria El Kadmiri

2015-01-01

Full Text Available This paper presents a novel solar tracker system based on omnidirectional vision technology. The analysis of acquired images with a catadioptric camera allows extracting accurate information about the sun position toward both elevation and azimuth. The main advantages of this system are its wide field of tracking of 360° horizontally and 200° vertically. The system has the ability to track the sun in real time independently of the spatiotemporal coordinates of the site. The extracted information is used to control the two DC motors of the dual-axis mechanism to achieve the optimal orientation of the photovoltaic panels with the aim of increasing the power generation. Several experimental studies have been conducted and the obtained results confirm the power generation efficiency of the proposed solar tracker.

Omnidirectional refractive devices for flexural waves based on graded phononic crystals

Energy Technology Data Exchange (ETDEWEB)

Torrent, Daniel, E-mail: daniel.torrent@iemn.univ-lille1.fr; Pennec, Yan; Djafari-Rouhani, Bahram [Institut d' Electronique, de Microléctronique et de Nanotechnologie, UMR CNRS 8520, Université de Lille 1, 59655 Villeneuve d' Ascq (France)

2014-12-14

Different omnidirectional refractive devices for flexural waves in thin plates are proposed and numerically analyzed. Their realization is explained by means phononic crystal plates, where a previously developed homogenization theory is employed for the design of graded index refractive devices. These devices consist of a circular cluster of inclusions with a properly designed gradient in their radius. With this approach, the Luneburg and Maxwell lenses and a family of beam splitters for flexural waves are proposed and analyzed. Results show that these devices work properly in a broadband frequency region, being therefore an efficient approach for the design of refractive devices specially interesting for nano-scale applications.

Design and Transmission Analysis of an Asymmetrical Spherical Parallel Manipulator

DEFF Research Database (Denmark)

Wu, Guanglei; Caro, Stéphane; Wang, Jiawei

2015-01-01

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

Interference Analysis Status and Plans for Aeronautical Mobile Airport Communications System (AeroMACS)

Science.gov (United States)

Kerczewski, Robert J.; Wilson, Jeffrey D.

2010-01-01

Interference issues related to the operation of an aeronautical mobile airport communications system (AeroMACS) in the C-Band (specifically 5091-5150 MHz) is being investigated. The issue of primary interest is co-channel interference from AeroMACS into mobile-satellite system (MSS) feeder uplinks. The effort is focusing on establishing practical limits on AeroMACS transmissions from airports so that the threshold of interference into MSS is not exceeded. The analyses are being performed with the software package Visualyse Professional, developed by Transfinite Systems Limited. Results with omni-directional antennas and plans to extend the models to represent AeroMACS more accurately will be presented. These models should enable realistic analyses of emerging AeroMACS designs to be developed from NASA Test Bed, RTCA 223, and European results.

Towards the development of a soft manipulator as an assistive robot for personal care of elderly people

Directory of Open Access Journals (Sweden)

Yasmin Ansari

2017-03-01

Full Text Available Manipulators based on soft robotic technologies exhibit compliance and dexterity which ensures safe human–robot interaction. This article is a novel attempt at exploiting these desirable properties to develop a manipulator for an assistive application, in particular, a shower arm to assist the elderly in the bathing task. The overall vision for the soft manipulator is to concatenate three modules in a serial manner such that (i the proximal segment is made up of cable-based actuation to compensate for gravitational effects and (ii the central and distal segments are made up of hybrid actuation to autonomously reach delicate body parts to perform the main tasks related to bathing. The role of the latter modules is crucial to the application of the system in the bathing task; however, it is a nontrivial challenge to develop a robust and controllable hybrid actuated system with advanced manipulation capabilities and hence, the focus of this article. We first introduce our design and experimentally characterize its functionalities, which include elongation, shortening, omnidirectional bending. Next, we propose a control concept capable of solving the inverse kinetics problem using multiagent reinforcement learning to exploit these functionalities despite high dimensionality and redundancy. We demonstrate the effectiveness of the design and control of this module by demonstrating an open-loop task space control where it successfully moves through an asymmetric 3-D trajectory sampled at 12 points with an average reaching accuracy of 0.79 cm ± 0.18 cm. Our quantitative experimental results present a promising step toward the development of the soft manipulator eventually contributing to the advancement of soft robotics.

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

CERN Document Server

From, Pal Johan; Pettersen, Kristin Ytterstad

2014-01-01

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

Estimating thumb–index finger precision grip and manipulation potential in extant and fossil primates

Science.gov (United States)

Feix, Thomas; Kivell, Tracy L.; Pouydebat, Emmanuelle; Dollar, Aaron M.

2015-01-01

Primates, and particularly humans, are characterized by superior manual dexterity compared with other mammals. However, drawing the biomechanical link between hand morphology/behaviour and functional capabilities in non-human primates and fossil taxa has been challenging. We present a kinematic model of thumb–index precision grip and manipulative movement based on bony hand morphology in a broad sample of extant primates and fossil hominins. The model reveals that both joint mobility and digit proportions (scaled to hand size) are critical for determining precision grip and manipulation potential, but that having either a long thumb or great joint mobility alone does not necessarily yield high precision manipulation. The results suggest even the oldest available fossil hominins may have shared comparable precision grip manipulation with modern humans. In particular, the predicted human-like precision manipulation of Australopithecus afarensis, approximately one million years before the first stone tools, supports controversial archaeological evidence of tool-use in this taxon. PMID:25878134

A new type of artificial structure to achieve broadband omnidirectional acoustic absorption

KAUST Repository

Zheng, L.-Y.

2013-10-18

We present a design for a two-dimensional omnidirectional acoustic absorber that can achieve 98.6% absorption of acoustic waves in water, forming an effective acoustic black hole. This artificial black hole consists of an absorptive core coated with layers of periodically distributed polymer cylinders embedded in water. Effective medium theory describes the response of the coating layers to the acoustic waves. The polymer parameters can be adjusted, allowing practical fabrication of the absorber. Since the proposed structure does not rely on resonances, it is applicable to broad bandwidths. The design might be extended to a variety of applications.

A new type of artificial structure to achieve broadband omnidirectional acoustic absorption

Directory of Open Access Journals (Sweden)

Li-Yang Zheng

2013-10-01

Full Text Available We present a design for a two-dimensional omnidirectional acoustic absorber that can achieve 98.6% absorption of acoustic waves in water, forming an effective acoustic black hole. This artificial black hole consists of an absorptive core coated with layers of periodically distributed polymer cylinders embedded in water. Effective medium theory describes the response of the coating layers to the acoustic waves. The polymer parameters can be adjusted, allowing practical fabrication of the absorber. Since the proposed structure does not rely on resonances, it is applicable to broad bandwidths. The design might be extended to a variety of applications.

Navigation system for a mobile robot with a visual sensor using a fish-eye lens

Science.gov (United States)

Kurata, Junichi; Grattan, Kenneth T. V.; Uchiyama, Hironobu

1998-02-01

Various position sensing and navigation systems have been proposed for the autonomous control of mobile robots. Some of these systems have been installed with an omnidirectional visual sensor system that proved very useful in obtaining information on the environment around the mobile robot for position reckoning. In this article, this type of navigation system is discussed. The sensor is composed of one TV camera with a fish-eye lens, using a reference target on a ceiling and hybrid image processing circuits. The position of the robot, with respect to the floor, is calculated by integrating the information obtained from a visual sensor and a gyroscope mounted in the mobile robot, and the use of a simple algorithm based on PTP control for guidance is discussed. An experimental trial showed that the proposed system was both valid and useful for the navigation of an indoor vehicle.

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

Directory of Open Access Journals (Sweden)

Ioana POPESCU

2015-12-01

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

Electron spin and nuclear spin manipulation in semiconductor nanosystems

International Nuclear Information System (INIS)

Hirayama, Yoshiro; Yusa, Go; Sasaki, Satoshi

2006-01-01

Manipulations of electron spin and nuclear spin have been studied in AlGaAs/GaAs semiconductor nanosystems. Non-local manipulation of electron spins has been realized by using the correlation effect between localized and mobile electron spins in a quantum dot- quantum wire coupled system. Interaction between electron and nuclear spins was exploited to achieve a coherent control of nuclear spins in a semiconductor point contact device. Using this device, we have demonstrated a fully coherent manipulation of any two states among the four spin levels of Ga and As nuclei. (copyright 2006 WILEY-VCH Verlag GmbH and Co. KGaA, Weinheim) (orig.)

Testbed for remote telepresence research

Science.gov (United States)

Adnan, Sarmad; Cheatham, John B., Jr.

1992-11-01

Teleoperated robots offer solutions to problems associated with operations in remote and unknown environments, such as space. Teleoperated robots can perform tasks related to inspection, maintenance, and retrieval. A video camera can be used to provide some assistance in teleoperations, but for fine manipulation and control, a telepresence system that gives the operator a sense of actually being at the remote location is more desirable. A telepresence system comprised of a head-tracking stereo camera system, a kinematically redundant arm, and an omnidirectional mobile robot has been developed at the mechanical engineering department at Rice University. This paper describes the design and implementation of this system, its control hardware, and software. The mobile omnidirectional robot has three independent degrees of freedom that permit independent control of translation and rotation, thereby simulating a free flying robot in a plane. The kinematically redundant robot arm has eight degrees of freedom that assist in obstacle and singularity avoidance. The on-board control computers permit control of the robot from the dual hand controllers via a radio modem system. A head-mounted display system provides the user with a stereo view from a pair of cameras attached to the mobile robotics system. The head tracking camera system moves stereo cameras mounted on a three degree of freedom platform to coordinate with the operator's head movements. This telepresence system provides a framework for research in remote telepresence, and teleoperations for space.

Does inter-vertebral range of motion increase after spinal manipulation? A prospective cohort study.

Science.gov (United States)

Branney, Jonathan; Breen, Alan C

2014-01-01

Spinal manipulation for nonspecific neck pain is thought to work in part by improving inter-vertebral range of motion (IV-RoM), but it is difficult to measure this or determine whether it is related to clinical outcomes. This study undertook to determine whether cervical spine flexion and extension IV-RoM increases after a course of spinal manipulation, to explore relationships between any IV-RoM increases and clinical outcomes and to compare palpation with objective measurement in the detection of hypo-mobile segments. Thirty patients with nonspecific neck pain and 30 healthy controls matched for age and gender received quantitative fluoroscopy (QF) screenings to measure flexion and extension IV-RoM (C1-C6) at baseline and 4-week follow-up between September 2012-13. Patients received up to 12 neck manipulations and completed NRS, NDI and Euroqol 5D-5L at baseline, plus PGIC and satisfaction questionnaires at follow-up. IV-RoM accuracy, repeatability and hypo-mobility cut-offs were determined. Minimal detectable changes (MDC) over 4 weeks were calculated from controls. Patients and control IV-RoMs were compared at baseline as well as changes in patients over 4 weeks. Correlations between outcomes and the number of manipulations received and the agreement (Kappa) between palpated and QF-detected of hypo-mobile segments were calculated. QF had high accuracy (worst RMS error 0.5o) and repeatability (highest SEM 1.1o, lowest ICC 0.90) for IV-RoM measurement. Hypo-mobility cut offs ranged from 0.8o to 3.5o. No outcome was significantly correlated with increased IV-RoM above MDC and there was no significant difference between the number of hypo-mobile segments in patients and controls at baseline or significant increases in IV-RoMs in patients. However, there was a modest and significant correlation between the number of manipulations received and the number of levels and directions whose IV-RoM increased beyond MDC (Rho=0.39, p=0.043). There was also no agreement

Estimating thumb-index finger precision grip and manipulation potential in extant and fossil primates.

Science.gov (United States)

Feix, Thomas; Kivell, Tracy L; Pouydebat, Emmanuelle; Dollar, Aaron M

2015-05-06

Primates, and particularly humans, are characterized by superior manual dexterity compared with other mammals. However, drawing the biomechanical link between hand morphology/behaviour and functional capabilities in non-human primates and fossil taxa has been challenging. We present a kinematic model of thumb-index precision grip and manipulative movement based on bony hand morphology in a broad sample of extant primates and fossil hominins. The model reveals that both joint mobility and digit proportions (scaled to hand size) are critical for determining precision grip and manipulation potential, but that having either a long thumb or great joint mobility alone does not necessarily yield high precision manipulation. The results suggest even the oldest available fossil hominins may have shared comparable precision grip manipulation with modern humans. In particular, the predicted human-like precision manipulation of Australopithecus afarensis, approximately one million years before the first stone tools, supports controversial archaeological evidence of tool-use in this taxon. © 2015 The Author(s) Published by the Royal Society. All rights reserved.

Visualization of virtual slave manipulator using the master input device

International Nuclear Information System (INIS)

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

2003-01-01

To handle the high level radioactive materials such a spent fuel, the Master-Slave Manipulators (MSM) are widely used as a remote handling device in nuclear facilities such as the hot cell with sealed and shielded space. In this paper, the Digital Mockup which simulates the remote operation of the Advanced Conditioning Process(ACP) is developed. Also, the workspace and the motion of the slave manipulator, as well as, the remote operation task should be analyzed. The process equipment of ACP and Maintenance/Handling Device are drawn in 3D CAD models using IGRIP. Modeling device of manipulator is assigned with various mobiles attributes such as a relative position, kinematics constraints, and a range of mobility. The 3D graphic simulator using the external input device of space ball displays the movement of manipulator. To connect the external input device to the graphic simulator, the interface program of external input device with 6 DOF is deigned using the Low Level Tele-operation Interface (LLTI). The experimental result shows that the developed simulation system gives much-improved human interface characteristics and shows satisfactory response characteristics in terms of synchronization speed. This should be useful for the development of work's education system in the virtual environment

Modeling and Implementation of Omnidirectional Soccer Robot with Wide Vision Scope Applied in Robocup-MSL

Directory of Open Access Journals (Sweden)

Mohsen Taheri

2010-04-01

Full Text Available The purpose of this paper is to design and implement a middle size soccer robot to conform RoboCup MSL league. First, according to the rules of RoboCup, we design the middle size soccer robot, The proposed autonomous soccer robot consists of the mechanical platform, motion control module, omni-directional vision module, front vision module, image processing and recognition module, investigated target object positioning and real coordinate reconstruction, robot path planning, competition strategies, and obstacle avoidance. And this soccer robot equips the laptop computer system and interface circuits to make decisions. In fact, the omnidirectional vision sensor of the vision system deals with the image processing and positioning for obstacle avoidance and
target tracking. The boundary-following algorithm (BFA is applied to find the important features of the field. We utilize the sensor data fusion method in the control system parameters, self localization and world modeling. A vision-based self-localization and the conventional odometry
systems are fused for robust selflocalization. The localization algorithm includes filtering, sharing and integration of the data for different types of objects recognized in the environment. In the control strategies, we present three state modes, which include the Attack Strategy, Defense Strategy and Intercept Strategy. The methods have been tested in the many Robocup competition field middle size robots.

Mobilization versus manipulations versus sustain apophyseal natural glide techniques and interaction with psychological factors for patients with chronic neck pain: randomized controlled trial.

Science.gov (United States)

Lopez-Lopez, A; Alonso Perez, J L; González Gutierez, J L; La Touche, R; Lerma Lara, S; Izquierdo, H; Fernández-Carnero, J

2015-04-01

Three different types of manual therapy techniques for patients with neck pain and relationship with psychological factors has not been evaluated. To compare the effectiveness high velocity and low amplitude (HVLA) manipulation vs. posteroanterior mobilization (PA mob) vs. sustain appophyseal natural glide (SNAG) in the management of patients with neck pain and to evaluate the interaction with psychological factors. Randomized clinical trial. Primary Health Care Center. Patients with history of chronic neck pain over the last 3 months were recruited. Patients were randomly assigned to receive treatment with HVLA (N.=15), with PA mob (N.=16) or with SNAG (N.=17). One session was applied. Pain intensity of neck pain, pressure pain threshold over processus spinosus of C2 (PPT_C2) and cervical range of motion (CROM) were measured pre- and post-intervention. Pain catastrophizing, depression, anxiety and kinesiophobia were assessed in baseline. ANOVAs were performed, with main effects, two-way (treatment x time) and three-way interactions (treatment x psychological variable x time) were examined. Fourthy-eight patients (mean±SD age, 36.5±8.7 years; 87.5% female). A significant interaction treatment x time was observed for VAS-rest in HVLA and AP mob groups (Ptechniques have similar immediate effects over neck pain and while under high anxiety levels a better outcome is expected after mobilization intervention, under low anxiety levels a better prognosis is expected after manipulation and SNAG intervention.

Low manipulation prevalence following fast-track total knee arthroplasty

DEFF Research Database (Denmark)

Husted, Henrik; Jørgensen, Christoffer C.; Gromov, Kirill

2015-01-01

BACKGROUND AND PURPOSE: Postoperative joint stiffness following total knee arthroplasty (TKA) may compromise the outcome and necessitate manipulation. Previous studies have not been in a fast-track setting with optimized pain treatment, early mobilization, and short length of stay (LOS), which ma...

MINER - A Mobile Imager of Neutrons for Emergency Responders

Energy Technology Data Exchange (ETDEWEB)

Goldsmith, John E. M. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Brennan, James S. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Gerling, Mark D [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Kiff, Scott D. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Mascarenhas, Nicholas [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Van De Vreugde, James L. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

2014-10-01

We have developed a mobile fast neutron imaging platform to enhance the capabilities of emergency responders in the localization and characterization of special nuclear material. This mobile imager of neutrons for emergency responders (MINER) is based on the Neutron Scatter Camera, a large segmented imaging system that was optimized for large-area search applications. Due to the reduced size and power requirements of a man-portable system, MINER has been engineered to fit a much smaller form factor, and to be operated from either a battery or AC power. We chose a design that enabled omnidirectional (4π) imaging, with only a ~twofold decrease in sensitivity compared to the much larger neutron scatter cameras. The system was designed to optimize its performance for neutron imaging and spectroscopy, but it does also function as a Compton camera for gamma imaging. This document outlines the project activities, broadly characterized as system development, laboratory measurements, and deployments, and presents sample results in these areas. Additional information can be found in the documents that reside in WebPMIS.

Protozoa manipulation by ultrasound

Directory of Open Access Journals (Sweden)

Yancy Milena Porras Rodríguez

2004-01-01

Full Text Available Microorganism manipulation, considered as controlled motion and positioning, is one of the most important activities in microbiology and medicine. To achieve this goal there are some techniques such as those which and optical forces, among others. These techniques are usually sophisticated, and some of them can induce irreversible alterations on the microorganisms which prevents their use in another tests. Thus, there is justified the study of technological alternatives to manipulate microorganisms in an easy and cost-effective way. This work shows the interaction between protozoa and air microbubbles when they are under the influence of an ultrasonic field of 5.8 mW. At the microbubbles resonant frequencies, microorganisms were attracted toward the bubbles' frontier remaining there while the ultrasonic field was applied. Once the ultrasound disappears, protozoa recover their freedom of movement. The observed effects could be used as the actuation principle of devices capable to trap, hold and release microorganisms of high mobility without any apparent damage. Microbubbles are generated by electrolysis which take place on the surface of an electrode array, while the ultrasound is originated by means of a piezoelectric transducer. As microorganisms there were employed those present in stagnated water, and were observed through an stereomicroscope. Key words: manipulator; protozoa; ultrasonic; transducer; piezoelectric.

Rotor-Flying Manipulator: Modeling, Analysis, and Control

Directory of Open Access Journals (Sweden)

Bin Yang

2014-01-01

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

Virtual Reality Interaction Using Mobile Devices

KAUST Repository

Aseeri, Sahar A.

2013-07-01

With the use of an immersive display system such as CAVE system, the user is able to realize a 3D immersive virtual environment realistically. However, interacting with virtual worlds in CAVE systems using traditional input devices to perform easy operations such as manipulation, object selection, and navigation is often difficult. This difficulty could diminish the immersion and sense of presence when it comes to 3D virtual environment tasks. Our research aims to implement and evaluate alternative approaches of interaction with immersive virtual environments on mobile devices for manipulation and object selection tasks. As many researchers have noted, using a mobile device as an interaction device has a number of advantages, including built-in display, built-in control, and touch screen facility. These advantages facilitate simple tasks within immersive virtual environments. This research proposes new methods using mobile devices like Smart-phones to perform di↵erent kinds of interactions both as an input device, (e.g. performing selection and manipulation of objects) and as an output device (e.g. utilizing the screen as an extra view for a virtual camera or information display). Moreover, we developed a prototype system to demonstrate and informally evaluate these methods. The research conclusion suggests using mobile devices as a 3D-controller. This will be a more intuitive approach to interact within the virtual environment.

High-Performance and Omnidirectional Thin-Film Amorphous Silicon Solar Cell Modules Achieved by 3D Geometry Design.

Science.gov (United States)

Yu, Dongliang; Yin, Min; Lu, Linfeng; Zhang, Hanzhong; Chen, Xiaoyuan; Zhu, Xufei; Che, Jianfei; Li, Dongdong

2015-11-01

High-performance thin-film hydrogenated amorphous silicon solar cells are achieved by combining macroscale 3D tubular substrates and nanoscaled 3D cone-like antireflective films. The tubular geometry delivers a series of advantages for large-scale deployment of photovoltaics, such as omnidirectional performance, easier encapsulation, decreased wind resistance, and easy integration with a second device inside the glass tube. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Chelant extraction and REDOX manipulation for mobilization of heavy metals from contaminated soils

International Nuclear Information System (INIS)

Brewster, M.D.; Peters, R.W.; Miller, G.A.; Patton, T.L.; Martino, L.E.

1994-01-01

Was the result of open burning and open detonation of chemical agents and munitions in the Toxic Burning Pits area at J-Field, located in the Edgewood Area of Aberdeen Proving Ground in Harford County, Maryland, soils have been contaminated with heavy metals. Simultaneous extraction is complicated because of the multitude of contaminant forms that exist. This paper uses data from a treatability study performed at Argonne National Laboratory to discuss and compare several treatment methods that were evaluated for remediating metals-contaminated soils. J-Field soils were subjected to a series of treatability experiments designed to determine the feasibility of using soil washing/soil flushing, enhancements to soil washing/soil flushing, solidification/stabilization, and electrokinetics for remediating soils contaminated with metals. Chelating and mobilizing agents evaluated included ammonium acetate, ethylenediaminetetraacetic acid, citric acid, Citranox, gluconic acid, phosphoric acid, oxalic acid, and nitrilotriacetic acid, in addition to pH-adjusted water. REDOX manipulation can maximize solubilities, increase desorption, and promote removal of heavy metal contaminants. Reducing agents that were studied included sodium borohydride, sodium metabisulfite, and thiourea dioxide. The oxidants studied included hydrogen peroxide, sodium percarbonate, sodium hypochlorite, and potassium permanganate. This paper summaries the results from the physical/chemical characterization, soil washing/soil flushing, and enhancements to soil washing/soil flushing portions of the study

Introduction to autonomous manipulation case study with an underwater robot, SAUVIM

CERN Document Server

Marani, Giacomo

2014-01-01

“Autonomous manipulation” is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomous manipulation capability is a quantum leap in robotic technologies as it is currently beyond the state of the art in robotics. This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environment...

Design requirements and performance requirements for reactor fuel recycle manipulator systems

International Nuclear Information System (INIS)

Grundmann, J.G.

1975-01-01

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

Mobile Intelligent Autonomous Systems

OpenAIRE

Jitendra R. Raol; Ajith Gopal

2010-01-01

Mobile intelligent autonomous systems (MIAS) is a fast emerging research area. Although it can be regarded as a general R&D area, it is mainly directed towards robotics. Several important subtopics within MIAS research are:(i) perception and reasoning, (ii) mobility and navigation,(iii) haptics and teleoperation, (iv) image fusion/computervision, (v) modelling of manipulators, (vi) hardware/software architectures for planning and behaviour learning leadingto robotic architecture, (vii) ve...

Omnidirectional angle constraint based dynamic six-degree-of-freedom measurement for spacecraft rendezvous and docking simulation

Science.gov (United States)

Shi, Shendong; Yang, Linghui; Lin, Jiarui; Ren, Yongjie; Guo, Siyang; Zhu, Jigui

2018-04-01

In this paper we present a novel omnidirectional angle constraint based method for dynamic 6-DOF (six-degree-of-freedom) measurement. A photoelectric scanning measurement network is employed whose photoelectric receivers are fixed on the measured target. They are in a loop distribution and receive signals from rotating transmitters. Each receiver indicates an angle constraint direction. Therefore, omnidirectional angle constraints can be constructed in each rotation cycle. By solving the constrained optimization problem, 6-DOF information can be obtained, which is independent of traditional rigid coordinate system transformation. For the dynamic error caused by the measurement principle, we present an interpolation method for error reduction. Accuracy testing is performed in an 8  ×  8 m measurement area with four transmitters. The experimental results show that the dynamic orientation RMSEs (root-mean-square errors) are reduced from 0.077° to 0.044°, 0.040° to 0.030° and 0.032° to 0.015° in the X, Y, and Z axes, respectively. The dynamic position RMSE is reduced from 0.65 mm to 0.24 mm. This method is applied during the final approach phase in the rendezvous and docking simulation. Experiments under different conditions are performed in a 40  ×  30 m area, and the method is verified to be effective.

Design of a novel magnetic platform for cell manipulation

Science.gov (United States)

Lucarini, Gioia; Iacovacci, Veronica; Gouveia, Pedro J.; Ricotti, Leonardo; Menciassi, Arianna

2018-02-01

Cell manipulation tasks, especially in lab-on-a-chip applications for personalized medicine, could greatly benefit from mobile untethered microdevices able to wirelessly navigate in fluidic environments by means of magnetic fields. In this paper, the design, fabrication and testing of a magnetic platform enabling the controlled locomotion and immersion of microrobots placed at the air/liquid interface is proposed and exploited for cell manipulation. The proposed microrobot consists of a polymeric magnetic thin film that acts as cell transporter and a specific coating strategy, devised to enhance a safe cancer cell adhesion to the magnetic film. Experimental results demonstrated an overall cell viability and a fine control of magnetic microrobot locomotion. The proposed technologies are promising in view of future cell manipulation tasks for personalized medicine applications.

Mobility Data Analytics Center.

Science.gov (United States)

2016-01-01

Mobility Data Analytics Center aims at building a centralized data engine to efficiently manipulate : large-scale data for smart decision making. Integrating and learning the massive data are the key to : the data engine. The ultimate goal of underst...

An omnidirectional retroreflector based on the transmutation of dielectric singularities.

Science.gov (United States)

Ma, Yun Gui; Ong, C K; Tyc, Tomás; Leonhardt, Ulf

2009-08-01

Transformation optics is a concept used in some metamaterials to guide light on a predetermined path. In this approach, the materials implement coordinate transformations on electromagnetic waves to create the illusion that the waves are propagating through a virtual space. Transforming space by appropriately designed materials makes devices possible that have been deemed impossible. In particular, transformation optics has led to the demonstration of invisibility cloaking for microwaves, surface plasmons and infrared light. Here, on the basis of transformation optics, we implement a microwave device that would normally require a dielectric singularity, an infinity in the refractive index. To fabricate such a device, we transmute a dielectric singularity in virtual space into a mere topological defect in a real metamaterial. In particular, we demonstrate an omnidirectional retroreflector, a device for faithfully reflecting images and for creating high visibility from all directions. Our method is robust, potentially broadband and could also be applied to visible light using similar techniques.

Omnidirectional Internal Fixation by Double Approaches for Treating Rüedi-Allgöwer Type III Pilon Fractures.

Science.gov (United States)

Dai, Chong-Hua; Sun, Jun; Chen, Kun-Quan; Zhang, Hui-Bo

In the present study, we explored the effectiveness and complications of omnidirectional internal fixation using a double approach for treating Rüedi-Allgöwer type III pilon fractures. A retrospective analysis was performed of 19 cases of Rüedi-Allgöwer type III unilateral closed pilon fracture. With preoperative preparation and correct surgical timing, the reduction was performed using anteromedial and posterolateral approaches, and the fracture fragments were fixed by omnidirectional internal fixation. Imaging evaluation was performed using the Burwell-Charnley scoring system. The Johner-Wruhs scoring system was used to assess the functional status of the patients. A comprehensive evaluation of efficacy was performed using a 5-point Likert score. The complications were also recorded and analyzed. All patients were followed up for an average of 16.2 months. The operative incisions of 15 cases healed by primary intent and with delayed healing in 4. All patients had achieved bony union at an average of 16 weeks postoperatively. No deep infection, broken nail or withdrawn nail, exposed plate, or skin flap necrosis occurred. The Burwell-Charnley imaging evaluation showed that 14 patients had anatomic reduction of the articular surface and 5 had acceptable reduction. Using the Johner-Wruhs scoring system, the results were excellent for 8, good for 7, fair for 2, and poor for 2 patients; the combined rate of excellent and good results was 78.9%. The Likert score of efficacy self-reported by the patients was 3 to 4 points for 12 patients, 2 points for 4 patients, and 0 to 1 point for 3 patients. The Likert score of therapeutic efficacy reported by the physicians was 3 to 4 points for 10 patients, 2 points for 5 patients, and 0 to 1 point for 4 patients. Omnidirectional internal fixation using double approaches was an effective method to treat Rüedi-Allgöwer type III pilon fractures with satisfactory reduction and rigid fixation, good joint function recovery, and

Im/mobilities and dis/connectivities in medical globalisation: How global is Global Health?

Science.gov (United States)

Dilger, Hansjörg; Mattes, Dominik

2018-03-01

The interdisciplinary, politically contested field of Global Health has often been described as a consequence of, and response to, an intensification of the mobilities of, and connectivities between, people, pathogens, ideas, and infrastructure across national borders and large distances. However, such global mobilities and connectivities are not as omnidirectional and unpatterned as the rhetoric of many Global Health actors suggests. Instead, we argue that they are suffused by a plethora of institutional, national, and global political agendas, and substantially shaped by transnational and postcolonial power relations. Furthermore, the configurations that are typically subsumed under the category of Global Health represent only a minor part of the range of im/mobilities and dis/connectivities that are essential for understanding transformations of epidemiological patterns, health care infrastructures, and the responses to health-related challenges in a globalising world. In order to broaden such a limiting analytical perspective, we propose to expand the analytical focus in studying Global Health phenomena by paying close attention to the myriad ways in which particular im/mobilities and dis/connectivities constitute medicine and well-being in global and transnational settings. Pursuing a conceptual shift from studies of 'Global Health' to studying 'medical globalization' may carve out new analytical ground for such an endeavour.

Poster: Virtual reality interaction using mobile devices

KAUST Repository

Aseeri, Sahar A.

2013-03-01

In this work we aim to implement and evaluate alternative approaches for interacting with virtual environments on mobile devices for navigation, object selection and manipulation. Interaction with objects in virtual worlds using traditional input such as current state-of-the-art devices is often difficult and could diminish the immersion and sense of presence when it comes to 3D virtual environment tasks. We have developed new methods to perform different kinds of interactions using a mobile device (e.g. a smartphone) both as input device, performing selection and manipulation of objects, and as output device, utilizing the screen as an extra view (virtual camera or information display). Our hypothesis is that interaction via mobile devices facilitates simple tasks like the ones described within immersive virtual reality systems. We present here our initial implementation and result. © 2013 IEEE.

Finding Optimal Independent Grasp Regions of Parallel Manipulators with Additional Applications for Limbed Robot Mobility

Data.gov (United States)

National Aeronautics and Space Administration — For the problem of robotic manipulation, wherein a robotic manipulator interacts with objects or its environment using an end-effector (gripper), there have been...

A New Omni-Directional EMAT for Ultrasonic Lamb Wave Tomography Imaging of Metallic Plate Defects

Directory of Open Access Journals (Sweden)

Songling Huang

2014-02-01

Full Text Available This paper proposes a new omni-directional electromagnetic acoustic transducer (EMAT for the ultrasonic Lamb wave (ULW tomography imaging (TI of defects in metallic plates. The proposed EMAT is composed of a permanent magnet and a coil with a contra-flexure structure. This new EMAT coil structure is used for omni-directional ULW transmission and reception and ULW TI for the first time. The theoretical background and the working principles of this EMAT are presented and analyzed. The experimental results of its use on a 3 mm thick aluminum plate indicate that the EMAT with a contra-flexure coil (CFC can transmit and receive a pure single A0 mode ULW with a high signal-to-noise ratio (SNR. Thus, the extraction of the projection data used for ULW TI may be performed accurately. The circumferential consistency of the projection data is only slightly influenced by the distortion of the eddy current field that is induced by the new CFC with an irregular shape. When the new EMAT array is used for ULW TI using the cross-hole method and SIRT arithmetic, a desirable imaging quality can be achieved, and the estimated size of an artificial corrosion defect agreed well with its actual value. The relation between the reconstruction resolution and the number of the new EMATs used is analyzed. More TI experiments are carried out when the aluminum plate defect is in two different locations relative to the EMAT array, for the further investigation of the performances of the new EMATs.

Omnidirectional mirror based on Bragg stacks with a periodic gain-loss modulation

International Nuclear Information System (INIS)

Manzanares-Martinez, Jesus; Ham-Rodriguez, Carlos Ivan; Moctezuma-Enriquez, Damian; Manzanares-Martinez, Betsabe

2014-01-01

In this work we demonstrate that a Bragg Stack with a periodic gain-loss modulation can function as an Omnidirectional Mirror (OM) with complete reflection at any angle of incidence irrespective of the light polarization. The Bragg Stack is composed by the periodic variation of two layers with the same value of the real part of the refractive index (n r ) and a periodic modulation in the imaginary part (n i ). The origin of the band gaps is due to the interference of complex waves with propagating and evanescent fields in each layer. It is found that the band gaps are wider as the contrast n i /n r increases. We have found the ambient conditions to obtain an OM considering an auxiliary medium n ′ external to the Bragg Stack

Mechanical accessories for mobile teleoperators

International Nuclear Information System (INIS)

Feldman, M.J.; Herndon, J.N.

1985-01-01

The choice of optimum mechanical accessories for mobile teleoperators involves matching the criteria for emergency response with the available technology. This paper presents a general background to teleoperations, a potpourri of the manipulator systems available, and an argument for force reflecting manipulation. The theme presented is that the accomplishment of humanlike endeavors in hostile environments will be most successful when man model capabilities are utilized. The application of recent electronic technology to manipulator development has made new tools available to be applied to emergency response activities. The development activities described are products of the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory. 13 refs., 7 figs

Robust Redundant Input Reliable Tracking Control for Omnidirectional Rehabilitative Training Walker

Directory of Open Access Journals (Sweden)

Ping Sun

2014-01-01

Full Text Available The problem of robust reliable tracking control on the omnidirectional rehabilitative training walker is examined. The new nonlinear redundant input method is proposed when one wheel actuator fault occurs. The aim of the study is to design an asymptotically stable controller that can guarantee the safety of the user and ensure tracking on a training path planned by a physical therapist. The redundant degrees of freedom safety control and the asymptotically zero state detectable concept of the walker are presented, the model of redundant degree is constructed, and the property of center of gravity constant shift is obtained. A controller that can satisfy asymptotic stability is obtained using a common Lyapunov function for admissible uncertainties resulting from an actuator fault. Simulation results confirm the effectiveness of the proposed method and verify that the walker can provide safe sequential motion when one wheel actuator is at fault.

Tunable omnidirectional absorber and mode splitter based on semiconductor photonic crystal

International Nuclear Information System (INIS)

Ding, Guo-Wen; Liu, Shao-Bin; Zhang, Hai-Feng; Kong, Xiang-Kun; Li, Hai-Ming

2015-01-01

In this paper, the properties of one-dimensional (1D) photonic crystals (PCs) composed of the semiconductor (GaAs) and dielectric layers are theoretically investigated by the transfer matrix method (TMM). The absorption of semiconductor layers is investigated theoretically. Due to the magneto-optical Voigt effect, the dielectric constant of the semiconductor is modified differently in different modes and frequency ranges. If the frequency range of the incident wave is larger than the plasma frequency, TE and TM modes of the incident wave will be absorbed in a wide incident angle. TM wave will be absorbed but TE wave will be reflected while the frequency range is less than the plasma frequency. The absorption of semiconductor can also be tuned by varying the external magnetic field. The proposed PCs have a reconfigurable application to design a tunable omnidirectional absorber and mode splitter at same time

A Multi-purpose Rescue Vehicle and a human–robot interface architecture for remote assistance in ITER

International Nuclear Information System (INIS)

Soares, João; Vale, Alberto; Ventura, Rodrigo

2015-01-01

Highlights: • Design of an omnidirectional vehicle equipped with cameras and laser range finders. • Two robotic manipulators that slide over the vehicle's body to perform independent tasks. • Architecture to connect the control system, communication, power, navigation and HMI. • An immersive interface HMI with augmented reality features with head mounted display. - Abstract: The remote handling (RH) plays an important role in nuclear test facilities, such as in ITER, for in-vessel and ex-vessel maintenance operations. Unexpected situations may occur when RH devices fail. Since no human being is allowed during the RH operations, a Multi-purpose Rescue Vehicle (MPRV) must be required for providing support in site. This paper proposes a design of a MPRV, i.e., a mobile platform equipped with different sensors and two manipulators with different sets of end-effectors. A human–machine interface is also proposed to remotely operate the MPRV and to carry out rescue and recovery operations.

A Multi-purpose Rescue Vehicle and a human–robot interface architecture for remote assistance in ITER

Energy Technology Data Exchange (ETDEWEB)

Soares, João [Instituto Superior Técnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal); Vale, Alberto, E-mail: avale@ipfn.tecnico.ulisboa.pt [Instituto de Plasmas e Fusão Nuclear, Instituto SuperiorTécnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal); Ventura, Rodrigo, E-mail: rodrigo.ventura@isr.tecnico.ulisboa.pt [Laboratório de Robótica e Sistemas em Engenharia eCiência, Instituto Superior Técnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal)

2015-10-15

Highlights: • Design of an omnidirectional vehicle equipped with cameras and laser range finders. • Two robotic manipulators that slide over the vehicle's body to perform independent tasks. • Architecture to connect the control system, communication, power, navigation and HMI. • An immersive interface HMI with augmented reality features with head mounted display. - Abstract: The remote handling (RH) plays an important role in nuclear test facilities, such as in ITER, for in-vessel and ex-vessel maintenance operations. Unexpected situations may occur when RH devices fail. Since no human being is allowed during the RH operations, a Multi-purpose Rescue Vehicle (MPRV) must be required for providing support in site. This paper proposes a design of a MPRV, i.e., a mobile platform equipped with different sensors and two manipulators with different sets of end-effectors. A human–machine interface is also proposed to remotely operate the MPRV and to carry out rescue and recovery operations.

Omnidirectional mirror based on Bragg stacks with a periodic gain-loss modulation

Energy Technology Data Exchange (ETDEWEB)

Manzanares-Martinez, Jesus; Ham-Rodriguez, Carlos Ivan [Departamento de Investigacion en Fisica, Universidad de Sonora, Apartado Postal 5-088, Hermosillo, Sonora 83000 (Mexico); Moctezuma-Enriquez, Damian, E-mail: foxonicos@gmail.com [Centro de Investigacion en Materiales Avanzados (CIMAV), Miguel de Cervantes 120, Chihuahua 31109 (Mexico); Manzanares-Martinez, Betsabe [Departamento de Fisica, Universidad de Sonora, Blvd. Luis Encinas y Rosales, Hermosillo, Sonora 83000 (Mexico)

2014-01-15

In this work we demonstrate that a Bragg Stack with a periodic gain-loss modulation can function as an Omnidirectional Mirror (OM) with complete reflection at any angle of incidence irrespective of the light polarization. The Bragg Stack is composed by the periodic variation of two layers with the same value of the real part of the refractive index (n{sub r}) and a periodic modulation in the imaginary part (n{sub i}). The origin of the band gaps is due to the interference of complex waves with propagating and evanescent fields in each layer. It is found that the band gaps are wider as the contrast n{sub i}/n{sub r} increases. We have found the ambient conditions to obtain an OM considering an auxiliary medium n{sup ′} external to the Bragg Stack.

High degree-of-freedom dynamic manipulation

Science.gov (United States)

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

2012-06-01

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

Control Suite and Teleoperator Interface for Whole-Body Mobile Manipulators, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Robots that can move about in terrestrial environments and manipulate large and small objects serve a critical role in NASA's Moon/Mars initiative. Such systems will...

The role of random nanostructures for the omnidirectional anti-reflection properties of the glasswing butterfly

Science.gov (United States)

Siddique, Radwanul Hasan; Gomard, Guillaume; Hölscher, Hendrik

2015-04-01

The glasswing butterfly (Greta oto) has, as its name suggests, transparent wings with remarkable low haze and reflectance over the whole visible spectral range even for large view angles of 80°. This omnidirectional anti-reflection behaviour is caused by small nanopillars covering the transparent regions of its wings. In difference to other anti-reflection coatings found in nature, these pillars are irregularly arranged and feature a random height and width distribution. Here we simulate the optical properties with the effective medium theory and transfer matrix method and show that the random height distribution of pillars significantly reduces the reflection not only for normal incidence but also for high view angles.

Omnidirectional Wheel-Legged Hybrid Mobile Robot

Directory of Open Access Journals (Sweden)

István Vilikó

2015-06-01

Full Text Available The purpose of developing hybrid locomotion systems is to merge the advantages and to eliminate the disadvantages of different type of locomotion. The proposed solution combines wheeled and legged locomotion methods. This paper presents the mechatronic design approach and the development stages of the prototype.

Lightweight robotic mobility: template-based modeling for dynamics and controls using ADAMS/car and MATLAB

Science.gov (United States)

Adamczyk, Peter G.; Gorsich, David J.; Hudas, Greg R.; Overholt, James

2003-09-01

The U.S. Army is seeking to develop autonomous off-road mobile robots to perform tasks in the field such as supply delivery and reconnaissance in dangerous territory. A key problem to be solved with these robots is off-road mobility, to ensure that the robots can accomplish their tasks without loss or damage. We have developed a computer model of one such concept robot, the small-scale "T-1" omnidirectional vehicle (ODV), to study the effects of different control strategies on the robot's mobility in off-road settings. We built the dynamic model in ADAMS/Car and the control system in Matlab/Simulink. This paper presents the template-based method used to construct the ADAMS model of the T-1 ODV. It discusses the strengths and weaknesses of ADAMS/Car software in such an application, and describes the benefits and challenges of the approach as a whole. The paper also addresses effective linking of ADAMS/Car and Matlab for complete control system development. Finally, this paper includes a section describing the extension of the T-1 templates to other similar ODV concepts for rapid development.

Advantage of redundancy in the controllability of remote handling manipulator

International Nuclear Information System (INIS)

Muhammad, Ali; Mattila, Jouni; Vilenius, Matti; Siuko, Mikko; Semeraro, Luigi

2011-01-01

To carry out a variety of remote handling operations inside the ITER divertor a Water Hydraulic MANipulator (WHMAN) and its control system have been designed and developed at Tampere University of Technology. The manipulator is installed on top of Cassette Multifunctional Mover (CMM) to assist during the cassette removal and installation operations. While CMM is designed to carry heavy components such as cassettes through the service ducts relying on positioning accuracy and repeatability, WHMAN is designed to execute a mix of remote handling operations using position trajectories and master-slave telemanipulation. WHMAN is composed of eight joints: six rotational and two translational. Since a manipulator requires only six joints to acquire the desired position and orientation in operational-space, the two additional joints of WHMAN provide the redundant degrees of mobility. This paper presents how this redundancy of WHMAN can be an advantage to optimize the execution of remote handling tasks. The paper also discusses an effective way to practically exploit the redundancy. The results show that the additional degrees of freedom can be utilized to improve the dynamic behavior of the manipulator.

Personal Safety Triggering System on Android Mobile Platform

OpenAIRE

Ramalingam, Ashokkumar; Dorairaj, Prabhu; Ramamoorthy, Saranya

2012-01-01

Introduction of Smart phones redefined the usage of mobile phones in the communication world. Smart phones are equipped with various sophisticated features such as Wi-Fi, GPS navigation, high resolution camera, touch screen with broadband access which helps the mobile phone users to keep in touch with the modern world. Many of these features are primarily integrated with the mobile operatingsystem which is out of reach to public, by which the users can’t manipulate those features. Google came...

The development of mobile robot for security application and nuclear facilities

Energy Technology Data Exchange (ETDEWEB)

Kim, B. S.; Lee, Y. B.; Choi, Y. S.; Seo, Y. C.; Park, Y. M

1999-12-01

The use of a mobile robot system in nuclear radioactive environments has the advantage of watching and inspecting the NPP safety-related equipment systematically and repairing damaged parts efficiently, thereby enhancing the safe operations of NPPs as well as reducing significantly personnel's dose rate to radioactive environment. Key technology achieved through the development of such robotic system can be used for security application and can offer new approaches to many of the tasks faced to the industry as well. The mobile robot system was composed of a mobile subsystem, a manipulator subsystem, a control subsystem, and a sensor subsystem to use in security application and nuclear radioactive environments. The mobile subsystem was adopted to synchro-drive method to improve the mobility of it. And the manipulator subsystem was developed to minimize the weight and easy to control at remote site. Finally, we developed the USB-based robot control system considering the expandability and modularity. The developed mobile robot for inspection and security was experimented for the collision avoidance and autonomous algorithm, and then it was confirmed that the mobile robot was very effective to the security application and inspection of nuclear facilities. (author)

The development of mobile robot for security application and nuclear facilities

International Nuclear Information System (INIS)

Kim, B. S.; Lee, Y. B.; Choi, Y. S.; Seo, Y. C.; Park, Y. M.

1999-12-01

The use of a mobile robot system in nuclear radioactive environments has the advantage of watching and inspecting the NPP safety-related equipment systematically and repairing damaged parts efficiently, thereby enhancing the safe operations of NPPs as well as reducing significantly personnel's dose rate to radioactive environment. Key technology achieved through the development of such robotic system can be used for security application and can offer new approaches to many of the tasks faced to the industry as well. The mobile robot system was composed of a mobile subsystem, a manipulator subsystem, a control subsystem, and a sensor subsystem to use in security application and nuclear radioactive environments. The mobile subsystem was adopted to synchro-drive method to improve the mobility of it. And the manipulator subsystem was developed to minimize the weight and easy to control at remote site. Finally, we developed the USB-based robot control system considering the expandability and modularity. The developed mobile robot for inspection and security was experimented for the collision avoidance and autonomous algorithm, and then it was confirmed that the mobile robot was very effective to the security application and inspection of nuclear facilities. (author)

Mobile robots for the nuclear industry - A 1990 status report

International Nuclear Information System (INIS)

Meieran, H.B.

1990-01-01

Mobile robots with and without manipulating arms have been available for use in radioactive environments for almost 30 yr. Their use commenced in the early 1960s with a family of mobile robots manufactured by the PAR Corporation (now the PAR division of CIMCORP). It was a tethered, two-tracked teleoperator-controlled vehicle that supported one master-slave manipulating arm. The durability of this device is continuing to be demonstrated by HERMAN, which is currently on standby availability at the Oak Ridge National Laboratory (ORNL) to respond to emergency situations by supporting mitigating actions at scenes of incidents that involve the release of radioactive material. Mobile robots are being employed in a spectrum of locations in many reactors and other nuclear installations. This paper presents the current status of the use of mobile robots in the nuclear industry and describes currently contemplated missions, with examples, that are being or will be conducted on terrestrial surfaces, underwater, in pipeline locations, and through the air

The hydrophobic and omnidirectional antireflection coating of SiO2 nanospheres with C18-TEOS

Science.gov (United States)

Hsu, Cheng-Chih; Lan, Wen-Lin; Chen, Nien-Po; Wu, Chyan-Chyi

2014-06-01

This paper demonstrates the antireflection coating of SiO2 nanospheres applied to cover glass by using the optimal spin-coating method. Because of the hydrolysis and condensation reactions between the SiO2 nanosphere antireflection (AR) coating and n-octadecyltriethoxysilane solution (C18-TEOS), the contact angle of the AR coating with hydrophobic treatment is improved approximately 38%, and the moisture-resistance remains unchanged, which preserved similar transmittance for six weeks. Furthermore, the AR coating with hydrophobic treatment exhibits approximately 3% and 7% improvement in the transmittance at normal and oblique incidence, respectively. The hydrophobic and omnidirectional AR coating with nanoscale SiO2 particles can be fabricated using the proposed simple and economical method.

GPU-based, parallel-line, omni-directional integration of measured acceleration field to obtain the 3D pressure distribution

Science.gov (United States)

Wang, Jin; Zhang, Cao; Katz, Joseph

2016-11-01

A PIV based method to reconstruct the volumetric pressure field by direct integration of the 3D material acceleration directions has been developed. Extending the 2D virtual-boundary omni-directional method (Omni2D, Liu & Katz, 2013), the new 3D parallel-line omni-directional method (Omni3D) integrates the material acceleration along parallel lines aligned in multiple directions. Their angles are set by a spherical virtual grid. The integration is parallelized on a Tesla K40c GPU, which reduced the computing time from three hours to one minute for a single realization. To validate its performance, this method is utilized to calculate the 3D pressure fields in isotropic turbulence and channel flow using the JHU DNS Databases (http://turbulence.pha.jhu.edu). Both integration of the DNS acceleration as well as acceleration from synthetic 3D particles are tested. Results are compared to other method, e.g. solution to the Pressure Poisson Equation (e.g. PPE, Ghaemi et al., 2012) with Bernoulli based Dirichlet boundary conditions, and the Omni2D method. The error in Omni3D prediction is uniformly low, and its sensitivity to acceleration errors is local. It agrees with the PPE/Bernoulli prediction away from the Dirichlet boundary. The Omni3D method is also applied to experimental data obtained using tomographic PIV, and results are correlated with deformation of a compliant wall. ONR.

The Effect of Velocity of Joint Mobilization on Corticospinal Excitability in Individuals With a History of Ankle Sprain.

Science.gov (United States)

Fisher, Beth E; Piraino, Andrew; Lee, Ya-Yun; Smith, Jo Armour; Johnson, Sean; Davenport, Todd E; Kulig, Kornelia

2016-07-01

Study Design Controlled laboratory study. Background Joint mobilization and manipulation decrease pain and improve patient function. Yet, the processes underlying these changes are not well understood. Measures of corticospinal excitability provide insight into potential mechanisms mediated by the central nervous system. Objectives To investigate the differential effects of joint mobilization and manipulation at the talocrural joint on corticospinal excitability in individuals with resolved symptoms following ankle sprain. Methods Twenty-seven participants with a history of ankle sprain were randomly assigned to the control, joint mobilization, or thrust manipulation group. The motor-evoked potential (MEP) and cortical silent period (CSP) of the tibialis anterior and gastrocnemius were obtained with transcranial magnetic stimulation at rest and during active contraction of the tibialis anterior. The slopes of MEP/CSP input/output curves and the maximal MEP/CSP values were calculated to indicate corticospinal excitability. Behavioral measures, including ankle dorsiflexion and dynamic balance, were evaluated. Results A repeated-measures analysis of variance of the MEP slope showed a significant group-by-time interaction for the tibialis anterior at rest (P = .002) and during active contraction (P = .042). After intervention, the thrust manipulation group had an increase in corticospinal excitability, while the corticospinal excitability decreased in the mobilization group. The thrust manipulation group, but not other groups, also demonstrated a significant increase in the maximal MEP amplitude of the tibialis anterior after intervention. Conclusion The findings suggest that joint manipulation and mobilization have different effects on corticospinal excitability. The increased corticospinal excitability following thrust manipulation may provide a window for physical therapists to optimize muscle recruitment and subsequently movement. The trial was registered at

Management of chronic ankle pain using joint mobilization and ASTYM® treatment: a case report

OpenAIRE

Slaven, Emily J; Mathers, Jessie

2011-01-01

Treatment of ankle sprains predominately focuses on the acute management of this condition; less emphasis is placed on the treatment of ankle sprains in the chronic phase of recovery. Manual therapy, in the form of joint mobilization and manipulation, has been shown to be effective in the management of this condition, but the combination of joint mobilization and manipulation in tandem with ASTYM® treatment has not been explored. The purpose of this case report is to chronicle the management ...

Omni-directional reflectors for deep blue LED using symmetric autocloning method

Science.gov (United States)

Chen, Sheng-Hui; Chen, Chun-Ko; Huang, Yu-Chia; Lee, Cheng-Chung

2013-03-01

Omni-directional reflectors (ODRs) for deep blue LED were designed and fabricated using symmetric autocloning method. The symmetric stack multi-layers for the reflectors were designed by finite-difference time-domain simulation. The fabricating process of ODR is combined with the techniques of anodic aluminum oxide (AAO) process and autocloning method. The two-dimensional structure template of nano-channel array was grown using AAO with the period of 150 nm. Then the shaping layer was deposited on the AAO template by evaporation deposition. Besides, the ion etching was applied to modify the apex angle to the triangle shape at 100°. Finally, the sub/(0.5TiO2 SiO2 0.5TiO2)8 multi-layer stack was deposited on the shaping layer using autocloning method to achieve the ODR. The results show the reflective spectra of ODR at the incident angles of 0, 30, 45, and 60° had high values within the range 400-450 nm. Besides, the central wavelength shifting is not obvious which is very good for keeping the color of LED stable.

Uranium Mobility During In Situ Redox Manipulation of the 100 Areas of the Hanford Site

International Nuclear Information System (INIS)

Resch, C.T.; Szecsody, J.E.; Fruchter, J.S.; Cantrell, K.J.; Krupka, K.M.; Williams, M.D.

1998-01-01

A series of laboratory experiments and computer simulations was conducted to assess the extent of uranium remobilization that is likely to occur at the end of the life cycle of an in situ sediment reduction process. The process is being tested for subsurface remediation of chromate- and chlorinated solvent-contaminated sediments at the Hanford Site in southeastern Washington. Uranium species that occur naturally in the +6 valence state ∼(VI) at 10 ppb in groundwater at Hanford will accumulate as U(N) through the reduction and subsequent precipitation conditions of the permeable barrier created by in situ redox manipulation. The precipitated uranium will W remobilized when the reductive capacity of the barrier is exhausted and the sediment is oxidized by the groundwater containing dissolved oxygen and other oxidants such as chromate. Although U(N) accumulates from years or decades of reduction/precipitation within the reduced zone, U(W) concentrations in solution are only somewhat elevated during aquifer oxidation because oxidation and dissolution reactions that release U(N) precipitate to solution are slow. The release rate of uranium into solution was found to be controlled mainly by the oxidation/dissolution rate of the U(IV) precipitate (half-life 200 hours) and partially by the fast oxidation of adsorbed Fe(II) (half- life 5 hours) and the slow oxidation of Fe(II)CO 3 (half-life 120 hours) in the reduced sediment. Simulations of uranium transport that incorporated these and other reactions under site-relevant conditions indicated that 35 ppb U(VI) is the maximum concentration likely to result from mobilization of the precipitated U(IV) species. Experiments also indicated that increasing the contact time between the U(IV) precipitates and the reduced sediment, which is likely to occur in the field, results in a slower U(IV) oxidation rate, which, in turn, would lower the maximum concentration of mobilized U(W). A six-month-long column experiment confirmed that

Mobile robotics research at Sandia National Laboratories

Energy Technology Data Exchange (ETDEWEB)

Morse, W.D.

1998-09-01

Sandia is a National Security Laboratory providing scientific and engineering solutions to meet national needs for both government and industry. As part of this mission, the Intelligent Systems and Robotics Center conducts research and development in robotics and intelligent machine technologies. An overview of Sandia`s mobile robotics research is provided. Recent achievements and future directions in the areas of coordinated mobile manipulation, small smart machines, world modeling, and special application robots are presented.

Management of chronic ankle pain using joint mobilization and ASTYM® treatment: a case report.

Science.gov (United States)

Slaven, Emily J; Mathers, Jessie

2011-05-01

Treatment of ankle sprains predominately focuses on the acute management of this condition; less emphasis is placed on the treatment of ankle sprains in the chronic phase of recovery. Manual therapy, in the form of joint mobilization and manipulation, has been shown to be effective in the management of this condition, but the combination of joint mobilization and manipulation in tandem with ASTYM® treatment has not been explored. The purpose of this case report is to chronicle the management of a patient with chronic ankle pain who was treated with manual therapy including manipulation and ASTYM treatment. As a result of a fall down stairs 6 months previously, the patient sustained a severe ankle sprain. The soft tissue damage was accompanied by bony disruptions which warranted the patient spending 3 weeks in a walking boot. At the initial evaluation, the patient reported difficulty with descending stairs reciprocally and not being able to run more than 4 minutes on the treadmill before the pain escalated to the level that she had to stop running. After five sessions of therapy consisting of joint mobilization, manipulation and ASTYM, the patient was able to descend stairs and run 40 minutes without pain.

Spin Injection, Manipulation, and Detection, in InAs Nanodevices

Science.gov (United States)

Jones, G. M.; Jonker, B. T.; Bennett, B. R.; Meyer, J. R.; Twigg, M. E.; Reinecke, T. L.; Park, D.; Pereverzev, S. V.; Badescu, C. S.; Li, C. H.; Hanbicki, A. T.; van'terve, O.; Vurgaftman, I.

2008-03-01

In this talk the authors will discuss their progress using InAs heterostructures to produce spin-polarized injection and detection, as well as manipulation of coherent spin-polarized electrons for a spin-based FET (SpinFET). High-quality n-type InAs heterostructures demonstrate many favorable characteristics necessary to the study of spin dynamics, including 2DEG's with small effective mass (m* = 0.023) and large g-factor (g = -15). Previously, high-mobility InAs heterostructures have been demonstrated in which electrons pass ballistically over hundreds of nanometers up to room temperature. Our devices seek to exploit the strong Spin-Orbit effect present in InAs to manipulate coherent spin-polarized electrons during transport, by producing perpendicular electric field using isolated top-gates fabricated over the electron transport region.

Contention aware mobility prediction routing for intermittently connected mobile networks

KAUST Repository

Elwhishi, Ahmed; Ho, Pin-Han; Shihada, Basem

2013-01-01

This paper introduces a novel multi-copy routing protocol, called predict and forward (PF), for delay tolerant networks, which aims to explore the possibility of using mobile nodes as message carriers for end-to-end delivery of the messages. With PF, the message forwarding decision is made by manipulating the probability distribution of future inter-contact and contact durations based on the network status, including wireless link condition and nodal buffer availability. In particular, PF is based on the observations that the node mobility behavior is semi-deterministic and could be predicted once there is sufficient mobility history information. We implemented the proposed protocol and compared it with a number of existing encounter-based routing approaches in terms of delivery delay, delivery ratio, and the number of transmissions required for message delivery. The simulation results show that PF outperforms all the counterpart multi-copy encounter-based routing protocols considered in the study.

Contention aware mobility prediction routing for intermittently connected mobile networks

KAUST Repository

Elwhishi, Ahmed

2013-04-26

This paper introduces a novel multi-copy routing protocol, called predict and forward (PF), for delay tolerant networks, which aims to explore the possibility of using mobile nodes as message carriers for end-to-end delivery of the messages. With PF, the message forwarding decision is made by manipulating the probability distribution of future inter-contact and contact durations based on the network status, including wireless link condition and nodal buffer availability. In particular, PF is based on the observations that the node mobility behavior is semi-deterministic and could be predicted once there is sufficient mobility history information. We implemented the proposed protocol and compared it with a number of existing encounter-based routing approaches in terms of delivery delay, delivery ratio, and the number of transmissions required for message delivery. The simulation results show that PF outperforms all the counterpart multi-copy encounter-based routing protocols considered in the study.

Path tracking control of an omni-directional walker considering pressures from a user.

Science.gov (United States)

Tan, Renpeng; Wang, Shuoyu; Jiang, Yinlai; Ishida, Kenji; Fujie, Masakatsu G

2013-01-01

An omni-directional walker (ODW) is being developed to support the people with walking disabilities to do walking rehabilitation. The training paths, which the user follows in the rehabilitation, are defined by physical therapists and stored in the ODW. In order to obtain a good training effect, the defined training paths need to be performed accurately. However, the ODW deviates from the training path in real rehabilitation, which is caused by the variation of the whole system's parameters due to the force from the user. In this paper, the characteristics of pressures from a user are measured, based on which an adaptive controller is proposed to deal with this problem, and validated in an experiment in which a pseudo handicapped person follows the ODW. The experimental results show that the proposed method can control the ODW to accurately follow the defined path with or without a user.

Estimation of Road Vehicle Speed Using Two Omnidirectional Microphones: A Maximum Likelihood Approach

Directory of Open Access Journals (Sweden)

López-Valcarce Roberto

2004-01-01

Full Text Available We address the problem of estimating the speed of a road vehicle from its acoustic signature, recorded by a pair of omnidirectional microphones located next to the road. This choice of sensors is motivated by their nonintrusive nature as well as low installation and maintenance costs. A novel estimation technique is proposed, which is based on the maximum likelihood principle. It directly estimates car speed without any assumptions on the acoustic signal emitted by the vehicle. This has the advantages of bypassing troublesome intermediate delay estimation steps as well as eliminating the need for an accurate yet general enough acoustic traffic model. An analysis of the estimate for narrowband and broadband sources is provided and verified with computer simulations. The estimation algorithm uses a bank of modified crosscorrelators and therefore it is well suited to DSP implementation, performing well with preliminary field data.

Flexible Hilbert-Curve Loop Antenna Having a Triple-Band and Omnidirectional Pattern for WLAN/WiMAX Applications

Directory of Open Access Journals (Sweden)

Dang-Oh Kim

2012-01-01

Full Text Available A triple-band flexible loop antenna is proposed for WLAN/WiMAX applications in this paper. The proposed antenna is formed by the third-order Hilbert-curve and bending type structure which provides flexible characteristics. Even though the radius of the curvature for bending antennas is changed, a triple-band feature still remains in the proposed antenna. Moreover, the antenna exhibits the characteristics of omnidirectional radiation pattern and circular polarization. To verify the receiving performance of antenna, a simulation on the antenna factor was conducted by an EM simulator. Based on these results, the suggested antenna makes a noteworthy performance over typical loop antennas.

Ultra-High Resolution Ion Mobility Separations Utilizing Traveling Waves in a 13 m Serpentine Path Length Structures for Lossless Ion Manipulations Module

Energy Technology Data Exchange (ETDEWEB)

Deng, Liulin; Ibrahim, Yehia M.; Hamid, Ahmed M.; Garimella, Sandilya V. B.; Webb, Ian K.; Zheng, Xueyun; Prost, Spencer A.; Sandoval, Jeremy A.; Norheim, Randolph V.; Anderson, Gordon A.; Tolmachev, Aleksey V.; Baker, Erin S.; Smith, Richard D.

2016-09-20

We report the development and initial evaluation of a 13-m path length Structures for Lossless Manipulations (SLIM) module for achieving high resolution separations using traveling waves (TW) with ion mobility (IM) spectrometry. The TW SLIM module was fabricated using two mirror-image printed circuit boards with appropriately configured RF, DC and TW electrodes and positioned with a 2.75-mm inter-surface gap. Ions were effective confined between the surfaces by RF-generated pseudopotential fields and moved losslessly through a serpentine path including 44 “U” turns using TWs. The ion mobility resolution was characterized at different pressures, gaps between the SLIM surfaces, TW and RF parameters. After initial optimization the SLIM IM-MS module provided about 5-fold higher resolution separations than present commercially available drift tube or traveling wave IM-MS platforms. Peak capacity and peak generation rates achieved were 246 and 370 s-1, respectively, at a TW speed of 148 m/s. The high resolution achieved in the TW SLIM IM-MS enabled e.g., isomeric sugars (Lacto-N-fucopentaose I and Lacto-N-fucopentaose II) to be baseline resolved, and peptides from a albumin tryptic digest much better resolved than with existing commercial IM-MS platforms. The present work also provides a foundation for the development of much higher resolution SLIM devices based upon both considerably longer path lengths and multi-pass designs.

Environmental hardening of a mobile-manipulator system for nuclear environments

International Nuclear Information System (INIS)

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

1993-01-01

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

A secure wireless mobile-to-server link

Science.gov (United States)

Kumar, Abhinav; Akopian, David; Agaian, Sos; Creutzburg, Reiner

2009-02-01

Modern mobile devices are some of the most technologically advanced devices that people use on a daily basis and the current trends indicate continuous growth in mobile phone applications. Nowadays phones are equipped with cameras that can capture still images and video, they are equipped with software that can read, convert, manipulate, communicate and save multimedia in multiple formats. This tremendous progress increased the volumes of communicated sensitive information which should be protected against unauthorized access. This paper discusses two general approaches for data protection, steganography and cryptography, and demonstrates how to integrate such algorithms with a mobile-toserver link being used by many applications.

Thermally tunable broadband omnidirectional and polarization-independent super absorber using phase change material VO2

Directory of Open Access Journals (Sweden)

Zhejun Liu

Full Text Available In this letter, we numerically demonstrate a thermally tunable super absorber by using phase change material VO2 as absorbing layer in metal-insulator-metal structure. An omnidirectional super absorption at λ=2.56μm can be realized by heating the patterned grating VO2 film due to magnetic resonance mechanism. Furthermore, a broadband super absorption higher than 0.8 in the entire 1.6μm–4μm region is achieved when VO2 film is patterned chessboard structure and transformed to metal phase beyond transition temperature. This broadband super absorption can be fulfilled in a wide range of incident angle (0°–70° and under all polarization conditions. Keywords: Phase change material, Metal-insulator-metal, Super absorption, Magnetic resonance

Optimal wireless receiver structure for omnidirectional inductive power transmission to biomedical implants.

Science.gov (United States)

Gougheri, Hesam Sadeghi; Kiani, Mehdi

2016-08-01

In order to achieve omnidirectional inductive power transmission to biomedical implants, the use of several orthogonal coils in the receiver side (Rx) has been proposed in the past. In this paper, the optimal Rx structure for connecting three orthogonal Rx coils and the power management is found to achieve the maximum power delivered to the load (PDL) in the presence of any Rx coil tilting. Unlike previous works, in which a separate power management has been used for each coil to deliver power to the load, different resonant Rx structures for connecting three Rx coils to a single power management are studied. In simulations, connecting three Rx coils with the diameters of 3 mm, 3.3 mm, and 3.6 mm in series and resonating them with a single capacitor at the operation frequency of 100 MHz led to the maximum PDL for large loads when the implant was tilted for 45o. This optimal Rx structure achieves higher PDL in worst-case scenarios as well as reduces the number of power managements to only one.

Scheduling a Single Mobile Robot Incorporated into Production Environment

DEFF Research Database (Denmark)

Dang, Vinh Quang; Nielsen, Izabela Ewa; Steger-Jensen, Kenn

2013-01-01

to the challenges of issues such as energy conservation and pollution preventions. Facing the central tension between manufacturing and environmental drivers is difficult, but critical to develop new technologies, particularly mobile robots, that can be incorporated into production to achieve holistic solutions....... This chapter deals with the problem of finding optimal operating sequence in a manufacturing cell of a mobile robot with manipulation arm that feeds materials to feeders. The “Bartender Concept” is discussed to show the cooperation between the mobile robot and industrial environment. The performance criterion...

Augmented reality as a design tool for mobile interfaces

DEFF Research Database (Denmark)

Bertelsen, Olav Wedege; Nielsen, Christina

2000-01-01

applications derived from the classification of augmented reality interfaces. The focus on physical interaction with objects of work and with the mobile device provides us with a range of interaction styles, based on e.g. gestures and manipulation of objects. Furthermore, issues of transparency and directness......This paper challenges user interface paradigms for mobile devices, by using the technical classification of augmented reality interfaces as a thinking tool to develop ideas for interaction with mobile devices. The paper presents future work scenarios from a wastewater treatment plant embodying PDA...... are addressed. The future scenarios indicate that the concepts of augmented reality support solving context problems in mobile design....

Structural Synthesis of 3-DoF Spatial Fully Parallel Manipulators

Directory of Open Access Journals (Sweden)

Alfonso Hernandez

2014-07-01

Full Text Available In this paper, the architectures of three degrees of freedom (3-DoF spatial, fully parallel manipulators (PMs, whose limbs are structurally identical, are obtained systematically. To do this, the methodology followed makes use of the concepts of the displacement group theory of rigid body motion. This theory works with so-called ‘motion generators’. That is, every limb is a kinematic chain that produces a certain type of displacement in the mobile platform or end-effector. The laws of group algebra will determine the actual motion pattern of the end-effector. The structural synthesis is a combinatorial process of different kinematic chains’ topologies employed in order to get all of the 3-DoF motion pattern possibilities in the end-effector of the fully parallel manipulator.

Experimental validation of tip over stability of a tracked mobile manipulator

CSIR Research Space (South Africa)

Dube, C

2013-09-01

Full Text Available hanging wall (roof has to be inspected for loose rock that could potentially fall and cause injuries. This inspection is typically performed by a miner who is in constant danger while performing the task. The aim of the MSP project is to remove the miner... form danger by sending in a robot to perform the post-blast inspection. The platform will explore and create a map of the mine stope and it’s manipulator will then perform inspections of the hanging wall. An iRobot PackBot510 robot is currently being...

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

Directory of Open Access Journals (Sweden)

Mohamed J. Bakari

2008-11-01

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

Mobile teleoperator research at Savannah River Laboratory

International Nuclear Information System (INIS)

Byrd, J.S.

1985-01-01

A Robotics Technology Group was organized at Savannah River Laboratory to employ modern automation and robotics for applications at the Savannah River site. Several industrial robots have been installed in plant processes. Other robotics systems are under development in the laboratories, including mobile teleoperators for general remote tasks and emergency response operations. This paper discusses present work on a low-cost wheeled mobile vehicle, a modular light duty manipulator arm, a large gantry telerobot system, and a high technology six-legged walking robot with a teleoperated arm

Magnetic tagging of cell-derived microparticles: new prospects for imaging and manipulation of these mediators of biological information.

Science.gov (United States)

Vats, Nidhi; Wilhelm, Claire; Rautou, Pierre-Emmanuel; Poirier-Quinot, Marie; Péchoux, Christine; Devue, Cécile; Boulanger, Chantal M; Gazeau, Florence

2010-07-01

Submicron membrane fragments termed microparticles (MPs), which are released by apoptotic or activated cells, are newly considered as vectors of biological information and actors of pathology development. We propose the tagging of MPs with magnetic nanoparticles as a new approach allowing imaging, manipulation and targeting of cell-derived MPs. MPs generated in vitro from human endothelial cells or isolated from atherosclerotic plaques were labeled using citrate-coated 8 nm iron-oxide nanoparticles. MPs were tagged with magnetic nanoparticles on their surface and detected as Annexin-V positive by flow cytometry. Labeled MPs could be mobilized, isolated and manipulated at a distance in a magnetic field gradient. Magnetic mobility of labeled MPs was quantified by micromagnetophoresis. Interactions of labeled MPs with endothelial cells could be triggered and modulated by magnetic guidance. Nanoparticles served as tracers at different scales: at the subcellular level by electron microscopy, at the cellular level by histology and at the macroscopic level by MRI. Magnetic labeling of biogenic MPs opens new prospects for noninvasive monitoring and distal manipulations of these biological effectors.

Cooling and manipulation of a levitated nanoparticle with an optical fiber trap

International Nuclear Information System (INIS)

Mestres, Pau; Berthelot, Johann; Spasenović, Marko; Gieseler, Jan; Novotny, Lukas; Quidant, Romain

2015-01-01

Accurate delivery of small targets in high vacuum is a pivotal task in many branches of science and technology. Beyond the different strategies developed for atoms, proteins, macroscopic clusters, and pellets, the manipulation of neutral particles over macroscopic distances still poses a formidable challenge. Here, we report an approach based on a mobile optical trap operated under feedback control that enables cooling and long range 3D manipulation of a silica nanoparticle in high vacuum. We apply this technique to load a single nanoparticle into a high-finesse optical cavity through a load-lock vacuum system. We foresee our scheme to benefit the field of optomechanics with levitating nano-objects as well as ultrasensitive detection and monitoring

Grasping and Placing Operation for Labware Transportation in Life Science Laboratories using Mobile Robots

Directory of Open Access Journals (Sweden)

Mohammed Myasar Ali

2017-07-01

Full Text Available In automated working environments, mobile robots can be used for different purposes such as material handling, domestic services, and objects transportation. This work presents a grasping and placing operation for multiple labware and tube racks in life science laboratories using the H20 mobile robots. The H20 robot has dual arms where each arm consists of 6 revolute joints with 6-DOF and 2-DOF grippers. The labware, which have to be manipulated and transported, contain chemical and biological components. Therefore, an accurate approach for object recognition and position estimation is required. The recognition and pose estimation of the desired objects are very essential to guide the robotic arm in the manipulation tasks. In this work, the problem statement of H20 transportation system with the proposed methodology are presented. Different strategies (visual and non-visual of labware manipulation using mobile robots are described. The H20 robot is equipped with a Kinect V2 sensor to identify and estimate the position of the target. The local features recognition based on SURF algorithm (Speeded-Up Robust Features is used. The recognition process is performed for the required labware and holder to perform the grasping and placing operation. A strategy is proposed to find the required holder and to check its emptiness for the placing tasks. Different styles of grippers and labware containers are used to manipulate different weights of labware and to realize a safe transportation. The parts of mobile robot transportation system are communicated with each other using Asynchronous socket Channels.

Compression Ratio Ion Mobility Programming (CRIMP) Accumulation and Compression of Billions of Ions for Ion Mobility-Mass Spectrometry Using Traveling Waves in Structures for Lossless Ion Manipulations (SLIM)

Energy Technology Data Exchange (ETDEWEB)

Deng, Liulin; Garimella, Venkata BS; Hamid, Ahmed M.; Webb, Ian K.; Attah, Isaac K.; Norheim, Randolph V.; Prost, Spencer A.; Zheng, Xueyun; Sandoval, Jeremy A.; Baker, Erin M.; Ibrahim, Yehia M.; Smith, Richard D.

2017-05-25

We report on the implementation of a traveling wave (TW) based compression ratio ion mobility programming (CRIMP) approach within Structures for Lossless Ion Manipulations (SLIM) that enables both greatly enlarged trapped ion charge capacities and also their subsequent efficient compression for use in ion mobility (IM) separations. Ion accumulation is conducted in a long serpentine path TW SLIM region after which CRIMP allows the large ion populations to be ‘squeezed’. The compression process occurs at an interface between two SLIM regions, one operating conventionally and the second having an intermittently pausing or ‘stuttering’ TW, allowing the contents of multiple bins of ions from the first region to be merged into a single bin in the second region. In this initial work stationary voltages in the second region were used to block ions from exiting the first (trapping) region, and the resumption of TWs in the second region allows ions to exit, and the population to also be compressed if CRIMP is applied. In our initial evaluation we show that the number of charges trapped for a 40 s accumulation period was ~5×109, more than two orders of magnitude greater than the previously reported charge capacity using an ion funnel trap. We also show that over 1×109 ions can be accumulated with high efficiency in the present device, and that the extent of subsequent compression is only limited by the space charge capacity of the trapping region. Lower compression ratios allow increased IM peak heights without significant loss of signal, while excessively large compression ratios can lead to ion losses and other artifacts. Importantly, we show that extended ion accumulation in conjunction with CRIMP and multiple passes provides the basis for a highly desirable combination of ultra-high sensitivity and ultra-high resolution IM separations using SLIM.

Electrolytic Manipulation of Persulfate Reactivity by Iron Electrodes for TCE Degradation in Groundwater

Science.gov (United States)

Yuan, Songhu; Liao, Peng; Alshawabkeh, Akram N.

2014-01-01

Activated persulfate oxidation is an effective in situ chemical oxidation process for groundwater remediation. However, reactivity of persulfate is difficult to manipulate or control in the subsurface causing activation before reaching the contaminated zone and leading to a loss of chemicals. Furthermore, mobilization of heavy metals by the process is a potential risk. An effective approach using iron electrodes is thus developed to manipulate the reactivity of persulfate in situ for trichloroethylene (TCE) degradation in groundwater, and to limit heavy metals mobilization. TCE degradation is quantitatively accelerated or inhibited by adjusting the current applied to the iron electrode, following k1 = 0.00053•Iv + 0.059 (−122 A/m3 ≤ Iv ≤ 244 A/m3) where k1 and Iv are the pseudo first-order rate constant (min−1) and volume normalized current (A/m3), respectively. Persulfate is mainly decomposed by Fe2+ produced from the electrochemical and chemical corrosion of iron followed by the regeneration via Fe3+ reduction on the cathode. SO4•− and •OH co-contribute to TCE degradation, but •OH contribution is more significant. Groundwater pH and oxidation-reduction potential can be restored to natural levels by the continuation of electrolysis after the disappearance of contaminants and persulfate, thus decreasing adverse impacts such as the mobility of heavy metals in the subsurface. PMID:24328192

Injury Risk Assessment of Extravehicular Mobility Unit (EMU) Phase VI and Series 4000 Gloves During Extravehicular Activity (EVA) Hand Manipulation Tasks

Science.gov (United States)

Kilby, Melissa

2015-01-01

Functional Extravehicular Mobility Units (EMUs) with high precision gloves are essential for the success of Extravehicular Activity (EVA). Previous research done at NASA has shown that total strength capabilities and performance are reduced when wearing a pressurized EMU. The goal of this project was to characterize the human-space suit glove interaction and assess the risk of injury during common EVA hand manipulation tasks, including pushing, pinching and gripping objects. A custom third generation sensor garment was designed to incorporate a combination of sensors, including force sensitive resistors, strain gauge sensors, and shear force sensors. The combination of sensors was used to measure the forces acting on the finger nails, finger pads, finger tips, as well as the knuckle joints. In addition to measuring the forces, data was collected on the temperature, humidity, skin conductance, and blood perfusion of the hands. Testing compared both the Phase VI and Series 4000 glove against an ungloved condition. The ungloved test was performed wearing the sensor garment only. The project outcomes identified critical landmarks that experienced higher workloads and are more likely to suffer injuries. These critical landmarks varied as a function of space suit glove and task performed. The results showed that less forces were acting on the hands while wearing the Phase VI glove as compared to wearing the Series 4000 glove. Based on our findings, the engineering division can utilize these methods for optimizing the current space suit glove and designing next generation gloves to prevent injuries and optimize hand mobility and comfort.

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

International Nuclear Information System (INIS)

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

1991-01-01

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

Development and Implementation of Location Based Native Mobile Application

OpenAIRE

Čović, Zlatko; Babić, Dejan

2014-01-01

This paper presents the development and implementation of a location based native mobile application for smart phones with the Android operating system. It can be used in promotion of some product or brand in the way of mobile games. The application has the administration interface (back-end) for data manipulation of users, administrators, clients and items. The system distinguishes between three levels of users: the main administrator, administrators-customers and users. The paper also descr...

Money, management, and manipulation: Environmental mobilization in the Great Lakes basin

International Nuclear Information System (INIS)

Gould, K.A.

1991-01-01

This document examines variations in the responses of communities to local pollution problems affecting Great Lakes water quality. The study is based on research conducted at six such communities, at sites that have been designated as 'Areas of Concern' by the International Joint Commission. The roles of economic dependency or diversity, access to scientific and political resources, community size, social visibility of pollution, and consciousness- and unconsciousness-making activities are examined as they relate to grass roots political mobilization in response to local, lake-related environmental issues. Of particular interest is the participation of national and regional environmental social movement organizations, Federal, State/Provincial and local governments, and local industry. National and regional environmental social movement organizations appear to have a greater mobilizing impact on communities that are closest to the urban centers in which these organizations are based. State and Provincial environmental agencies play a centrist role in promoting minimal remediation. Local governments typically oppose the definition of local environmental disorganization as a problem

Light Weight MP3 Watermarking Method for Mobile Terminals

Science.gov (United States)

Takagi, Koichi; Sakazawa, Shigeyuki; Takishima, Yasuhiro

This paper proposes a novel MP3 watermarking method which is applicable to a mobile terminal with limited computational resources. Considering that in most cases the embedded information is copyright information or metadata, which should be extracted before playing back audio contents, the watermark detection process should be executed at high speed. However, when conventional methods are used with a mobile terminal, it takes a considerable amount of time to detect a digital watermark. This paper focuses on scalefactor manipulation to enable high speed watermark embedding/detection for MP3 audio and also proposes the manipulation method which minimizes audio quality degradation adaptively. Evaluation tests showed that the proposed method is capable of embedding 3 bits/frame information without degrading audio quality and detecting it at very high speed. Finally, this paper describes application examples for authentication with a digital signature.

Emergency Based Remote Collateral Tracking System Using Google's Android Mobile Platform

OpenAIRE

Ramalingam, Ashokkumar; Dorairaj, Prabhu; Ramamoorthy, Saranya

2011-01-01

Introduction of Smart phones redefined the usage of mobile phones in the communication world. Smart phones are equipped with various sophisticated features such as Wi-Fi, GPS navigation, high resolution camera, touch screen with broadband access which helps the mobile phone users to keep in touch with the modern world. Many of these features are primarily integrated with the mobile operating system which is out of reach to public, by which the users can’t manipulate those features. Google cam...

Modular Track System For Positioning Mobile Robots

Science.gov (United States)

Miller, Jeff

1995-01-01

Conceptual system for positioning mobile robotic manipulators on large main structure includes modular tracks and ancillary structures assembled easily along with main structure. System, called "tracked robotic location system" (TROLS), originally intended for application to platforms in outer space, but TROLS concept might also prove useful on Earth; for example, to position robots in factories and warehouses. T-cross-section rail keeps mobile robot on track. Bar codes mark locations along track. Each robot equipped with bar-code-recognizing circuitry so it quickly finds way to assigned location.

Manipulators

International Nuclear Information System (INIS)

Wilcock, P.D.

1984-01-01

The patent concerns a manipulator, which enables operations to be carried out remotely from the operator. The device is suitable for use in handling of radioactive materials and other hazardous liquids or gases. The specifications are given, and the movements of the manipulator arm described. (U.K.)

Measurement X radiation > 30 KeV in the Brazilian magnetic anomaly with omnidirectional detectors

International Nuclear Information System (INIS)

Pinto Junior, O.; Gonzalez-Alarcon, W.D.; Gonzalez, A.L.C. de; Martin, I.M.; Dutra, S.L.G.; Pinto, I.R.C.A.; Pereira, A.E.C.; Senador, R.

1982-07-01

Atmospheric X-Rays measurements, with energies > 30 KeV, were performed at Sao Jose dos Campos-Brazil (23 0 S, 46 0 W Geographic) on April 14 and December 19, 1981, using omnidirectional NaI (Tl) scintillation counters on board stratospheric balloons. The main purpose of these measurements is to study the dynamics of precipitating electrons at the Brazilian Magnetic Anomaly. Studies on similar measurements during the previous decade seemed to show the existence of approximately 100 KeV precipitating electrons, possibly related to a coulomb scattering with the atmosophere. The studies on the recent measurements try not only to confirm such indications, but also to show further features of the dynamics of precipitating electrons, mainly during magnetically active time intervals. During such intervals, more energetic electrons (up to approximately 1000 KeV) also seem to precipitate, probably due to resonant wave-particle interactions at the low latitude inner magnetosphere. The collected data during the recent measurements seem to indicate the existence of such interactions. (Author) [pt

Omni-directional Particle Detector (ODPD) on Tiangong-2 Spacecraft

Science.gov (United States)

Guohong, S.; Zhang, S.; Yang, X.; Wang, C.

2017-12-01

Tiangong-2 spacecraft is the second space laboratory independently developed by china after Tiangong-1, which was launched on 15 September 2016. It is also the first real space laboratory in china, which will be used to further validate the space rendezvous and docking technology and to carry out a series of space tests. The spacecraft's orbit is 350km height and 42° inclination. The omni-directional particle detector (ODPD) on Tiangong-2 spacecraft is a new instrument developed by China. Its goal is the anisotropy and energy spectra of space particles on manned space flight orbit. The ODPD measures the energy spectra and pitch angle distributions of high energy electrons and protons. It consists of one electron spectrum telescope, one proton spectrum telescope and sixteen directional flux telescopes. The ODPD is designed to measure the protons spectrum from 2.5MeV to 150MeV, electrons spectrum from 0.2MeV to 1.5MeV, the flux of electrons energy >200keV and protons energy>1.5MeV on 2∏ space, also the ODPD has a small sensor to measure the LET spectrum from 1-100MeV/cm2sr. The primary advantage can give the particle's pitch angle distributions at any time because of the sixteen flux telescopes arrange form 0 to 180 degree. This is the first paper dealing with ODPD data, so we firstly spend some time describing the instrument, its theory of operation and its calibration. Then we give the preliminary detecting results.

Bioinspired Omnidirectional Self-Stable Reflectors with Multiscale Hierarchical Structures.

Science.gov (United States)

Han, Zhiwu; Mu, Zhengzhi; Li, Bo; Feng, Xiaoming; Wang, Ze; Zhang, Junqiu; Niu, Shichao; Ren, Luquan

2017-08-30

Structured surfaces, demonstrating various wondrous physicochemical performances, are ubiquitous phenomena in nature. Butterfly wings with impressive structural colors are an interesting example for multiscale hierarchical structures (MHSs). However, most natural structural colors are relatively unstable and highly sensitive to incident angles, which limit their potential practical applications to a certain extent. Here, we reported a bioinspired color reflector with omnidirectional reflective self-stable (ORS) properties, which is inspired by the wing scales of Papilio palinurus butterfly. Through experimental exploration and theoretical analysis, it was found that the vivid colors of such butterfly wings are structure-based and possess novel ORS properties, which attributes to the multiple optical actions between light and the complex structures coupling the inverse opal-like structures (IOSs) and stacked lamellar ridges (SLRs). On the basis of this, we designed and successfully fabricated the SiO 2 -based bioinspired color reflectors (BCRs) through a facile and effective biotemplate method. It was confirmed that the MHSs in biotemplate are inherited by the obtained SiO 2 -based BCRs. More importantly, the SiO 2 -based BCRs also demonstrated the similar ORS properties in a wide wavelength range. We forcefully anticipate that the reported MHS-based ORS performance discovered in butterfly wing scales here could offer new thoughts for scientists to solve unstable reflection issues in particular optical field. The involved biotemplate fabrication method offers a facile and effective strategy for fabricating functional nanomaterials or bioinspired nanodevices with 3D complex nanostructures, such as structured optical devices, displays, and optoelectronic equipment.

Three forms of omnidirectional acoustic invisibility engineered using fast elastodynamic transfer-matrix method

International Nuclear Information System (INIS)

Bowen, Patrick T; Urzhumov, Yaroslav A

2016-01-01

Acoustic metamaterial structures with discrete and continuous rotational symmetries attract interest of theorists and engineers due to the relative simplicity of their design and fabrication. They are also likely candidates for omnidirectional acoustic cloaking and other transformation-acoustical novelties. In this paper, we employ a stratified description of such structures, and develop the theory and an efficient symbolic/numerical algorithm for analyzing the scattering properties of such structures immersed in homogeneous fluid environments. The algorithm calculates the partial scattering amplitudes and the related scattering phases for an arbitrary layered distribution of acoustic material properties. The efficiency of the algorithm enables us to find approximate solutions to certain inverse scattering problems through quasi-global optimization. The scattering problems addressed here are the three forms of cloaking: (1) extinction cross-section suppression, the canonical form of cloaking, (2) monostatic sonar invisibility (backscattering suppression), and (3) acoustic force cloaking (transport cross-section suppression). We also address the efficiency-bandwidth tradeoff and design approximate cloaks with wider bandwidth using a new optimization formulation. (paper)

Three forms of omnidirectional acoustic invisibility engineered using fast elastodynamic transfer-matrix method

Science.gov (United States)

Bowen, Patrick T.; Urzhumov, Yaroslav A.

2016-04-01

Acoustic metamaterial structures with discrete and continuous rotational symmetries attract interest of theorists and engineers due to the relative simplicity of their design and fabrication. They are also likely candidates for omnidirectional acoustic cloaking and other transformation-acoustical novelties. In this paper, we employ a stratified description of such structures, and develop the theory and an efficient symbolic/numerical algorithm for analyzing the scattering properties of such structures immersed in homogeneous fluid environments. The algorithm calculates the partial scattering amplitudes and the related scattering phases for an arbitrary layered distribution of acoustic material properties. The efficiency of the algorithm enables us to find approximate solutions to certain inverse scattering problems through quasi-global optimization. The scattering problems addressed here are the three forms of cloaking: (1) extinction cross-section suppression, the canonical form of cloaking, (2) monostatic sonar invisibility (backscattering suppression), and (3) acoustic force cloaking (transport cross-section suppression). We also address the efficiency-bandwidth tradeoff and design approximate cloaks with wider bandwidth using a new optimization formulation.

A Knowledge Translation Programme to Increase the Utilization of Thoracic Spine Mobilization and Manipulation for Patients with Neck Pain.

Science.gov (United States)

Karas, Steve; Westerheide, Angela; Daniel, Laura

2016-06-01

There is extensive evidence that mobilization and manipulation of the thoracic spine is associated with improved outcomes in patients with neck pain. However, these evidence-based techniques are not always utilized. Successful knowledge translation programmes are needed to move the best available evidence to clinical practice. The purpose of the present research was to evaluate the effects of a structured knowledge translation programme on the frequency of manual therapy techniques performed by physical therapists on patients with neck pain. Prior to our intervention, we assessed physical therapists' use of thoracic spine intervention for the treatment of neck pain and their knowledge of the evidence. We delivered a multimodal knowledge translation programme and then reassessed their use and knowledge of the interventions. The majority of our physical therapists increased the use of thoracic spine techniques for their patients with neck pain. The increase was greater in those who used the techniques infrequently. Overall knowledge of the evidence appeared unchanged. Knowledge translation programmes are essential in ensuring clinical use of evidence-based practice. Our programme results, although on a small scale and not statistically significant, showed a positive trend toward increased thoracic spine manual therapy use for neck pain. Copyright © 2015 John Wiley & Sons, Ltd. Copyright © 2015 John Wiley & Sons, Ltd.

Predicting a clinically important outcome in patients with low back pain following McKenzie therapy or spinal manipulation

DEFF Research Database (Denmark)

Petersen, Tom; Christensen, Robin; Juhl, Carsten Bogh

2015-01-01

Background: Reports vary considerably concerning characteristics of patients who will respond to mobilizing exercises or manipulation. The objective of this prospective cohort study was to identify characteristics of patients with a changeable lumbar condition, i.e. presenting with centralization...

Moving Object Tracking and Its Application to an Indoor Dual-Robot Patrol

Directory of Open Access Journals (Sweden)

Cheng-Han Shih

2016-11-01

Full Text Available This paper presents an application of image tracking using an omnidirectional wheeled mobile robot (WMR. The objective of this study is to integrate image processing of hue, saturation, and lightness (HSL for fuzzy color space, and use mean shift tracking for object detection and a Radio Frequency Identification (RFID reader for confirming destination. Fuzzy control is applied to omnidirectional WMR for indoor patrol and intruder detection. Experimental results show that the proposed control scheme can make the WMRs perform indoor security service.

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

International Nuclear Information System (INIS)

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

1985-01-01

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

A variable geometry truss manipulator for positioning large payloads

International Nuclear Information System (INIS)

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

1995-02-01

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

Currency Manipulation versus Current Account Manipulation

OpenAIRE

Junning Cai

2005-01-01

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

Applying circuit theory for corridor expansion and management at regional scales: tiling, pinch points, and omnidirectional connectivity.

Directory of Open Access Journals (Sweden)

David Pelletier

Full Text Available Connectivity models are useful tools that improve the ability of researchers and managers to plan land use for conservation and preservation. Most connectivity models function in a point-to-point or patch-to-patch fashion, limiting their use for assessing connectivity over very large areas. In large or highly fragmented systems, there may be so many habitat patches of interest that assessing connectivity among all possible combinations is prohibitive. To overcome these conceptual and practical limitations, we hypothesized that minor adaptation of the Circuitscape model can allow the creation of omnidirectional connectivity maps illustrating flow paths and variations in the ease of travel across a large study area. We tested this hypothesis in a 24,300 km(2 study area centered on the Montérégie region near Montréal, Québec. We executed the circuit model in overlapping tiles covering the study region. Current was passed across the surface of each tile in orthogonal directions, and then the tiles were reassembled to create directional and omnidirectional maps of connectivity. The resulting mosaics provide a continuous view of connectivity in the entire study area at the full original resolution. We quantified differences between mosaics created using different tile and buffer sizes and developed a measure of the prominence of seams in mosaics formed with this approach. The mosaics clearly show variations in current flow driven by subtle aspects of landscape composition and configuration. Shown prominently in mosaics are pinch points, narrow corridors where organisms appear to be required to traverse when moving through the landscape. Using modest computational resources, these continuous, fine-scale maps of nearly unlimited size allow the identification of movement paths and barriers that affect connectivity. This effort develops a powerful new application of circuit models by pinpointing areas of importance for conservation, broadening the

Design of an autonomous mobile robot for service applications

CSIR Research Space (South Africa)

De Villiers, M

2011-02-01

Full Text Available This research project proposes the development of an autonomous, omnidirectional vehicle that will be used for general indoor service applications. A suggested trial application for this service robot will be to deliver printouts to various network...

The evolution of the application of mobile robotics to nuclear facility operations and maintenance

International Nuclear Information System (INIS)

Carlton, R.E.; Bartholet, S.J.

1987-01-01

Application of the concept of mobile robotics to the operation and maintenance of nuclear facilities has evolved over the last four years due, in part, to the efforts of Odetics in the creation of the teleoperated legged transporter. The first step in this evolutionary process was the demonstration of the legged transporter technology, which was accomplished with the design, fabrication and testing of the Odex I functionoid. A second generation ODEX, delivered to the Robotics Technology Group at Savannah River Laboratories, represents the experimental phase of the process. This machine consists of a basic ODEX I transporter body with a unique manipulator arm mounted on a service turret. Currently, the prototype phase of the mobile robotic development effort is underway with the design of the ODEX III which includes enhanced mobility and dexterity, increased intelligence and greater strength in the manipulator arm and transporter

Scalable Production of Mechanically Robust Antireflection Film for Omnidirectional Enhanced Flexible Thin Film Solar Cells.

Science.gov (United States)

Wang, Min; Ma, Pengsha; Yin, Min; Lu, Linfeng; Lin, Yinyue; Chen, Xiaoyuan; Jia, Wei; Cao, Xinmin; Chang, Paichun; Li, Dongdong

2017-09-01

Antireflection (AR) at the interface between the air and incident window material is paramount to boost the performance of photovoltaic devices. 3D nanostructures have attracted tremendous interest to reduce reflection, while the structure is vulnerable to the harsh outdoor environment. Thus the AR film with improved mechanical property is desirable in an industrial application. Herein, a scalable production of flexible AR films is proposed with microsized structures by roll-to-roll imprinting process, which possesses hydrophobic property and much improved robustness. The AR films can be potentially used for a wide range of photovoltaic devices whether based on rigid or flexible substrates. As a demonstration, the AR films are integrated with commercial Si-based triple-junction thin film solar cells. The AR film works as an effective tool to control the light travel path and utilize the light inward more efficiently by exciting hybrid optical modes, which results in a broadband and omnidirectional enhanced performance.

Posture manipulation for rescue activity via small traction robots

International Nuclear Information System (INIS)

Iwano, Yuki; Osuka, Koichi; Amano, Hisanori

2006-01-01

We discuss a conceptual design of rescue robots against nuclear-power plant accidents. We claim that the rescue robots in nuclear-power plants should have the following properties. (1) The size is small. (2) The structure is simple. (3) The number of the robots is large. This paper studies the rescue robots to rescue people in an area polluted with radioactive leakage in nuclear power institutions. In particular, we propose a rescue system which consists of a group of small mobile robots. First, small traction robots set the posture of the fainted victims to carry easily, and carry them to the safety space with the mobile robots for the stretcher composition. In this paper, we describe the produced small traction robots. And, we confirm that the robots can manipulate a 40 kg dummy doll's posture. We also examine the optimal number of robots from a perspective of working efficiency in the assumption spot. (author)

Use of JavaEE microservices in implementation of online advertisments manipulation

OpenAIRE

Andrejc, Gašper

2017-01-01

The following thesis talks about developing a complete solution for following and manipulation of online advertisements. The end product of the thesis is comprised of web application, mobile application, browser extension and a backend system. Besides the conceptual design the thesis also presents the use of JavaEE microservices and other technologies, and also argues why the selected frame is the best for such a solution. Main goal of the thesis is to provide the end user with a solution, wh...

A manipulator

International Nuclear Information System (INIS)

Cole, G.V.; Hofmann, D.A.; Ashby, R.

1984-01-01

A manipulator is described, for remote handling of objects within an enclosure, by an operator outside the enclosure. The manipulator consists of a telescopically extensible arm member, the action of which is controlled by a motor-driven lead screw. (U.K.)

Comparisons of spectral characteristics of wind noise between omnidirectional and directional microphones.

Science.gov (United States)

Chung, King

2012-06-01

Wind noise reduction is a topic of ongoing research and development for hearing aids and cochlear implants. The purposes of this study were to examine spectral characteristics of wind noise generated by directional (DIR) and omnidirectional (OMNI) microphones on different styles of hearing aids and to derive wind noise reduction strategies. Three digital hearing aids (BTE, ITE, and ITC) were fitted to Knowles Electronic Manikin for Acoustic Research. They were programmed to have linear amplification and matching frequency responses between the DIR and OMNI modes. Flow noise recordings were made from 0° to 360° azimuths at flow velocities of 4.5, 9.0, and 13.5 m/s in a quiet wind tunnel. Noise levels were analyzed in one-third octave bands from 100 to 8000 Hz. Comparison of wind noise revealed that DIR generally produced higher noise levels than OMNI for all hearing aids, but it could result in lower levels than OMNI at some frequencies and head angles. Wind noise reduction algorithms can be designed to detect noise levels of DIR and OMNI outputs in each frequency channel, remove the constraint to switch to OMNI in low-frequency channel(s) only, and adopt the microphone mode with lower noise levels to take advantage of the microphone differences.

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

International Nuclear Information System (INIS)

Whyley, S.R.

1985-01-01

The interstitial manipulator has been designed and built by Babcock Power for the remote visual inspection of AGR II reactors at Heysham and Torness. Its five drives are operated from a console local to the manipulator on the pile cap, or from a similar console located remotely. The need to operate from an interstitial ISI standpipe has restricted the size of the components entering the reactor, and this has consequently provided the major design constraint. A detailed structural assessment of the manipulator was carried out to demonstrate the ability to operate with payloads in excess of the largest camera weight of 13.6 kg. The manipulator finite element model was also used to determine static deflections, and, as a consequence, has provided data from which the control system is able to predict accurately the camera's position. Other computer aided design techniques have enabled the step by step sequences of manipulator deployment, in the restricted space available, to be successfully demonstrated. (author)

Performance of Global-Appearance Descriptors in Map Building and Localization Using Omnidirectional Vision

Directory of Open Access Journals (Sweden)

Luis Payá

2014-02-01

Full Text Available Map building and localization are two crucial abilities that autonomous robots must develop. Vision sensors have become a widespread option to solve these problems. When using this kind of sensors, the robot must extract the necessary information from the scenes to build a representation of the environment where it has to move and to estimate its position and orientation with robustness. The techniques based on the global appearance of the scenes constitute one of the possible approaches to extract this information. They consist in representing each scene using only one descriptor which gathers global information from the scene. These techniques present some advantages comparing to other classical descriptors, based on the extraction of local features. However, it is important a good configuration of the parameters to reach a compromise between computational cost and accuracy. In this paper we make an exhaustive comparison among some global appearance descriptors to solve the mapping and localization problem. With this aim, we make use of several image sets captured in indoor environments under realistic working conditions. The datasets have been collected using an omnidirectional vision sensor mounted on the robot.

Controllable Nanoscale Inverted Pyramids for High-Efficient Quasi-Omnidirectional Crystalline Silicon Solar Cells.

Science.gov (United States)

Xu, Haiyuan; Zhong, Sihua; Zhuang, Yufeng; Shen, Wenzhong

2017-11-14

Nanoscale inverted pyramid structures (NIPs) have always been regarded as one of the most paramount light management schemes to achieve the extraordinary performance in various devices, especially in solar cells, due to their outstanding antireflection ability with relative lower surface enhancement ratio. However, the current approaches to fabricating the NIPs are complicated and not cost-effective for the massive cell production in the photovoltaic industry. Here, controllable NIPs are fabricated on crystalline silicon (c-Si) wafers by Ag catalyzed chemical etching and alkaline modification, which is a preferable all-solution-processed method. Through applying the NIPs to c-Si solar cells and optimizing the cell design, we have successfully achieved highly efficient NIPs textured solar cells with the champion efficiency of 20.5%. Importantly, the NIPs textured solar cells are further demonstrated to possess the quasi-omnidirectional property over the broad sunlight incident angles of approximately 0°-60°. Moreover, the NIPs are theoretically revealed to offer light trapping advantage for ultrathin c-Si solar cells. Hence, the NIPs formed by the controllable method exhibit a great potential to be used in the future photovoltaic industry as surface texture. © 2017 IOP Publishing Ltd.

Packaging Glass with a Hierarchically Nanostructured Surface: A Universal Method to Achieve Self-Cleaning Omnidirectional Solar Cells

KAUST Repository

Lin, Chin An

2015-12-01

Fused-silica packaging glass fabricated with a hierarchical structure by integrating small (ultrathin nanorods) and large (honeycomb nanowalls) structures was demonstrated with exceptional light-harvesting solar performance, which is attributed to the subwavelength feature of the nanorods and an efficient scattering ability of the honeycomb nanowalls. Si solar cells covered with the hierarchically structured packaging glass exhibit enhanced conversion efficiency by 5.2% at normal incidence, and the enhancement went up to 46% at the incident angle of 60°. The hierarchical structured packaging glass shows excellent self-cleaning characteristics: 98.8% of the efficiency is maintained after 6 weeks of outdoor exposure, indicating that the nanostructured surface effectively repels polluting dust/particles. The presented self-cleaning omnidirectional light-harvesting design using the hierarchical structured packaging glass is a potential universal scheme for practical solar applications.

Antenna Design Considerations for the Advanced Extravehicular Mobility Unit

Science.gov (United States)

Bakula, Casey J.; Theofylaktos, Onoufrios

2015-01-01

NASA is designing an Advanced Extravehicular Mobility Unit (AEMU)to support future manned missions beyond low-Earth orbit (LEO). A key component of the AEMU is the communications assembly that allows for the wireless transfer of voice, video, and suit telemetry. The Extravehicular Mobility Unit (EMU) currently used on the International Space Station (ISS) contains a radio system with a single omni-directional resonant cavity antenna operating slightly above 400 MHz capable of transmitting and receiving data at a rate of about 125 kbps. Recent wireless communications architectures are calling for the inclusion of commercial wireless standards such as 802.11 that operate in higher frequency bands at much higher data rates. The current AEMU radio design supports a 400 MHz band for low-rate mission-critical data and a high-rate band based on commercial wireless local area network (WLAN) technology to support video, communication with non-extravehicular activity (EVA) assets such as wireless sensors and robotic assistants, and a redundant path for mission-critical EVA data. This paper recommends the replacement of the existing EMU antenna with a new antenna that maintains the performance characteristics of the current antenna but with lower weight and volume footprints. NASA has funded several firms to develop such an antenna over the past few years, and the most promising designs are variations on the basic patch antenna. This antenna technology at UHF is considered by the authors to be mature and ready for infusion into NASA AEMU technology development programs.

Manipulators in teleoperation

International Nuclear Information System (INIS)

Hamel, W.R.

1985-01-01

Teleoperated manipulators represent a mature technology which has evolved over nearly 40 years of applications experience. The wide range of manipulator concepts developed thus far reflect differing applications, priorities, and philosophies. The technology of teleoperated manipulators is in a rapid state of change (just as are industrial robotics) fueled by microelectronics and materials advances. Large strides in performance and dexterity are now practical and advantageous. Even though improved controls and sensory feedback will increase functionality, overall costs should be reduced as manipulator fabrication and assembly labor costs are reduced through improved manufacturing technology. As these advances begin to materialize, broader applications in nonnuclear areas should occur

ExTouch: Spatially-aware embodied manipulation of actuated objects mediated by augmented reality

OpenAIRE

Kasahara, Shunichi; Niiyama, Ryuma; Ishii, Hiroshi; Heun, Valentin Markus Josef

2013-01-01

As domestic robots and smart appliances become increasingly common, they require a simple, universal interface to control their motion. Such an interface must support a simple selection of a connected device, highlight its capabilities and allow for an intuitive manipulation. We propose "exTouch", an embodied spatially-aware approach to touch and control devices through an augmented reality mediated mobile interface. The "exTouch" system extends the users touchscreen interactions into the rea...

ESR paper on the proper use of mobile devices in radiology.

Science.gov (United States)

2018-04-01

Mobile devices (smartphones, tablets, etc.) have become key methods of communication, data access and data sharing for the population in the past decade. The technological capabilities of these devices have expanded very rapidly; for example, their in-built cameras have largely replaced conventional cameras. Their processing power is often sufficient to handle the large data sets of radiology studies and to manipulate images and studies directly on hand-held devices. Thus, they can be used to transmit and view radiology studies, often in locations remote from the source of the imaging data. They are not recommended for primary interpretation of radiology studies, but they facilitate sharing of studies for second opinions, viewing of studies and reports by clinicians at the bedside, etc. Other potential applications include remote participation in educational activity (e.g. webinars) and consultation of online educational content, e-books, journals and reference sources. Social-networking applications can be used for exchanging professional information and teaching. Users of mobile device must be aware of the vulnerabilities and dangers of their use, in particular regarding the potential for inappropriate sharing of confidential patient information, and must take appropriate steps to protect confidential data. • Mobile devices have revolutionized communication in the past decade, and are now ubiquitous. • Mobile devices have sufficient processing power to manipulate and display large data sets of radiological images. • Mobile devices allow transmission & sharing of radiologic studies for purposes of second opinions, bedside review of images, teaching, etc. • Mobile devices are currently not recommended as tools for primary interpretation of radiologic studies. • The use of mobile devices for image and data transmission carries risks, especially regarding confidentiality, which must be considered.

Mobile robot teleoperation system for plant inspection based on collecting and utilizing environment data

International Nuclear Information System (INIS)

Kawabata, Kuniaki; Watanabe, Nobuyasu; Asama, Hajime; Kita, Nobuyuki; Yang, Hai-quan

2004-01-01

This paper describes about development of a mobile robot teleoperation system for plant inspection. In our system, the robot is an agent for collecting the environment data and is also teleoperated by the operator utilizing such accumulated environment data which is displayed on the operation interface. The robot equips many sensors for detecting the state of the robot and the environment. Such redundant sensory system can be also utilized to collect the working environment data on-site while the robot is patrolling. Here, proposed system introduces the framework of collecting and utilizing environment data for adaptive plant inspection using the teleoperated robot. A view simulator is primarily aiming to facilitate evaluation of the visual sensors and algorithms and is also extended as the Environment Server, which is the core technology of the digital maintenance field for the plant inspection. In order to construct detailed seamless digital maintenance field mobile robotic technology is utilized to supply environment data to the server. The sensory system on the robot collect the environment data on-site and such collected data is uploaded to the Environment Server for compiling accurate digital environment data base. The robot operator also can utilize accumulated environment data by referring to the Environment Server. In this paper, we explain the concept of our teleoperation system based on collecting and utilizing environment data. Using developed system, inspection patrol experiments were attempted in the plant mock-up. Experimental results are shown by using an omnidirectional mobile robot with sensory system and the Environment Server. (author)

Characteristics of manipulative in mathematics laboratory

Science.gov (United States)

Istiandaru, A.; Istihapsari, V.; Prahmana, R. C. I.; Setyawan, F.; Hendroanto, A.

2017-12-01

A manipulative is a teaching aid designed such that students could understand mathematical concepts by manipulating it. This article aims to provide an insight to the characteristics of manipulatives produced in the mathematics laboratory of Universitas Ahmad Dahlan, Indonesia. A case study was conducted to observe the existing manipulatives produced during the latest three years and classified the manipulatives based on the characteristics found. There are four kinds of manipulatives: constructivism manipulative, virtual manipulative, informative manipulative, and game-based manipulative. Each kinds of manipulative has different characteristics and impact towards the mathematics learning.

Manipulators for production and research

International Nuclear Information System (INIS)

Munro, Ian

1987-01-01

The development of caves or cells and master-slave manipulators to handle radioactive materials is discussed. Some of the most recent advances are described. A manipulator arm, a master-slave manipulator and a servomanipulator mounted on a manipulator are illustrated. Future developments are discussed - these include resolved tip control for the manipulator. (UK)

Neural-adaptive control of single-master-multiple-slaves teleoperation for coordinated multiple mobile manipulators with time-varying communication delays and input uncertainties.

Science.gov (United States)

Li, Zhijun; Su, Chun-Yi

2013-09-01

In this paper, adaptive neural network control is investigated for single-master-multiple-slaves teleoperation in consideration of time delays and input dead-zone uncertainties for multiple mobile manipulators carrying a common object in a cooperative manner. Firstly, concise dynamics of teleoperation systems consisting of a single master robot, multiple coordinated slave robots, and the object are developed in the task space. To handle asymmetric time-varying delays in communication channels and unknown asymmetric input dead zones, the nonlinear dynamics of the teleoperation system are transformed into two subsystems through feedback linearization: local master or slave dynamics including the unknown input dead zones and delayed dynamics for the purpose of synchronization. Then, a model reference neural network control strategy based on linear matrix inequalities (LMI) and adaptive techniques is proposed. The developed control approach ensures that the defined tracking errors converge to zero whereas the coordination internal force errors remain bounded and can be made arbitrarily small. Throughout this paper, stability analysis is performed via explicit Lyapunov techniques under specific LMI conditions. The proposed adaptive neural network control scheme is robust against motion disturbances, parametric uncertainties, time-varying delays, and input dead zones, which is validated by simulation studies.

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

Directory of Open Access Journals (Sweden)

Jose Vicente Marti

2013-04-01

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

Manipulation of natural subsurface processes: Field research and validation. Interim report

International Nuclear Information System (INIS)

Fruchter, J.S.; Spane, F.A.; Amonette, J.E.

1994-11-01

Often the only alternative for treating deep subsurface contamination is in situ manipulation of natural processes to change the mobility or form of contaminants. However, the complex interactions of natural subsurface physical, chemical, and microbial processes limit the predictability of the system-wide impact of manipulation based on current knowledge. This report is a summary of research conducted to examine the feasibility of controlling the oxidation-reduction (redox) potential of the unconfined aquifer at the Hanford Site in southeastern Washington State by introducing chemical reagents and microbial nutrients. The experiment would allow the testing of concepts and hypotheses developed from fundamental research in the US Department of Energy's (DOE's) Subsurface Science Program. Furthermore, the achievement of such control is expected to have implications for in situ remediation of dispersed aqueous contaminants in the subsurface environment at DOE sites nationwide, and particularly at the Hanford Site. This interim report summarizes initial research that was conducted between July 1990 and October 1991

Template-based education toolkit for mobile platforms

Science.gov (United States)

Golagani, Santosh Chandana; Esfahanian, Moosa; Akopian, David

2012-02-01

Nowadays mobile phones are the most widely used portable devices which evolve very fast adding new features and improving user experiences. The latest generation of hand-held devices called smartphones is equipped with superior memory, cameras and rich multimedia features, empowering people to use their mobile phones not only as a communication tool but also for entertainment purposes. With many young students showing interest in learning mobile application development one should introduce novel learning methods which may adapt to fast technology changes and introduce students to application development. Mobile phones become a common device, and engineering community incorporates phones in various solutions. Overcoming the limitations of conventional undergraduate electrical engineering (EE) education this paper explores the concept of template-based based education in mobile phone programming. The concept is based on developing small exercise templates which students can manipulate and revise for quick hands-on introduction to the application development and integration. Android platform is used as a popular open source environment for application development. The exercises relate to image processing topics typically studied by many students. The goal is to enable conventional course enhancements by incorporating in them short hands-on learning modules.

MEMS 6 degrees of freedom parallel micro manipulator for TEM sample manipulation

NARCIS (Netherlands)

Brouwer, Dannis Michel; de Jong, B.R.; Soemers, Herman

2005-01-01

Up till now MEMS actuators acted either only in-plane or only out-of plane restricting to 3 DOF manipulation. A design for a millimeter-sized manipulator with 6 degrees of freedom to manipulate a micron-sized substrate at nanometer resolution over strokes of 10 microns with a position stability

Specification and resolution of complex manipulation tasks. Application to remote robots tele-programming; Specification et resolution de taches de manipulation complexes. Application a la teleprogrammation de robots distants

Energy Technology Data Exchange (ETDEWEB)

Piccin, O

1995-11-15

The work presented in this thesis comes within the scope of remote manipulation with restricted communication properties between the operator and the remote site. This context renders traditional tele-operation infeasible. To enhance the autonomy of the remote manipulator, it is necessary to reason on a model of the robot and its workspace. However, discrepancies between the real world and its representation require calibration capabilities to identify both position and size of objects interacting with the robot. Moreover, the non-repetitiveness and complexity of the tasks demand that the specification system remains easy to re-program and capable of treating a wide range of problems. The proposed constraint-based approach permits the specification of complex manipulation tasks in which tasks' objectives are expressed in terms of mobilities and contact relationships to achieve or maintain between parts. The resulting constraint relationships are then treated by a numerical solver based on a Newton-Raphson scheme. An enhanced robustness has been achieved through a dynamic management of equations' conditioning. This enables the system to choose automatically for the most appropriate resolution scenario. The first main class of applications is complex motion generation for any kind of robotic mechanisms possibly including redundancy. Constraints setting can also be exploited to realize local obstacle avoidance. The proposed approach makes it possible to deal with calibration tasks within the same framework. This constitutes an essential feature in the context of remote manipulation where models are un-precisely known. Lastly, a weld line inspection experiment performed on a real manipulator allows us to put forward a strategy for robotic task performance at a remote location. (author)

Specification and resolution of complex manipulation tasks. Application to remote robots tele-programming; Specification et resolution de taches de manipulation complexes. Application a la teleprogrammation de robots distants

Energy Technology Data Exchange (ETDEWEB)

Piccin, O

1995-11-15

The work presented in this thesis comes within the scope of remote manipulation with restricted communication properties between the operator and the remote site. This context renders traditional tele-operation infeasible. To enhance the autonomy of the remote manipulator, it is necessary to reason on a model of the robot and its workspace. However, discrepancies between the real world and its representation require calibration capabilities to identify both position and size of objects interacting with the robot. Moreover, the non-repetitiveness and complexity of the tasks demand that the specification system remains easy to re-program and capable of treating a wide range of problems. The proposed constraint-based approach permits the specification of complex manipulation tasks in which tasks' objectives are expressed in terms of mobilities and contact relationships to achieve or maintain between parts. The resulting constraint relationships are then treated by a numerical solver based on a Newton-Raphson scheme. An enhanced robustness has been achieved through a dynamic management of equations' conditioning. This enables the system to choose automatically for the most appropriate resolution scenario. The first main class of applications is complex motion generation for any kind of robotic mechanisms possibly including redundancy. Constraints setting can also be exploited to realize local obstacle avoidance. The proposed approach makes it possible to deal with calibration tasks within the same framework. This constitutes an essential feature in the context of remote manipulation where models are un-precisely known. Lastly, a weld line inspection experiment performed on a real manipulator allows us to put forward a strategy for robotic task performance at a remote location. (author)

MART: an overview of the Mobile Autonomous Robot Twente project

NARCIS (Netherlands)

Tillema, H.G.; de Graaf, A.J.; Koster, M.P.; Nauta, J.M.; Oelen, W.; Schipper, D.A.

1993-01-01

At the University of Twente a mobile autonomous robot system is built that is designed to operate in a 'factory of the future'. Multiple robots, consisting of a manipulator on top of a vehicle, will drive through an assembly hall to collect components at part supply stations and to assemble

Exceptionally omnidirectional broadband light harvesting scheme for multi-junction concentrator solar cells achieved via ZnO nanoneedles

KAUST Repository

Yeh, Li-Ko; Tian, Wei-Cheng; Lai, Kun-Yu; He, Jr-Hau

2016-01-01

GaInP/GaAs/Ge triple-junction concentrator solar cells with significant efficiency enhancement were demonstrated with antireflective ZnO nanoneedles. The novel nanostructure was attained with a Zn(NO3)2-based solution containing vitamin C. Under one sun AM 1.5G solar spectrum, conversion efficiency of the triple-junction device was improved by 23.7% via broadband improvement in short-circuit currents of 3 sub-cells after the coverage by the nanoneedles with a graded refractive index profile. The efficiency enhancement further went up to 45.8% at 100 suns. The performance boost through the nanoneedles also became increasingly pronounced in the conditions of high incident angles and the cloudy weather, e.g. 220.0% of efficiency enhancement was observed at the incident angle of 60°. These results were attributed to the exceptional broadband omnidirectionality of the antireflective nanoneedles.

Exceptionally omnidirectional broadband light harvesting scheme for multi-junction concentrator solar cells achieved via ZnO nanoneedles

KAUST Repository

Yeh, Li-Ko

2016-12-14

GaInP/GaAs/Ge triple-junction concentrator solar cells with significant efficiency enhancement were demonstrated with antireflective ZnO nanoneedles. The novel nanostructure was attained with a Zn(NO3)2-based solution containing vitamin C. Under one sun AM 1.5G solar spectrum, conversion efficiency of the triple-junction device was improved by 23.7% via broadband improvement in short-circuit currents of 3 sub-cells after the coverage by the nanoneedles with a graded refractive index profile. The efficiency enhancement further went up to 45.8% at 100 suns. The performance boost through the nanoneedles also became increasingly pronounced in the conditions of high incident angles and the cloudy weather, e.g. 220.0% of efficiency enhancement was observed at the incident angle of 60°. These results were attributed to the exceptional broadband omnidirectionality of the antireflective nanoneedles.

Manipulator for fuel assemblies in a spent fuel pool, especially for a LMFBR

International Nuclear Information System (INIS)

Dalmas, R.

1988-01-01

The spent fuel manipulator has - a travelling crane moving longitudinally: - a carriage moving on the travelling crane in a direction perpendicular to its motion so that the carriage is positioned over each assembly, - a telescopic rod carried by the carriage and terminating in a vertically mobile grapple, - a tubular shielded hood on the carriage extending downwards to house the rod, grapple and fuel assembly and maintaining a biologically acceptable level of radiation above the surface of the pool [fr

Teleoperated mobile robot (KAEROT) for inspection in nuclear facilities

Energy Technology Data Exchange (ETDEWEB)

Kim, Byung-Soo; Kim, Chang-Hoi; Hwang, Suk-Young; Kim, Seung-Ho; Lee, Jong-Min [Korea Atomic Energy Research Inst., Taejon (Korea, Republic of)

1994-12-31

A teleoperated mobile robot, named as KAEROT, has been developed for inspection and maintenance in nuclear facilities. It is composed of the planetary wheel-type mobile unit and 5 DOF manipulator one. The mobile unit is able to climb up and down stairs with high stability. This paper presents the kinematic analysis of KAEROT and the stair climbing algorithm. The proposed algorithm consists of two parts; one is to generate the moving path, and the other is to calculate the angular velocity of each wheel to follow up the generated reference path. Simulations and experiments on the irregular stairs have been carried out with the developed mobile robot. The proposed algorithm is proved to be very effective for inspection in nuclear facilities. The inclination angle of robot is maintained below 30.8deg while it is climbing up the stairs of a slope of 25deg. (author).

Teleoperated mobile robot (KAEROT) for inspection in nuclear facilities

International Nuclear Information System (INIS)

Kim, Byung-Soo; Kim, Chang-Hoi; Hwang, Suk-Young; Kim, Seung-Ho; Lee, Jong-Min

1994-01-01

A teleoperated mobile robot, named as KAEROT, has been developed for inspection and maintenance in nuclear facilities. It is composed of the planetary wheel-type mobile unit and 5 DOF manipulator one. The mobile unit is able to climb up and down stairs with high stability. This paper presents the kinematic analysis of KAEROT and the stair climbing algorithm. The proposed algorithm consists of two parts; one is to generate the moving path, and the other is to calculate the angular velocity of each wheel to follow up the generated reference path. Simulations and experiments on the irregular stairs have been carried out with the developed mobile robot. The proposed algorithm is proved to be very effective for inspection in nuclear facilities. The inclination angle of robot is maintained below 30.8deg while it is climbing up the stairs of a slope of 25deg. (author)

Development of an omnidirectional gamma-ray imaging Compton camera for low-radiation-level environmental monitoring

Science.gov (United States)

Watanabe, Takara; Enomoto, Ryoji; Muraishi, Hiroshi; Katagiri, Hideaki; Kagaya, Mika; Fukushi, Masahiro; Kano, Daisuke; Satoh, Wataru; Takeda, Tohoru; Tanaka, Manobu M.; Tanaka, Souichi; Uchida, Tomohisa; Wada, Kiyoto; Wakamatsu, Ryo

2018-02-01

We have developed an omnidirectional gamma-ray imaging Compton camera for environmental monitoring at low levels of radiation. The camera consisted of only six CsI(Tl) scintillator cubes of 3.5 cm, each of which was readout by super-bialkali photo-multiplier tubes (PMTs). Our camera enables the visualization of the position of gamma-ray sources in all directions (∼4π sr) over a wide energy range between 300 and 1400 keV. The angular resolution (σ) was found to be ∼11°, which was realized using an image-sharpening technique. A high detection efficiency of 18 cps/(µSv/h) for 511 keV (1.6 cps/MBq at 1 m) was achieved, indicating the capability of this camera to visualize hotspots in areas with low-radiation-level contamination from the order of µSv/h to natural background levels. Our proposed technique can be easily used as a low-radiation-level imaging monitor in radiation control areas, such as medical and accelerator facilities.

An Endoparasitoid Avoids Hyperparasitism by Manipulating Immobile Host Herbivore to Modify Host Plant Morphology

Science.gov (United States)

Fujii, Tomohisa; Matsuo, Kazunori; Abe, Yoshihisa; Yukawa, Junichi; Tokuda, Makoto

2014-01-01

Many parasitic organisms have an ability to manipulate their hosts to increase their own fitness. In parasitoids, behavioral changes of mobile hosts to avoid or protect against predation and hyperparasitism have been intensively studied, but host manipulation by parasitoids associated with endophytic or immobile hosts has seldom been investigated. We examined the interactions between a gall inducer Masakimyia pustulae (Diptera: Cecidomyiidae) and its parasitoids. This gall midge induces dimorphic leaf galls, thick and thin types, on Euonymus japonicus (Celastraceae). Platygaster sp. was the most common primary parasitoid of M. pustulae. In galls attacked by Platygaster sp., whole gall thickness as well as thicknesses of upper and lower gall wall was significantly larger than unparasitized galls, regardless of the gall types, in many localities. In addition, localities and tree individuals significantly affected the thickness of gall. Galls attacked by Platygaster sp. were seldom hyperparasitized in the two gall types. These results strongly suggest that Platygaster sp. manipulates the host plant's development to avoid hyperparasitism by thickening galls. PMID:25033216

Personalized Avatars for Mobile Entertainment

Directory of Open Access Journals (Sweden)

Tomislav Kosutic

2006-01-01

Full Text Available With evolution in computer and mobile networking technologies comes the challenge of offering novel and complex multimedia applications and end-user services in heterogeneous environments for both developers and service providers. This paper describes one novel service, called LiveMail that explores the potential of existing face animation technologies for innovative and attractive services intended for the mobile market. This prototype service allows mobile subscribers to communicate using personalized 3D face models created from images taken by their phone cameras. The user can take a snapshot of someone's face – a friend, famous person, themselves, even a pet – using the mobile phone's camera. After a quick manipulation on the phone, a 3D model of that face is created and can be animated simply by typing in some text. Speech and appropriate animation of the face are created automatically by speech synthesis. Furthermore, these highly personalized animations can be sent to others as real 3D animated messages or as short videos in MMS. The clients were implemented on different platforms, and different network and face animation techniques, and connected into one complex system. This paper presents the architecture and experience gained in building such a system.

Omnidirectional regeneration (ODR) of proximity sensor signals for robust diagnosis of journal bearing systems

Science.gov (United States)

Jung, Joon Ha; Jeon, Byung Chul; Youn, Byeng D.; Kim, Myungyon; Kim, Donghwan; Kim, Yeonwhan

2017-06-01

Some anomaly states of journal bearing rotor systems are direction-oriented (e.g., rubbing, misalignment). In these situations, vibration signals vary according to the direction of the sensors and the health state. This makes diagnosis difficult with traditional diagnosis methods. This paper proposes an omnidirectional regeneration method to develop a robust diagnosis algorithm for rotor systems. The proposed method can generate vibration signals in arbitrary directions without using extra sensors. In this method, signals are generated around the entire circumference of the rotor to consider all possible directions. Then, the directionality of each state is proved by mathematically and is evaluated using a proposed metric. When a directional state is determined, the classification is carried out on all of the generated signals. When a non-directional state is found, the classification is performed on only one of the generated signals to minimize computational load without sacrificing accuracy. The proposed ODR method was validated using experimental data. The classification results show that the proposed method generally outperforms the conventional classification method. The results support the proposed concept of using ODR signals in diagnosis procedures for journal bearing systems.

Capabilities of a remote work vehicle

International Nuclear Information System (INIS)

Whittaker, W.L.; Champeny, L.

1987-01-01

The remote work vehicle (RWV) is a mobile work system for recovery operations in radiological environments. A teleoperated, electrohydraulically powered system, the RWV features omnidirectional locomotion, a telescoping boom with a seven meter reach, a master/slave manipulator, ten cameras, a tether for sustained power, and an offboard console where three operators control vehicle functions. (The RWV is more fully described elsewhere see bibliography; capability is emphasized here). Capabilities of the base vehicle and specialized tooling allow the RWV to perform accident recovery tasks, including demolishing concrete and steel structures, decontaminating and sealing surfaces, removing water and sediment from flooded areas, emplacing shields, packaging and transporting materials, and performing general inspections. Aspirations for reliability have made the RWV an order of magnitude more complex than its predecessor recovery robots, and ambitions for task performance have made it two orders of magnitude more capable. In addition to nuclear recovery work, the RWV is a viable candidate for other remote work applications, including nuclear facility maintenance and decommissioning

Photo-conductive detection of continuous THz waves via manipulated ultrafast process in nanostructures

Science.gov (United States)

Moon, Kiwon; Lee, Eui Su; Lee, Il-Min; Park, Dong Woo; Park, Kyung Hyun

2018-01-01

Time-domain and frequency-domain terahertz (THz) spectroscopy systems often use materials fabricated with exotic and expensive methods that intentionally introduce defects to meet short carrier lifetime requirements. In this study, we demonstrate the development of a nano-photomixer that meets response speed requirements without using defect-incorporated, low-temperature-grown (LTG) semiconductors. Instead, we utilized a thin InGaAs layer grown on a semi-insulating InP substrate by metal-organic chemical vapor deposition (MOCVD) combined with nano-electrodes to manipulate local ultrafast photo-carrier dynamics via a carefully designed field-enhancement and plasmon effect. The developed nano-structured photomixer can detect continuous-wave THz radiation up to a frequency of 2 THz with a peak carrier collection efficiency of 5%, which is approximately 10 times better than the reference efficiency of 0.4%. The better efficiency results from the high carrier mobility of the MOCVD-grown InGaAs thin layer with the coincidence of near-field and plasmon-field distributions in the nano-structure. Our result not only provides a generally applicable methodology for manipulating ultrafast carrier dynamics by means of nano-photonic techniques to break the trade-off relation between the carrier lifetime and mobility in typical LTG semiconductors but also contributes to mass-producible photo-conductive THz detectors to facilitate the widespread application of THz technology.

Visualizing Mobility of Public Transportation System.

Science.gov (United States)

Zeng, Wei; Fu, Chi-Wing; Arisona, Stefan Müller; Erath, Alexander; Qu, Huamin

2014-12-01

Public transportation systems (PTSs) play an important role in modern cities, providing shared/massive transportation services that are essential for the general public. However, due to their increasing complexity, designing effective methods to visualize and explore PTS is highly challenging. Most existing techniques employ network visualization methods and focus on showing the network topology across stops while ignoring various mobility-related factors such as riding time, transfer time, waiting time, and round-the-clock patterns. This work aims to visualize and explore passenger mobility in a PTS with a family of analytical tasks based on inputs from transportation researchers. After exploring different design alternatives, we come up with an integrated solution with three visualization modules: isochrone map view for geographical information, isotime flow map view for effective temporal information comparison and manipulation, and OD-pair journey view for detailed visual analysis of mobility factors along routes between specific origin-destination pairs. The isotime flow map linearizes a flow map into a parallel isoline representation, maximizing the visualization of mobility information along the horizontal time axis while presenting clear and smooth pathways from origin to destinations. Moreover, we devise several interactive visual query methods for users to easily explore the dynamics of PTS mobility over space and time. Lastly, we also construct a PTS mobility model from millions of real passenger trajectories, and evaluate our visualization techniques with assorted case studies with the transportation researchers.

Actin Cytoskeleton Manipulation by Effector Proteins Secreted by Diarrheagenic Escherichia coli Pathotypes

Directory of Open Access Journals (Sweden)

Fernando Navarro-Garcia

2013-01-01

Full Text Available The actin cytoskeleton is a dynamic structure necessary for cell and tissue organization, including the maintenance of epithelial barriers. Disruption of the epithelial barrier coincides with alterations of the actin cytoskeleton in several disease states. These disruptions primarily affect the paracellular space, which is normally regulated by tight junctions. Thereby, the actin cytoskeleton is a common and recurring target of bacterial virulence factors. In order to manipulate the actin cytoskeleton, bacteria secrete and inject toxins and effectors to hijack the host cell machinery, which interferes with host-cell pathways and with a number of actin binding proteins. An interesting model to study actin manipulation by bacterial effectors is Escherichia coli since due to its genome plasticity it has acquired diverse genetic mobile elements, which allow having different E. coli varieties in one bacterial species. These E. coli pathotypes, including intracellular and extracellular bacteria, interact with epithelial cells, and their interactions depend on a specific combination of virulence factors. In this paper we focus on E. coli effectors that mimic host cell proteins to manipulate the actin cytoskeleton. The study of bacterial effector-cytoskeleton interaction will contribute not only to the comprehension of the molecular causes of infectious diseases but also to increase our knowledge of cell biology.

Influence of omni-directional guide vane on the performance of cross-flow rotor for urban wind energy

Science.gov (United States)

Wicaksono, Yoga Arob; Tjahjana, Dominicus Danardono Dwi Prija; Hadi, Syamsul

2018-02-01

Vertical axis wind turbine like cross-flow rotor have some advantage there are, high self-starting torque, low noise, and high stability; so, it can be installed in the urban area to produce electricity. But, the urban area has poor wind condition, so the cross-flow rotor needs a guide vane to increase its performance. The aim of this study is to determine experimentally the effect of Omni-Directional Guide Vane (ODGV) on the performance of a cross-flow wind turbine. Wind tunnel experiment has been carried out for various configurations. The ODGV was placed around the cross-flow rotor in order to increase ambient wind environment of the wind turbine. The maximum power coefficient is obtained as Cpmax = 0.125 at 60° wind direction. It was 21.46% higher compared to cross-flow wind turbine without ODGV. This result showed that the ODGV able to increase the performance of the cross-flow wind turbine.

Multiband Planar Inverted-F Antenna with Independent Operating Bands Control for Mobile Handset Applications

Directory of Open Access Journals (Sweden)

Mustapha El Halaoui

2017-01-01

Full Text Available A new compact multiband PIFA (Planar Inverted-F Antenna for mobile handset is proposed in this article. The proposed PIFA has a simple geometry with four slots integrated in the radiating patch and ground plane. The PIFA occupies a small volume of 51 × 14 × 7.2 mm3 and is placed on the top portion of mobile phone. The optimized PIFA is worked in the 790 MHz band (737–831 MHz, the 1870 MHz band (1794–1977 MHz, the 2550 MHz band (2507–2615 MHz, and the 3400 MHz band (3341–3545 MHz, to cover LTE700, LTE800, DCS1800, PCS1900, LTE1800, LTE1900, LTE2500, and WIMAX3400 bands. Each of the four operating bands can be controlled independently by the variation of a single parameter of the proposed design, with a wide control range. An omnidirectional radiation pattern to each resonant frequency is obtained with a maximum gain of 2.15 dBi at 790 MHz, 3.99 dBi at 1870 MHz, 4.57 dBi at 2550 MHz, and 6.43 dBi at 3400 MHz. The proposed PIFA is studied in the free space and in the presence of other mobile phone components such as the battery, LCD (liquid crystal display, camera, microphone, speaker, buttons, and a plastic housing. The distribution of specific absorption rate for both European and American standards for each operating band and at various distances between the antenna and the human head is also studied.

Compliant Aerial Manipulators

DEFF Research Database (Denmark)

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

2016-01-01

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

Understanding pharmaceutical research manipulation in the context of accounting manipulation.

Science.gov (United States)

Brown, Abigail

2013-01-01

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

An evolutionary resolution of manipulation conflict.

Science.gov (United States)

González-Forero, Mauricio

2014-07-01

Individuals can manipulate the behavior of social partners. However, manipulation may conflict with the fitness interests of the manipulated individuals. Manipulated individuals can then be favored to resist manipulation, possibly reducing or eliminating the manipulated behavior in the long run. I use a mathematical model to show that conflicts where manipulation and resistance coevolve can disappear as a result of the coevolutionary process. I find that while manipulated individuals are selected to resist, they can simultaneously be favored to express the manipulated behavior at higher efficiency (i.e., providing increasing fitness effects to recipients of the manipulated behavior). Efficiency can increase to a point at which selection for resistance disappears. This process yields an efficient social behavior that is induced by social partners, and over which the inducing and induced individuals are no longer in conflict. A necessary factor is costly inefficiency. I develop the model to address the evolution of advanced eusociality via maternal manipulation (AEMM). The model predicts AEMM to be particularly likely in taxa with ancestrally imperfect resistance to maternal manipulation. Costly inefficiency occurs if the cost of delayed dispersal is larger than the benefit of exploiting the maternal patch. I discuss broader implications of the process. © 2014 The Author(s). Evolution © 2014 The Society for the Study of Evolution.

Development of a light weighted mobile robot for SG tube inspection in NPP

International Nuclear Information System (INIS)

Seo, Yong Chil; Jeong, Kyung Min; Shin, Hochul; Gweng, Jung Ju; Lee, Sung Uk; Jeong, Seung Ho; Choi, Young Soo; Kim, Seung Ho; Shin, Chun Sup; Park, Ki Tae

2012-01-01

Steam generators (SG) are among the most critical components of pressurized water Nuclear Power Plants (NPP). SG tubes must provide a reliable pressure boundary between the primary and secondary cooling water, because any leakage from tube defects could result in the release of radioactivity to the environment. Thus degradations of steam generators tubes should be monitored and inspected periodically under nuclear regulation. In service inspections of SG tubes are carried out using eddy current test (ECT) and the defected tubes are usually plugged. Because the radioactivity in the internal SG chambers limits free access of human workers, remote manipulators are required. In South Korea, Manipulators such as the Zet ec SM series and the Westinghouse ROSA series have bee used. Such manipulators are rigidly mounted to man ways or tube sheets of SG. Confusions of the inspected tubes may occur from deflection of the manipulators. To reduce the deflections of the manipulators for covering the large working areas of tube sheets, sufficient rigidity is required and that leads to an increase of the weight. Such weight increase results in some difficulties for handling and more radiation exposure of human workers. Recently light weighed mobile robots have been introduced by Westinghouse and Zet ec. The robots can move keeping in contact with the tube sheets using devices which are commonly called cam locks. They are easier to handle and provide no confusion for the position of the inspected tubes. But when the clamping forces are loosed accidentally, they can be fall down and light repair works can be performed. This paper provides the design results for a lightweight mobile robot which is being developed in cooperation of our institutes

Development of a light weighted mobile robot for SG tube inspection in NPP

Energy Technology Data Exchange (ETDEWEB)

Seo, Yong Chil; Jeong, Kyung Min; Shin, Hochul; Gweng, Jung Ju; Lee, Sung Uk; Jeong, Seung Ho; Choi, Young Soo; Kim, Seung Ho [KAERI, Daejeon (Korea, Republic of); Shin, Chun Sup; Park, Ki Tae [Korea Plant Service and Engineering, Busan (Korea, Republic of)

2012-10-15

Steam generators (SG) are among the most critical components of pressurized water Nuclear Power Plants (NPP). SG tubes must provide a reliable pressure boundary between the primary and secondary cooling water, because any leakage from tube defects could result in the release of radioactivity to the environment. Thus degradations of steam generators tubes should be monitored and inspected periodically under nuclear regulation. In service inspections of SG tubes are carried out using eddy current test (ECT) and the defected tubes are usually plugged. Because the radioactivity in the internal SG chambers limits free access of human workers, remote manipulators are required. In South Korea, Manipulators such as the Zet ec SM series and the Westinghouse ROSA series have bee used. Such manipulators are rigidly mounted to man ways or tube sheets of SG. Confusions of the inspected tubes may occur from deflection of the manipulators. To reduce the deflections of the manipulators for covering the large working areas of tube sheets, sufficient rigidity is required and that leads to an increase of the weight. Such weight increase results in some difficulties for handling and more radiation exposure of human workers. Recently light weighed mobile robots have been introduced by Westinghouse and Zet ec. The robots can move keeping in contact with the tube sheets using devices which are commonly called cam locks. They are easier to handle and provide no confusion for the position of the inspected tubes. But when the clamping forces are loosed accidentally, they can be fall down and light repair works can be performed. This paper provides the design results for a lightweight mobile robot which is being developed in cooperation of our institutes.

Manipulation, salience, and nudges.

Science.gov (United States)

Noggle, Robert

2018-03-01

Cass Sunstein and Richard Thaler recommend helping people make better decisions by employing 'nudges', which they define as noncoercive methods of influencing choice for the better. Not surprisingly, healthcare practitioners and public policy professionals have become interested in whether nudges might be a promising method of improving health-related behaviors without resorting to heavy-handed methods such as coercion, deception, or government regulation. Many nudges seem unobjectionable as they merely improve the quality and quantity available for the decision-maker. However, other nudges influence decision-making in ways that do not involve providing more and better information. Nudges of this sort raise concerns about manipulation. This paper will focus on noninformational nudges that operate by changing the salience of various options. It will survey two approaches to understanding manipulation, one which sees manipulation as a kind of pressure, and one that sees it as a kind of trickery. On the pressure view, salience nudges do not appear to be manipulative. However, on the trickery view (which the author favors), salience nudges will be manipulative if they increase the salience so that it is disproportionate to that fact's true relevance and importance for the decision at hand. By contrast, salience nudges will not be manipulative if they merely highlight some fact that is true and important for the decision at hand. The paper concludes by providing examples of both manipulative and nonmanipulative salience nudges. © 2017 John Wiley & Sons Ltd.

The use of a camera-enabled mobile phone to triage patients with nasal bone injuries.

LENUS (Irish Health Repository)

Barghouthi, Taleb

2012-03-01

To identify the accuracy of a camera-enabled mobile phone in assessing patients with nasal bone injuries and to determine if treatment in the form of manipulation of the nasal bones and therefore outpatient attendance was necessary.

Development of the mobile manipulator for inspection and maintenance in nuclear power plants and application of the modul devices

International Nuclear Information System (INIS)

Ohmichi, Takeo; Hosaka, Shigetaka; Nishihara, Masatoshi; Nakayama, Junji; Sato, Masatoshi

1986-01-01

In nuclear power stations, remote operation devices have been positively developed and applied, thus largely contributed to the reduction of the radiation exposure of workers. However, when requirements are diversified, the number of devices increases, and their management becomes complicated. The largest obstacle to the adaption of versatile robots in nuclear power stations is the environmental condition, and the small size for narrow space and the capability to withstand severe temperature, humidity and radiation must be ensured with high reliability. Mitsubishi Heavy Industries, Ltd. carried out the development of the manipulator for light works, which takes early counter-measures to the abnormality during operation, for five years as the subsidized project by the Ministry of International Trade and Industry. This robot is composed of a slave robot working in vessels and the central control system. The slave robot comprises a modular manipulator arm, the slave controller, a running carriage and the three-dimensional visual system. The components of the central control system are connected with optical fibers. The features and function and applicability of this manipulator are described. (Kako, I.)

Cell manipulation in microfluidics

International Nuclear Information System (INIS)

Yun, Hoyoung; Kim, Kisoo; Lee, Won Gu

2013-01-01

Recent advances in the lab-on-a-chip field in association with nano/microfluidics have been made for new applications and functionalities to the fields of molecular biology, genetic analysis and proteomics, enabling the expansion of the cell biology field. Specifically, microfluidics has provided promising tools for enhancing cell biological research, since it has the ability to precisely control the cellular environment, to easily mimic heterogeneous cellular environment by multiplexing, and to analyze sub-cellular information by high-contents screening assays at the single-cell level. Various cell manipulation techniques in microfluidics have been developed in accordance with specific objectives and applications. In this review, we examine the latest achievements of cell manipulation techniques in microfluidics by categorizing externally applied forces for manipulation: (i) optical, (ii) magnetic, (iii) electrical, (iv) mechanical and (v) other manipulations. We furthermore focus on history where the manipulation techniques originate and also discuss future perspectives with key examples where available. (topical review)

Manipulator comparative testing program

International Nuclear Information System (INIS)

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

1986-01-01

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

Inverse kinematics of redundant systems driver IKORv1.0-2.0 (full space parameterization with orientation control, platform mobility, and portability)

Energy Technology Data Exchange (ETDEWEB)

Hacker, C.J.; Fries, G.A.; Pin, F.G.

1997-01-01

Few optimization methods exist for path planning of kinematically redundant manipulators. Among these, a universal method is lacking that takes advantage of a manipulator`s redundancy while satisfying possibly varying constraints and task requirements. Full Space Parameterization (FSP) is a new method that generates the entire solution space of underspecified systems of algebraic equations and then calculates the unique solution satisfying specific constraints and optimization criteria. The FSP method has been previously tested on several configurations of the redundant manipulator HERMIES-III. This report deals with the extension of the FSP driver, Inverse Kinematics On Redundant systems (IKOR), to include three-dimensional manipulation systems, possibly incorporating a mobile platform, with and without orientation control. The driver was also extended by integrating two optimized versions of the FSP solution generator as well as the ability to easily port to any manipulator. IKOR was first altered to include the ability to handle orientation control and to integrate an optimized solution generator. The resulting system was tested on a 4 degrees-of-redundancy manipulator arm and was found to successfully perform trajectories with least norm criteria while avoiding obstacles and joint limits. Next, the system was adapted and tested on a manipulator arm placed on a mobile platform yielding 7 degrees of redundancy. After successful testing on least norm trajectories while avoiding obstacles and joint limits, IKORv1.0 was developed. The system was successfully verified using comparisons with a current industry standard, the Moore Penrose Pseudo-Inverse. Finally, IKORv2.0 was created, which includes both the one shot and two step methods, manipulator portability, integration of a second optimized solution generator, and finally a more robust and usable code design.

Master-slave manipulator

International Nuclear Information System (INIS)

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

1981-01-01

A remote control master-slave manipulator for performing work on the opposite side of a barrier wall, is described. The manipulator consists of a rotatable horizontal support adapted to extend through the wall and two longitudinally extensible arms, a master and a slave, pivotally connected one to each end of the support. (U.K.)

Leadership Manipulation and Ethics in Storytelling

OpenAIRE

Auvinen, Tommi; Lämsä, Anna-Maija; Sintonen, Teppo; Takala, Tuomo

2013-01-01

This article focuses on exerting influence in leadership, namely manipulation in storytelling. Manipulation is usually considered an unethical approach to leadership. We will argue that manipulation is a more complex phenomenon than just an unethical way of acting in leadership. We will demonstrate through an empirical qualitative study that there are various types of manipulation through storytelling. This article makes a contribution to the literature on manipulation through leadership stor...

Mobility Systems For Robotic Vehicles

Science.gov (United States)

Chun, Wendell

1987-02-01

The majority of existing robotic systems can be decomposed into five distinct subsystems: locomotion, control/man-machine interface (MMI), sensors, power source, and manipulator. When designing robotic vehicles, there are two main requirements: first, to design for the environment and second, for the task. The environment can be correlated with known missions. This can be seen by analyzing existing mobile robots. Ground mobile systems are generally wheeled, tracked, or legged. More recently, underwater vehicles have gained greater attention. For example, Jason Jr. made history by surveying the sunken luxury liner, the Titanic. The next big surge of robotic vehicles will be in space. This will evolve as a result of NASA's commitment to the Space Station. The foreseeable robots will interface with current systems as well as standalone, free-flying systems. A space robotic vehicle is similar to its underwater counterpart with very few differences. Their commonality includes missions and degrees-of-freedom. The issues of stability and communication are inherent in both systems and environment.

MATHEMATICAL MODEL MANIPULATOR ROBOTS

Directory of Open Access Journals (Sweden)

O. N. Krakhmalev

2015-12-01

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

SmartContent—Self-Protected Context-Aware Active Documents for Mobile Environments

Directory of Open Access Journals (Sweden)

Francesco Luca De Angelis

2017-03-01

Full Text Available Mobile devices make it possible to create, store, access, share or publish personal content on the Internet, anywhere and at anytime. This leads to situations of potential intentional or unintentional misuse of content as well as privacy issues. Recent techniques involving the use of contextual information focus on access of documents stored in clouds, or authentication for secured Web sites. These techniques or more traditional solutions, such as steganography or Digital Rights Management, do not empower the user itself, or data controller in professional settings, with a fine-grained control of the access to or manipulations actions on documents stored on mobile devices, e.g., copying, sharing, etc. In this paper, we propose SmartContent, a novel approach for content protection and privacy. Documents are active and context-aware documents that sense and analyse their current context, e.g., location, noise, neighbouring devices, social network, expiration time, etc. Based on user provided policies, they grant, deny or limit access and manipulation actions, or destroy themselves if necessary. We present the generic model of SmartContent, a concrete architecture and an implementation of a proof-of-concept specifically designed for mobile devices. We deployed it on tablets and showed that a picture dynamically reveals or conceals itself based on sensed context or on changing policies. The implementation leverages the SAPERE middleware specifically developed for context-aware systems.

AUTOMATIC TEXTURE MAPPING WITH AN OMNIDIRECTIONAL CAMERA MOUNTED ON A VEHICLE TOWARDS LARGE SCALE 3D CITY MODELS

Directory of Open Access Journals (Sweden)

F. Deng

2012-07-01

Full Text Available Today high resolution panoramic images with competitive quality have been widely used for rendering in some commercial systems. However the potential applications such as mapping, augmented reality and modelling which need accurate orientation information are still poorly studied. Urban models can be quickly obtained from aerial images or LIDAR, however with limited quality or efficiency due to low resolution textures and manual texture mapping work flow. We combine an Extended Kalman Filter (EKF with the traditional Structure from Motion (SFM method without any prior information based on a general camera model which can handle various kinds of omnidirectional and other kind of single perspective image sequences even with unconnected or weakly connected frames. The orientation results is then applied to mapping the textures from panoramas to the existing building models obtained from aerial photogrammetry. It turns out to largely improve the quality of the models and the efficiency of the modelling procedure.

Kinematics, dynamics and control design of 4WIS4WID mobile robots

Directory of Open Access Journals (Sweden)

Ming-Han Lee

2015-01-01

Full Text Available Kinematic and dynamic modelling and corresponding control design of a four-wheel-independent steering and four-wheel-independent driving (4WIS4WID mobile robot are presented in this study. Different from the differential or car-like mobile robot, the 4WIS4WID mobile robot is controlled by four steering and four driving motors, so the control scheme should possess the ability to integrate and manipulate the four independent wheels. A trajectory tracking control scheme is developed for the 4WIS4WID mobile robot, where both non-linear kinematic control and dynamic sliding-mode control are designed. All of the stabilities of the kinematic and dynamic control laws are proved by Lyapunov stability analysis. Finally, the feasibility and validity of the proposed trajectory tracking control scheme are confirmed through computer simulations.

Adaptive control of robotic manipulators

Science.gov (United States)

Seraji, H.

1987-01-01

The author presents a novel approach to adaptive control of manipulators to achieve trajectory tracking by the joint angles. The central concept in this approach is the utilization of the manipulator inverse as a feedforward controller. The desired trajectory is applied as an input to the feedforward controller which behaves as the inverse of the manipulator at any operating point; the controller output is used as the driving torque for the manipulator. The controller gains are then updated by an adaptation algorithm derived from MRAC (model reference adaptive control) theory to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal are also used to enhance closed-loop stability and to achieve faster adaptation. The proposed control scheme is computationally fast and does not require a priori knowledge of the complex dynamic model or the parameter values of the manipulator or the payload.

Linearly tapered slot antenna circular array for mobile communications

Science.gov (United States)

Simons, Rainee N.; Kelly, Eron; Lee, Richard Q.; Taub, Susan R.

1993-01-01

The design, fabrication and testing of a conformal K-band circular array is presented. The array consists of sixteen linearly tapered slot antennas (LTSA). It is fed by a 1:16 microstrip line power splitter via electromagnetic coupling. The array has an omni-directional pattern in the azimuth plane. In the elevation plane the beam is displaced above the horizon.

Using Manipulatives in Math Instruction.

Science.gov (United States)

Marzola, Eileen S.

1987-01-01

Guidelines for teachers to better use manipulatives in the teaching of mathematics to learning disabled learners are offered including a rationale for manipulatives, selection crteria, principles underlying productive use of manipulatives, and making the transition from the concrete to the symbolic. Suggested materials and distributors are listed.…

User-centric incentive design for participatory mobile phone sensing

Science.gov (United States)

Gao, Wei; Lu, Haoyang

2014-05-01

Mobile phone sensing is a critical underpinning of pervasive mobile computing, and is one of the key factors for improving people's quality of life in modern society via collective utilization of the on-board sensing capabilities of people's smartphones. The increasing demands for sensing services and ambient awareness in mobile environments highlight the necessity of active participation of individual mobile users in sensing tasks. User incentives for such participation have been continuously offered from an application-centric perspective, i.e., as payments from the sensing server, to compensate users' sensing costs. These payments, however, are manipulated to maximize the benefits of the sensing server, ignoring the runtime flexibility and benefits of participating users. This paper presents a novel framework of user-centric incentive design, and develops a universal sensing platform which translates heterogenous sensing tasks to a generic sensing plan specifying the task-independent requirements of sensing performance. We use this sensing plan as input to reduce three categories of sensing costs, which together cover the possible sources hindering users' participation in sensing.

Balanced articulated manipulator

International Nuclear Information System (INIS)

Francois, Daniel; Germond, J.-C.; Marchal, Paul; Vertut, Jean.

1976-01-01

The description is given of a manipulator of the type comprising a master arm and a slave arm, capable of working in a containment restricted by a wall fitted with an aperture to introduce the slave arm into the containment. According to the invention this manipulator is permanently balanced irrespective of its distortions when it is secured to the wall of the containment in which it is desired to work. The entire manipulator is also balanced when being set up and when moved outside the containment, in relation to a supporting axle. This result is achieved in a simplified manner by giving homothetic shapes to the various component parts of the slave and master arms, the master arm having at least one balancing weight [fr

Direct Manipulation in Virtual Reality

Science.gov (United States)

Bryson, Steve

2003-01-01

Virtual Reality interfaces offer several advantages for scientific visualization such as the ability to perceive three-dimensional data structures in a natural way. The focus of this chapter is direct manipulation, the ability for a user in virtual reality to control objects in the virtual environment in a direct and natural way, much as objects are manipulated in the real world. Direct manipulation provides many advantages for the exploration of complex, multi-dimensional data sets, by allowing the investigator the ability to intuitively explore the data environment. Because direct manipulation is essentially a control interface, it is better suited for the exploration and analysis of a data set than for the publishing or communication of features found in that data set. Thus direct manipulation is most relevant to the analysis of complex data that fills a volume of three-dimensional space, such as a fluid flow data set. Direct manipulation allows the intuitive exploration of that data, which facilitates the discovery of data features that would be difficult to find using more conventional visualization methods. Using a direct manipulation interface in virtual reality, an investigator can, for example, move a data probe about in space, watching the results and getting a sense of how the data varies within its spatial volume.

A mobile mapping system for hazardous facilities

International Nuclear Information System (INIS)

Barry, R.E.; Jones, J.P.; Little, C.Q.; Wilson, C.W.

1997-01-01

The Mobile Mapping System (MMS) is a completely self-contained vehicle with omnidirectional capability and extremely good odometry, capable of operation up to 12 hours between battery charges. The platform itself is based on a dual differential drive system with a compliant linkage between the two drive systems. This compliant linkage allows for low-level controller errors to be absorbed by the system and their navigational effects to be compensated for, yielding an extremely accurate navigational capability. Vehicle design also allows for a considerable payload (250 lb) and a large surface area for auxiliary equipment mounting (2 by 6 ft). The vehicle supports remote operation by reading commands and writing replies through its serial communications port. Use of a radio-ethernet and a radio-video channel allow for remote video and communications links to be maintained with the vehicle in many remote operation environments. The MMS uses a structured light system to quickly acquire coarse range images of the environment and a coherent laser radar (CLR) to acquire finer resolution range images. The coherent laser radar can also be used to determine platform position and orientation to millimeter accuracies if targets of known. Sensor range image data as well as video are off loaded to a remote computer for postprocessing, display, and archiving. Diagrams and images below include an image of the MMS vehicle before addition of sensors, diagram of vehicle with sensors, and computer system connections

Geometric control of manipulators

International Nuclear Information System (INIS)

Thiruarooran, C.

1996-01-01

Resolved motion control enables the end effector to be moved as a rigid body in space without having to work out manually the joint combinations needed. Since a rigid body in space has three independent translational and three independent rotational movements, a manipulator with at least six joints can be controlled in this way. Normally the manipulator has more than six joints providing an infinite number of ways of moving the tip in the desired direction and this redundancy can be exploited in a variety of ways. Resolved motion tests performed on a hydraulically operated heavy duty manipulator at the Dungeness nuclear power plant are described. The results have shown that manipulators with as many as ten joints can be controlled under resolved tip motion and the areas which are critical to the performance of this type of control have been identified. (UK)

Enhancing phytoextraction: the effect of chemical soil manipulation on mobility, plant accumulation, and leaching of heavy metals.

Science.gov (United States)

Schmidt, Ulrich

2003-01-01

For heavy metal-contaminated agricultural land, low-cost, plant-based phytoextraction measures can be a key element for a new land management strategy. When agents are applied into the soil, the solubility of heavy metals and their subsequent accumulation by plants can be increased, and, therefore, phytoextraction enhanced. An overview is given of the state of the art of enhancing heavy metal solubility in soils, increasing the heavy metal accumulation of several high-biomass-yielding and metal-tolerant plants, and the effect of these measures on the risk of heavy metal leaching. Several organic as well as inorganic agents can effectively and specifically increase solubility and, therefore, accumulation of heavy metals by several plant species. Crops like willow (Salix viminalis L.), Indian mustard [Brassica juncea (L.) Czern.], corn (Zea mays L.), and sunflower (Helianthus annuus L.) show high tolerance to heavy metals and are, therefore, to a certain extent able to use the surpluses that originate from soil manipulation. More than 100-fold increases of lead concentrations in the biomass of crops were reported, when ethylenediaminetetraacetic acid (EDTA) was applied to contaminated soils. Uranium concentrations could be strongly increased when citric acid was applied. Cadmium and zinc concentrations could be enhanced by inorganic agents like elemental sulfur or ammonium sulfate. However, leaching of heavy metals due to increased mobility in soils cannot be excluded. Thus, implementation on the field scale must consider measures to minimize leaching. So, the application of more than 1 g EDTA kg(-1) becomes inefficient as lead concentration in crops is not enhanced and leaching rate increases. Moreover, for large-scale applications, agricultural measures as placement of agents, dosage splitting, the kind and amount of agents applied, and the soil properties are important factors governing plant growth, heavy metal concentrations, and leaching rates. Effective

Control of a flexible bracing manipulator: Integration of current research work to realize the bracing manipulator

Science.gov (United States)

Kwon, Dong-Soo

1991-01-01

All research results about flexible manipulator control were integrated to show a control scenario of a bracing manipulator. First, dynamic analysis of a flexible manipulator was done for modeling. Second, from the dynamic model, the inverse dynamic equation was derived, and the time domain inverse dynamic method was proposed for the calculation of the feedforward torque and the desired flexible coordinate trajectories. Third, a tracking controller was designed by combining the inverse dynamic feedforward control with the joint feedback control. The control scheme was applied to the tip position control of a single link flexible manipulator for zero and non-zero initial condition cases. Finally, the contact control scheme was added to the position tracking control. A control scenario of a bracing manipulator is provided and evaluated through simulation and experiment on a single link flexible manipulator.

Studies on omnidirectional enhancement of giga-hertz radiation by sub-wavelength plasma modulation

Science.gov (United States)

Fanrong, KONG; Qiuyue, NIE; Shu, LIN; Zhibin, WANG; Bowen, LI; Shulei, ZHENG; Binhao, JIANG

2018-01-01

The technology of radio frequency (RF) radiation intensification for radio compact antennas based on modulation and enhancement effects of sub-wavelength plasma structures represents an innovative developing strategy. It exhibits important scientific significance and promising potential of broad applications in various areas of national strategic demands, such as electrical information network and microwave communication, detection and control technology. In this paper, laboratory experiments and corresponding analyses have been carried out to investigate the modulation and enhancement technology of sub-wavelength plasma structure on the RF electromagnetic radiation. An application focused sub-wavelength plasma-added intensification up to ∼7 dB higher than the free-space radiation is observed experimentally in giga-hertz (GHz) RF band. The effective radiation enhancement bandwidth covers from 0.85 to 1.17 GHz, while the enhanced electromagnetic signals transmitted by sub-wavelength plasma structures maintain good communication quality. Particularly, differing from the traditional RF electromagnetic radiation enhancement method characterized by focusing the radiation field of antenna in a specific direction, the sub-wavelength plasma-added intensification of the antenna radiation presents an omnidirectional enhancement, which is reported experimentally for the first time. Corresponding performance characteristics and enhancement mechanism analyses are also conducted in this paper. The results have demonstrated the feasibility and promising potential of sub-wavelength plasma modulation in application focused RF communication, and provided the scientific basis for further research and development of sub-wavelength plasma enhanced compact antennas with wide-range requests and good quality for communication.

A Genetic Algorithm-based Heuristic for Part-Feeding Mobile Robot Scheduling Problem

DEFF Research Database (Denmark)

Dang, Vinh Quang; Nielsen, Izabela Ewa; Bocewicz, Grzegorz

2012-01-01

This present study deals with the problem of sequencing feeding tasks of a single mobile robot with manipulation arm which is able to provide parts or components for feeders of machines in a manufacturing cell. The mobile robot has to be scheduled in order to keep machines within the cell producing...... products without any shortage of parts. A method based on the characteristics of feeders and inspired by the (s, Q) inventory system, is thus applied to define time windows for feeding tasks of the robot. The performance criterion is to minimize total traveling time of the robot in a given planning horizon...

Omnidirectional Harvesting of Weak Light Using a Graphene Quantum Dot-Modified Organic/Silicon Hybrid Device

KAUST Repository

Tsai, Meng-Lin

2017-04-21

Despite great improvements in traditional inorganic photodetectors and photovoltaics, more progress is needed in the detection/collection of light at low-level conditions. Traditional photodetectors tend to suffer from high noise when operated at room temperature; therefore, these devices require additional cooling systems to detect weak or dim light. Conventional solar cells also face the challenge of poor light-harvesting capabilities in hazy or cloudy weather. The real world features such varying levels of light, which makes it important to develop strategies that allow optical devices to function when conditions are less than optimal. In this work, we report an organic/inorganic hybrid device that consists of graphene quantum dot-modified poly(3,4-ethylenedioxythiophene) polystyrenesulfonate spin-coated on Si for the detection/harvest of weak light. The hybrid configuration provides the device with high responsivity and detectability, omnidirectional light trapping, and fast operation speed. To demonstrate the potential of this hybrid device in real world applications, we measured near-infrared light scattered through human tissue to demonstrate noninvasive oximetric photodetection as well as characterized the device\\'s photovoltaic properties in outdoor (i.e., weather-dependent) and indoor weak light conditions. This organic/inorganic device configuration demonstrates a promising strategy for developing future high-performance low-light compatible photodetectors and photovoltaics.

In Praise of Manipulation

NARCIS (Netherlands)

Dowding, Keith; Van Hees, Martin

Many theorists believe that the manipulation of voting procedures is a serious problem. Accordingly, much of social choice theory examines the conditions under which strategy-proofness can be ensured, and what kind of procedures do a better job of preventing manipulation. This article argues that

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

The direct manipulation shell

International Nuclear Information System (INIS)

Allen, M.E.; Christiansen, M.

1992-01-01

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

Image manipulation as research misconduct.

Science.gov (United States)

Parrish, Debra; Noonan, Bridget

2009-06-01

A growing number of research misconduct cases handled by the Office of Research Integrity involve image manipulations. Manipulations may include simple image enhancements, misrepresenting an image as something different from what it is, and altering specific features of an image. Through a study of specific cases, the misconduct findings associated with image manipulation, detection methods and those likely to identify such manipulations, are discussed. This article explores sanctions imposed against guilty researchers and the factors that resulted in no misconduct finding although relevant images clearly were flawed. Although new detection tools are available for universities and journals to detect questionable images, this article explores why these tools have not been embraced.

Long-reach manipulators for decommissioning

International Nuclear Information System (INIS)

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

1993-01-01

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

The Manipulative Discourse of Gandalf

Directory of Open Access Journals (Sweden)

Farid Mohammadi

2014-07-01

Full Text Available The aim of this essay is to investigate discursive, cognitive and social aspects of manipulation in regard to the dialogues of the literary fictional character of Gandalf in the trilogy of The Lord of the Rings. Accordingly, the researcher has taken a multidisciplinary approach to an account of discursive manipulation, and focuses on the cognitive dimensions of manipulation. As a result, the researcher demonstrates meticulously how manipulation involves intensifying the power, moral superiority and the credibility of the speaker(s, while abusing the others (recipients, along with an emotional and attractive way of expression, and supplemented by reasonable facts and documents in regard to a specific issue.

Bio-inspired, sub-wavelength surface structures for ultra-broadband, omni-directional anti-reflection in the mid and far IR.

Science.gov (United States)

Gonzalez, Federico Lora; Gordon, Michael J

2014-06-02

Quasi-ordered moth-eye arrays were fabricated in Si using a colloidal lithography method to achieve highly efficient, omni-directional transmission of mid and far infrared (IR) radiation. The effect of structure height and aspect ratio on transmittance and scattering was explored experimentally and modeled quantitatively using effective medium theory. The highest aspect ratio structures (AR = 9.4) achieved peak transmittance of 98%, with >85% transmission for λ = 7-30 μm. A detailed photon balance was constructed by measuring transmission, forward scattering, specular reflection and diffuse reflection to quantify optical losses due to near-field effects. In addition, angle-dependent transmission measurements showed that moth-eye structures provide superior anti-reflective properties compared to unstructured interfaces over a wide angular range (0-60° incidence). The colloidal lithography method presented here is scalable and substrate-independent, providing a general approach to realize moth-eye structures and anti-reflection in many IR-compatible material systems.

Hydraulic manipulator

International Nuclear Information System (INIS)

Sinha, A.K.; Srikrishnamurty, G.

1990-01-01

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

Advances in mobile cloud computing and big data in the 5G era

CERN Document Server

Mastorakis, George; Dobre, Ciprian

2017-01-01

This book reports on the latest advances on the theories, practices, standards and strategies that are related to the modern technology paradigms, the Mobile Cloud computing (MCC) and Big Data, as the pillars and their association with the emerging 5G mobile networks. The book includes 15 rigorously refereed chapters written by leading international researchers, providing the readers with technical and scientific information about various aspects of Big Data and Mobile Cloud Computing, from basic concepts to advanced findings, reporting the state-of-the-art on Big Data management. It demonstrates and discusses methods and practices to improve multi-source Big Data manipulation techniques, as well as the integration of resources availability through the 3As (Anywhere, Anything, Anytime) paradigm, using the 5G access technologies.

Interpersonal relationship manipulation at a personal level

Directory of Open Access Journals (Sweden)

Andreja Hribernik

2010-12-01

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

Simulation of robot manipulators

International Nuclear Information System (INIS)

Kress, R.L.; Babcock, S.M.; Bills, K.C.; Kwon, D.S.; Schoenwald, D.A.

1995-01-01

This paper describes Oak Ridge National Laboratory's development of an environment for the simulation of robotic manipulators. Simulation includes the modeling of kinematics, dynamics, sensors, actuators, control systems, operators, and environments. Models will be used for manipulator design, proposal evaluation, control system design and analysis, graphical preview of proposed motions, safety system development, and training. Of particular interest is the development of models for robotic manipulators having at least one flexible link. As a first application, models have been developed for the Pacific Northwest Laboratories' Flexible Beam Testbed which is a one-Degree-Of-Freedom, flexible arm with a hydraulic base actuator. Initial results show good agreement between model and experiment

A six degrees of freedom mems manipulator

NARCIS (Netherlands)

de Jong, B.R.

2006-01-01

This thesis reports about a six degrees of freedom (DOF) precision manipulator in MEMS, concerning concept generation for the manipulator followed by design and fabrication (of parts) of the proposed manipulation concept in MEMS. Researching the abilities of 6 DOF precision manipulation in MEMS is

A control method for manipulators with redundancy

International Nuclear Information System (INIS)

Furusho, Junji; Usui, Hiroyuki

1989-01-01

Redundant manipulators have more ability than nonredundant ones in many aspects such as avoiding obstacles, avoiding singular states, etc. In this paper, a control algorithm for redundant manipulators working under the circumstance in the presence of obstacles is presented. First, the measure of manipulability for robot manipulators under obstacle circumstances is defined. Then, the control algorithm for the obstacle avoidance is derived by using this measure of manipulability. The obstacle avoidance and the maintenance of good posture are simultaneously achieved by this algorithm. Lastly, an experiment and simulation results using an eight degree of freedom manipulator are shown. (author)

Computer control of a multi-link manipulator

International Nuclear Information System (INIS)

Holt, J.E.; Thiruarooran, C.

1988-01-01

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

Dynamic Control of Kinematically Redundant Robotic Manipulators

Directory of Open Access Journals (Sweden)

Erling Lunde

1987-07-01

Full Text Available Several methods for task space control of kinematically redundant manipulators have been proposed in the literature. Most of these methods are based on a kinematic analysis of the manipulator. In this paper we propose a control algorithm in which we are especially concerned with the manipulator dynamics. The algorithm is particularly well suited for the class of redundant manipulators consisting of a relatively small manipulator mounted on a larger positioning part.

Learning Area and Perimeter with Virtual Manipulatives

Science.gov (United States)

Bouck, Emily; Flanagan, Sara; Bouck, Mary

2015-01-01

Manipulatives are considered a best practice for educating students with disabilities, but little research exists which examines virtual manipulatives as tool for supporting students in mathematics. This project investigated the use of a virtual manipulative through the National Library of Virtual Manipulatives--polynominoes (i.e., tiles)--as a…

Manipulator system for remote maintenance of fusion experimental reactor

International Nuclear Information System (INIS)

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

1991-01-01

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

High precision redundant robotic manipulator

International Nuclear Information System (INIS)

Young, K.K.D.

1998-01-01

A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space is disclosed. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degrees of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom. For each of the revolute joints, a harmonic gear coupled to an electric motor is introduced, and together with properly designed based servo controllers provide an end point repeatability of less than 10 microns. 3 figs

Bioprinting Living Biofilms through Optogenetic Manipulation.

Science.gov (United States)

Huang, Yajia; Xia, Aiguo; Yang, Guang; Jin, Fan

2018-04-18

In this paper, we present a new strategy for microprinting dense bacterial communities with a prescribed organization on a substrate. Unlike conventional bioprinting techniques that require bioinks, through optogenetic manipulation, we directly manipulated the behaviors of Pseudomonas aeruginosa to allow these living bacteria to autonomically form patterned biofilms following prescribed illumination. The results showed that through optogenetic manipulation, patterned bacterial communities with high spatial resolution (approximately 10 μm) could be constructed in 6 h. Thus, optogenetic manipulation greatly increases the range of available bioprinting techniques.

Master-slave-manipulator 'EMSM I'

International Nuclear Information System (INIS)

Koehler, G.W.; Salaske, M.

1976-01-01

A master-slave manipulator with electric force transmission and reflection was developed for the first time in the German Federal Republic. The apparatus belongs to the class of 200 N carrying capacity. It is intended mainly for nuclear purposes and especially for use in large hot cells and also for medium and heavy manipulator vehicles. The most innovations compared with previously known foreign electric master-slave manipulators are two additional possibilities of movement and the electric dead weight compensation. (orig.) [de

Master-slave-manipulator EMSM I

International Nuclear Information System (INIS)

Koehler, G.W.; Salaske, M.

1976-01-01

A master-slave manipulator with electric force transmission and reflection was developed for the first time in the German Federal Republic. The aparatus belongs to the class of 200 N carrying capacity. It is intended mainly for nuclear purposes and especially for use in large hot cells and also for medium and heavy manipulator vehicles. The most obvious innovations compared with previously known foreign electric master-slave manipulators are two additional possibilities of movement and the electric dead weightcompensation. (orig.) [de

Using Manipulatives to Teach Elementary Mathematics

Science.gov (United States)

Boggan, Matthew; Harper, Sallie; Whitmire, Anna

2010-01-01

The purpose of this paper is to explain the importance and benefits of math manipulatives. For decades, the National Council of Teachers of Mathematics has encouraged school districts nationwide to use manipulatives in mathematical instruction. The value of manipulatives has been recognized for many years, but some teachers are reluctant to use…

HYBRID COMMUNICATION NETWORK OF MOBILE ROBOT AND QUAD-COPTER

Directory of Open Access Journals (Sweden)

Moustafa M. Kurdi

2017-01-01

Full Text Available This paper introduces the design and development of QMRS (Quadcopter Mobile Robotic System. QMRS is a real-time obstacle avoidance capability in Belarus-132N mobile robot with the cooperation of quadcopter Phantom-4. The function of QMRS consists of GPS used by Mobile Robot and image vision and image processing system from both robot and quad-copter and by using effective searching algorithm embedded inside the robot. Having the capacity to navigate accurately is one of the major abilities of a mobile robot to effectively execute a variety of jobs including manipulation, docking, and transportation. To achieve the desired navigation accuracy, mobile robots are typically equipped with on-board sensors to observe persistent features in the environment, to estimate their pose from these observations, and to adjust their motion accordingly. Quadcopter takes off from Mobile Robot, surveys the terrain and transmits the processed Image terrestrial robot. The main objective of research paper is to focus on the full coordination between robot and quadcopter by designing an efficient wireless communication using WIFI. In addition, it identify the method involving the use of vision and image processing system from both robot and quadcopter; analyzing path in real-time and avoiding obstacles based-on the computational algorithm embedded inside the robot. QMRS increases the efficiency and reliability of the whole system especially in robot navigation, image processing and obstacle avoidance due to the help and connection among the different parts of the system.

Use of mobile devices for medical imaging.

Science.gov (United States)

Hirschorn, David S; Choudhri, Asim F; Shih, George; Kim, Woojin

2014-12-01

Mobile devices have fundamentally changed personal computing, with many people forgoing the desktop and even laptop computer altogether in favor of a smaller, lighter, and cheaper device with a touch screen. Doctors and patients are beginning to expect medical images to be available on these devices for consultative viewing, if not actual diagnosis. However, this raises serious concerns with regard to the ability of existing mobile devices and networks to quickly and securely move these images. Medical images often come in large sets, which can bog down a network if not conveyed in an intelligent manner, and downloaded data on a mobile device are highly vulnerable to a breach of patient confidentiality should that device become lost or stolen. Some degree of regulation is needed to ensure that the software used to view these images allows all relevant medical information to be visible and manipulated in a clinically acceptable manner. There also needs to be a quality control mechanism to ensure that a device's display accurately conveys the image content without loss of contrast detail. Furthermore, not all mobile displays are appropriate for all types of images. The smaller displays of smart phones, for example, are not well suited for viewing entire chest radiographs, no matter how small and numerous the pixels of the display may be. All of these factors should be taken into account when deciding where, when, and how to use mobile devices for the display of medical images. Copyright © 2014 American College of Radiology. Published by Elsevier Inc. All rights reserved.

A Conceptual Design of Light-weighted Mobile Robot for the Integrity of SG Tubes in NPP

Energy Technology Data Exchange (ETDEWEB)

Seo, Yong Chil; Jeong, Kyung Min; Shin, Ho Chul; Lee, Sung Uk; Cho, Jae Wan; Choi, Young Soo; Kim, Seung Ho [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of); Shin, Chun Sup; Park, Ki Tae [Korea Plant Serviceand Engineering, Busan (Korea, Republic of)

2010-10-15

Steam generators (SG) are among the most critical components of pressurized water Nuclear Power Plants (NPP). SG tubes must provide a reliable pressure boundary between the primary and secondary cooling water. It is because that any leakage from tube defects could result in the release of radioactivity to the environment. Thus degradations of steam generators tubes should be monitored and inspected periodically under nuclear regulatory. In-service inspections of SG tubes are carried out using eddy current test (ECT) and the defected tubes are usually plugged. Because the radioactivity in the internal of SG chambers limits free access of human worker, remote manipulators are required. In South Korea, Manipulators such as the Zetec SM series and the Westinghouse ROSA series have been used. Such manipulators are rigidly mounted to manways or tube sheets of SG. Confusions for the inspected tubes may occur from deflection of the manipulators. To reduce the deflections of the manipulators for covering the large working areas of tube sheets, sufficient rigidity is required and it leads to the increase of the weight. Such weight increase results in some difficulties for handling and more radiation exposure of human workers. Recently light-weighed mobile robots have been introduced by Westinghouse and Zetec. The robots can move keeping in contact with the tube sheets using devices which are commonly called cam-locks. They are easier to handle and provide no confusion for the position of the inspected tubes. But when the clamping forces are loosed accidently, they can be fall down and light repair works can be performed. This paper provides the design results for a light weighted mobile robot which is recently being developed in cooperation of our institutes

A Conceptual Design of Light-weighted Mobile Robot for the Integrity of SG Tubes in NPP

International Nuclear Information System (INIS)

Seo, Yong Chil; Jeong, Kyung Min; Shin, Ho Chul; Lee, Sung Uk; Cho, Jae Wan; Choi, Young Soo; Kim, Seung Ho; Shin, Chun Sup; Park, Ki Tae

2010-01-01

Steam generators (SG) are among the most critical components of pressurized water Nuclear Power Plants (NPP). SG tubes must provide a reliable pressure boundary between the primary and secondary cooling water. It is because that any leakage from tube defects could result in the release of radioactivity to the environment. Thus degradations of steam generators tubes should be monitored and inspected periodically under nuclear regulatory. In-service inspections of SG tubes are carried out using eddy current test (ECT) and the defected tubes are usually plugged. Because the radioactivity in the internal of SG chambers limits free access of human worker, remote manipulators are required. In South Korea, Manipulators such as the Zetec SM series and the Westinghouse ROSA series have been used. Such manipulators are rigidly mounted to manways or tube sheets of SG. Confusions for the inspected tubes may occur from deflection of the manipulators. To reduce the deflections of the manipulators for covering the large working areas of tube sheets, sufficient rigidity is required and it leads to the increase of the weight. Such weight increase results in some difficulties for handling and more radiation exposure of human workers. Recently light-weighed mobile robots have been introduced by Westinghouse and Zetec. The robots can move keeping in contact with the tube sheets using devices which are commonly called cam-locks. They are easier to handle and provide no confusion for the position of the inspected tubes. But when the clamping forces are loosed accidently, they can be fall down and light repair works can be performed. This paper provides the design results for a light weighted mobile robot which is recently being developed in cooperation of our institutes

Remediation of heavy metal(loid)s contaminated soils--to mobilize or to immobilize?

Science.gov (United States)

Bolan, Nanthi; Kunhikrishnan, Anitha; Thangarajan, Ramya; Kumpiene, Jurate; Park, Jinhee; Makino, Tomoyuki; Kirkham, Mary Beth; Scheckel, Kirk

2014-02-15

Unlike organic contaminants, metal(loid)s do not undergo microbial or chemical degradation and persist for a long time after their introduction. Bioavailability of metal(loid)s plays a vital role in the remediation of contaminated soils. In this review, the remediation of heavy metal(loid) contaminated soils through manipulating their bioavailability using a range of soil amendments will be presented. Mobilizing amendments such as chelating and desorbing agents increase the bioavailability and mobility of metal(loid)s. Immobilizing amendments such of precipitating agents and sorbent materials decrease the bioavailabilty and mobility of metal(loid)s. Mobilizing agents can be used to enhance the removal of heavy metal(loid)s though plant uptake and soil washing. Immobilizing agents can be used to reduce the transfer to metal(loid)s to food chain via plant uptake and leaching to groundwater. One of the major limitations of mobilizing technique is susceptibility to leaching of the mobilized heavy metal(loid)s in the absence of active plant uptake. Similarly, in the case of the immobilization technique the long-term stability of the immobilized heavy metal(loid)s needs to be monitored. Copyright © 2013 Elsevier B.V. All rights reserved.

Nano-manipulation of single DNA molecules

International Nuclear Information System (INIS)

Hu Jun; Shanghai Jiaotong Univ., Shanghai; Lv Junhong; Wang Guohua; Wang Ying; Li Minqian; Zhang Yi; Li Bin; Li Haikuo; An Hongjie

2004-01-01

Nano-manipulation of single atoms and molecules is a critical technique in nanoscience and nanotechnology. This review paper will focus on the recent development of the manipulation of single DNA molecules based on atomic force microscopy (AFM). Precise manipulation has been realized including varied manipulating modes such as 'cutting', 'pushing', 'folding', 'kneading', 'picking up', 'dipping', etc. The cutting accuracy is dominated by the size of the AFM tip, which is usually 10 nm or less. Single DNA fragments can be cut and picked up and then amplified by single molecule PCR. Thus positioning isolation and sequencing can be performed. (authors)

Task based synthesis of serial manipulators

Directory of Open Access Journals (Sweden)

Sarosh Patel

2015-05-01

Full Text Available Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. There is a very close relationship between the structure of the manipulator and its kinematic performance. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task requirements and performance constraints can be specified in terms of the required end-effector positions, orientations and velocities along the task trajectory. In this work, we present a comprehensive method to develop the optimal geometric structure (DH parameters of a non-redundant six degree of freedom serial manipulator from task descriptions. In this work we define, develop and test a methodology to design optimal manipulator configurations based on task descriptions. This methodology is devised to investigate all possible manipulator configurations that can satisfy the task performance requirements under imposed joint constraints. Out of all the possible structures, the structures that can reach all the task points with the required orientations are selected. Next, these candidate structures are tested to see whether they can attain end-effector velocities in arbitrary directions within the user defined joint constraints, so that they can deliver the best kinematic performance. Additionally least power consuming configurations are also identified.

Collision Detection for Underwater ROV Manipulator Systems

Directory of Open Access Journals (Sweden)

Satja Sivčev

2018-04-01

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

Stainless steel decontamination manipulators

International Nuclear Information System (INIS)

Sullivan, R.J.

1986-01-01

Three, large-volume coverage manipulator systems were designed and built for the Defense Water Processing Facility at the Savannah River Laboratory. These stainless steel systems will be used for high-pressure spray decontamination of waste containers and large process equipment modules. Each system has a manipulator arm, folding boom, and vertical drive and guide structure. Handling capacity is 45 kg, horizontal reach is 4.6 m with a 180-deg swing motion, and the vertical travel is 6 m. The system is remotely removable and replaceable in modules using an overhead crane and an impact wrench. The manipulator arm has seven motions: Shoulder rotation and pivot, elbow pivot, wrist pivot and rotation, and grip open-close. All motions are variable speed and are slip-clutch protected to prevent overloading from external forces (collisions)

Mobile Manipulation and Mobility as Manipulation: Design and Algorithms of RoboSimian

Science.gov (United States)

2014-05-01

the set of grasps needed for effective operation in disaster scenarios. They are robust to damage and also serve as the robot’s feet. An operator...more complex tasks, such as turning a door handle, opening the door, and traversing through the doorway . We expect an operator to be at a standoff...process and each arrow indicates the flow of data between each module. Solid, dashed and dotted lines represent TCP, UDP and shared- memory communications

Manipulating Strings in Python

Directory of Open Access Journals (Sweden)

William J. Turkel

2012-07-01

Full Text Available This lesson is a brief introduction to string manipulation techniques in Python. Knowing how to manipulate strings plays a crucial role in most text processing tasks. If you’d like to experiment with the following lessons, you can write and execute short programs as we’ve been doing, or you can open up a Python shell / Terminal to try them out on the command line.

Modeling manipulation in medical education.

Science.gov (United States)

Dailey, Jason I

2010-05-01

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

Programming secure mobile agents in healthcare environments using role-based permissions.

Science.gov (United States)

Georgiadis, C K; Baltatzis, J; Pangalos, G I

2003-01-01

The healthcare environment consists of vast amounts of dynamic and unstructured information, distributed over a large number of information systems. Mobile agent technology is having an ever-growing impact on the delivery of medical information. It supports acquiring and manipulating information distributed in a large number of information systems. Moreover is suitable for the computer untrained medical stuff. But the introduction of mobile agents generates advanced threads to the sensitive healthcare information, unless the proper countermeasures are taken. By applying the role-based approach to the authorization problem, we ease the sharing of information between hospital information systems and we reduce the administering part. The different initiative of the agent's migration method, results in different methods of assigning roles to the agent.

Professional responsibility in relation to cervical spine manipulation.

Science.gov (United States)

Refshauge, Kathryn M; Parry, Sharon; Shirley, Debra; Larsen, Dale; Rivett, Darren A; Boland, Rob

2002-01-01

Manipulation of the cervical spine is one of the few potentially life-threatening procedures performed by physiotherapists. Is it worth the risk? A comparison of risks versus benefits indicates that at present, the risks of cervical manipulation outweigh the benefits: manipulation has yet to be shown to be more effective for neck pain and headache than other interventions such as mobilisation, whereas the risks, although infrequent, are serious. This analysis is of particular concern because the conditions for which manipulation is indicated are benign and usually self-limiting. Because physiotherapists have legal and ethical obligations to the community to avoid foreseeable harm and provide optimum care, it may be prudent to determine who in our profession should perform cervical manipulation. That is, the profession could restrict the practice of cervical spine manipulation. Although all registered physiotherapists in Australia are entitled to perform cervical manipulation, few choose to use this intervention. Therefore, it might be feasible to encourage those practitioners who wish to use cervical manipulation to undertake formal education programs. Such a requirement could be embodied in a code of practice that discourages those without formal training from performing cervical manipulation. By taking such measures, we could ensure that our profession exercises wisdom in its monitoring and use of cervical manipulation.

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

Science.gov (United States)

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

2008-06-01

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

2D reentrant auxetic structures of graphene/CNT networks for omnidirectionally stretchable supercapacitors.

Science.gov (United States)

Kim, Byoung Soo; Lee, Kangsuk; Kang, Seulki; Lee, Soyeon; Pyo, Jun Beom; Choi, In Suk; Char, Kookheon; Park, Jong Hyuk; Lee, Sang-Soo; Lee, Jonghwi; Son, Jeong Gon

2017-09-14

Stretchable energy storage systems are essential for the realization of implantable and epidermal electronics. However, high-performance stretchable supercapacitors have received less attention because currently available processing techniques and material structures are too limited to overcome the trade-off relationship among electrical conductivity, ion-accessible surface area, and stretchability of electrodes. Herein, we introduce novel 2D reentrant cellular structures of porous graphene/CNT networks for omnidirectionally stretchable supercapacitor electrodes. Reentrant structures, with inwardly protruded frameworks in porous networks, were fabricated by the radial compression of vertically aligned honeycomb-like rGO/CNT networks, which were prepared by a directional crystallization method. Unlike typical porous graphene structures, the reentrant structure provided structure-assisted stretchability, such as accordion and origami structures, to otherwise unstretchable materials. The 2D reentrant structures of graphene/CNT networks maintained excellent electrical conductivities under biaxial stretching conditions and showed a slightly negative or near-zero Poisson's ratio over a wide strain range because of their structural uniqueness. For practical applications, we fabricated all-solid-state supercapacitors based on 2D auxetic structures. A radial compression process up to 1/10 th densified the electrode, significantly increasing the areal and volumetric capacitances of the electrodes. Additionally, vertically aligned graphene/CNT networks provided a plentiful surface area and induced sufficient ion transport pathways for the electrodes. Therefore, they exhibited high gravimetric and areal capacitance values of 152.4 F g -1 and 2.9 F cm -2 , respectively, and had an excellent retention ratio of 88% under a biaxial strain of 100%. Auxetic cellular and vertically aligned structures provide a new strategy for the preparation of robust platforms for stretchable

An Analysis of Manipulation Strategies in Stock Markets

OpenAIRE

Rasim Ozcan

2012-01-01

Manipulative transactions, which affect both the supply and demand side of the markets, have been studied by academic circles and it was concluded that manipulation exerts negative impact on markets. A market with manipulation is considered as less trustworthy and credible compared to a market without manipulation, which in turn, affects demand. Manipulations affecting both the supply and demand should be closely monitored by stock market investors as well as legislative, executive, and regul...

The Anatomy of Virtual Manipulative Apps: Using Grounded Theory to Conceptualize and Evaluate Educational Apps that Contain Virtual Manipulatives

OpenAIRE

Boyer-Thurgood, Jennifer M.

2017-01-01

This exploratory qualitative study used grounded theory to investigate the anatomy of educational apps that contain virtual manipulatives. For this study 100 virtual manipulatives within educational apps designed for the iPad were observed by the researcher in order to expand the explanations of and build theory about virtual manipulatives within apps. Affordance theory was used to frame all six phases of the study in which the researcher identified virtual manipulatives situated within educa...

Probabilistic approach to manipulator kinematics and dynamics

International Nuclear Information System (INIS)

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

2001-01-01

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

Sound Surfing Network (SSN): Mobile Phone-based Sound Spatialization with Audience Collaboration

OpenAIRE

Park, Saebyul; Ban, Seonghoon; Hong, Dae Ryong; Yeo, Woon Seung

2013-01-01

SSN (Sound Surfing Network) is a performance system that provides a new musicalexperience by incorporating mobile phone-based spatial sound control tocollaborative music performance. SSN enables both the performer and theaudience to manipulate the spatial distribution of sound using the smartphonesof the audience as distributed speaker system. Proposing a new perspective tothe social aspect music appreciation, SSN will provide a new possibility tomobile music performances in the context of in...

Ultraviolet irradiation in transplantation biology. Manipulation of immunity and immunogenicity

International Nuclear Information System (INIS)

Deeg, H.J.

1988-01-01

Ultraviolet irradiation, particularly in the UVB range, has profound effects on immunological mechanisms. Optimum and tolerable doses of exposure vary from species to species, and from organ to organ. As a result of limited depth penetration and possibly significant energy absorption in nontargeted cells, every model requires diligent determination of an effective nontoxic approach. Nevertheless, it is clear that UVB and UVC irradiation can abolish proliferative and stimulatory ability as well as accessory/antigen-presenting ability of leukocytes in vitro. UV treatment alters cell-surface properties, calcium mobilization, cytokine production and release, and other subcellular processes. Preliminary data suggest that these manipulations also suppress immunity and reduce immunogenicity in vivo. Exposure of solid organs and of large volumes of blood is difficult due to technical problems--in particular poor depth penetration and absorption of UV energy in generally available transfusion bags. 111 references

A structured review of spinal stiffness as a kinesiological outcome of manipulation: its measurement and utility in diagnosis, prognosis and treatment decision-making.

Science.gov (United States)

Snodgrass, Suzanne J; Haskins, Robin; Rivett, Darren A

2012-10-01

To review and discuss the methods used for measuring spinal stiffness and factors associated with stiffness, how stiffness is used in diagnosis, prognosis, and treatment decision-making and the effects of manipulative techniques on stiffness. A systematic search of MEDLINE, EMBASE, CINAHL, AMED and ICL databases was conducted. Included studies addressed one of four constructs related to stiffness: measurement, diagnosis, prognosis and/or treatment decision-making, and the effects of manipulation on stiffness. Spinal stiffness was defined as the relationship between force and displacement. One hundred and four studies are discussed in this review, with the majority of studies focused on the measurement of stiffness, most often in asymptomatic persons. Eight studies investigated spinal stiffness in diagnosis, providing limited evidence that practitioner-judged stiffness is associated with radiographic findings of sagittal rotational mobility. Fifteen studies investigated spinal stiffness in prognosis or treatment decision-making, providing limited evidence that spinal stiffness is unlikely to independently predict patient outcomes, though stiffness may influence a practitioner's application of non-thrust manipulative techniques. Nine studies investigating the effects of manipulative techniques on spinal stiffness provide very limited evidence that there is no change in spinal stiffness following thrust or non-thrust manipulation in asymptomatic individuals and non-thrust techniques in symptomatic persons, with only one study supporting an immediate, but not sustained, stiffness decrease following thrust manipulation in symptomatic individuals. The existing limited evidence does not support an association between spinal stiffness and manipulative treatment outcomes. There is a need for additional research investigating the effects of manipulation on spinal stiffness in persons with spinal pain. Copyright © 2012 Elsevier Ltd. All rights reserved.

A portable modular architecture for robotic manipulator control

International Nuclear Information System (INIS)

Butler, P.L.

1993-01-01

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

Managerial Incentives and Stock Price Manipulation

OpenAIRE

Peng, Lin; Röell, Ailsa A

2009-01-01

This paper presents a rational expectations model of optimal executive compensation in a setting where managers are in a position to manipulate short-term stock prices, and managers' propensity to manipulate is uncertain. Stock-based incentives elicit not only productive effort, but also costly information manipulation. We analyze the tradeoffs involved in conditioning pay on long- versus short-term performance and characterize a second-best optimal compensation scheme. The paper shows manipu...

Kinematic sensitivity of robot manipulators

Science.gov (United States)

Vuskovic, Marko I.

1989-01-01

Kinematic sensitivity vectors and matrices for open-loop, n degrees-of-freedom manipulators are derived. First-order sensitivity vectors are defined as partial derivatives of the manipulator's position and orientation with respect to its geometrical parameters. The four-parameter kinematic model is considered, as well as the five-parameter model in case of nominally parallel joint axes. Sensitivity vectors are expressed in terms of coordinate axes of manipulator frames. Second-order sensitivity vectors, the partial derivatives of first-order sensitivity vectors, are also considered. It is shown that second-order sensitivity vectors can be expressed as vector products of the first-order sensitivity vectors.

A links manipulator simulation program interim report

International Nuclear Information System (INIS)

Noble, R.A.

1987-04-01

A computer program to simulate the performance of the Heysham II rail-following manipulator has been developed. The program is being used to develop and test the rail-following control algorithms which will be used to control movements of the manipulator when it is operating below the gas baffle dome. The simulation includes the dynamic responses of the manipulator joint drives, excluding friction, backlash and compliance. It also includes full details of the manipulator's geometry. A method is given whereby the actual manipulator dynamics can be written into the program once these have been established by measurement. The program is written in FORTRAN and runs on a Perkin-Elmer 3220 mini-computer. The simulation program responds to velocity demands on the individual joints. These will normally come from the control program, in which they will be manually controlled by a joystick. A sigma 5664 colour graphics generator is programmed to display the current position of the manipulator. (UK)

Mobile marketing for mobile games

OpenAIRE

Vu, Giang

2016-01-01

Highly developed mobile technology and devices enable the rise of mobile game industry and mobile marketing. Hence mobile marketing for mobile game is an essential key for a mobile game success. Even though there are many articles on marketing for mobile games, there is a need of highly understanding mobile marketing strategies, how to launch a mobile campaign for a mobile game. Besides that, it is essential to understand the relationship between mobile advertising and users behaviours. There...

Manipulative therapy in addition to usual medical care accelerates recovery of shoulder complaints at higher costs: economic outcomes of a randomized trial

Directory of Open Access Journals (Sweden)

Bergman Gert JD

2010-09-01

Full Text Available Abstract Background Shoulder complaints are common in primary care and have unfavourable long term prognosis. Our objective was to evaluate the clinical effectiveness of manipulative therapy of the cervicothoracic spine and the adjacent ribs in addition to usual medical care (UMC by the general practitioner in the treatment of shoulder complaints. Methods This economic evaluation was conducted alongside a randomized trial in primary care. Included were 150 patients with shoulder complaints and a dysfunction of the cervicothoracic spine and adjacent ribs. Patients were treated with UMC (NSAID's, corticosteroid injection or referral to physical therapy and were allocated at random (yes/no to manipulative therapy (manipulation and mobilization. Patient perceived recovery, severity of main complaint, shoulder pain, disability and general health were outcome measures. Data about direct and indirect costs were collected by means of a cost diary. Results Manipulative therapy as add-on to UMC accelerated recovery on all outcome measures included. At 26 weeks after randomization, both groups reported similar recovery rates (41% vs. 38%, but the difference between groups in improvement of severity of the main complaint, shoulder pain and disability sustained. Compared to the UMC group the total costs were higher in the manipulative group (€1167 vs. €555. This is explained mainly by the costs of the manipulative therapy itself and the higher costs due sick leave from work. The cost effectiveness ratio showed that additional manipulative treatment is more costly but also more effective than UMC alone. The cost-effectiveness acceptability curve shows that a 50%-probability of recovery with AMT within 6 months after initiation of treatment is achieved at €2876. Conclusion Manipulative therapy in addition to UMC accelerates recovery and is more effective than UMC alone on the long term, but is associated with higher costs. International Standard

Manipulators

International Nuclear Information System (INIS)

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

2005-01-01

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

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

Science.gov (United States)

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

2016-06-10

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

Managing collaboration in the nanoManipulator

DEFF Research Database (Denmark)

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

2003-01-01

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

Positional control of space robot manipulator

Science.gov (United States)

Kurochkin, Vladislav; Shymanchuk, Dzmitry

2018-05-01

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

Why do spinal manipulation techniques take the form they do? Towards a general model of spinal manipulation.

Science.gov (United States)

Evans, David W

2010-06-01

For centuries, techniques used to manipulate joints in the spine have been passed down from one generation of manipulators to the next. Today, spinal manipulation is in the curious position that positive clinical effects have now been demonstrated, yet the theoretical base underpinning every aspect of its use is still underdeveloped. An important question is posed in this masterclass: why do spinal manipulation techniques take the form they do? From the available literature, two factors appear to provide an answer: 1. Action of a force upon vertebrae. Any 'direct' spinal manipulation technique requires that the patient be orientated in such a way that force is applied perpendicular to the overlying skin surface so as to act upon the vertebrae beneath. If the vertebral motion produced by 'directly' applied force is insufficient to produce the desired effect (e.g. cavitation), then force must be applied 'indirectly', often through remote body segments such as the head, thorax, abdomen, pelvis, and extremities. 2. Spinal segment morphology. A new hypothesis is presented. Spinal manipulation techniques exploit the morphology of vertebrae by inducing rotation at a spinal segment, about an axis that is always parallel to the articular surfaces of the constituent zygapophysial joints. In doing so, the articular surfaces of one zygapophysial joint appose to the point of contact, resulting in migration of the axis of rotation towards these contacting surfaces, and in turn this facilitates gapping of the other (target) zygapophysial joint. Other variations in the form of spinal manipulation techniques are likely to depend upon the personal style and individual choices of the practitioner.

Better with Byzantine: Manipulation-Optimal Mechanisms

Science.gov (United States)

Othman, Abraham; Sandholm, Tuomas

A mechanism is manipulable if it is in some agents’ best interest to misrepresent their private information. The revelation principle establishes that, roughly, anything that can be accomplished by a manipulable mechanism can also be accomplished with a truthful mechanism. Yet agents often fail to play their optimal manipulations due to computational limitations or various flavors of incompetence and cognitive biases. Thus, manipulable mechanisms in particular should anticipate byzantine play. We study manipulation-optimal mechanisms: mechanisms that are undominated by truthful mechanisms when agents act fully rationally, and do better than any truthful mechanism if any agent fails to act rationally in any way. This enables the mechanism designer to do better than the revelation principle would suggest, and obviates the need to predict byzantine agents’ irrational behavior. We prove a host of possibility and impossibility results for the concept which have the impression of broadly limiting possibility. These results are largely in line with the revelation principle, although the considerations are more subtle and the impossibility not universal.

The TFTR maintenance manipulator

International Nuclear Information System (INIS)

Kungl, D.; Loesser, D.; Heitzenroeder, P.; Cerdan, G.

1989-01-01

TFTR plans to begin D-T experiments in mid 1990. The D-T experimental program will produce approximately one hundred shots, with a neutron generation rate of 10 19 neutrons per shot. This will result in high levels of activation in TFTR, especially in the vacuum vessel. The primary purpose of the Maintenance Manipulator is to provide a means of remotely performing certain defined maintenance and inspection tasks inside the vacuum torus so as to minimize personnel exposure to radiation. The manipulator consists of a six-link folding boom connected to a fixed boom on a movable carriage. The entire manipulator is housed in a vacuum antechamber connected to the vacuum torus, through a port formerly used for a vacuum pumping duct. The configuration extends 180 0 in either direction to provide complete coverage of the torus. The four 3500 l/s turbopumps which were formerly used in the pumping duct will be mounted on the antechamber. The manipulator will utilize two end effectors. The first, called a General Inspection Arm (GIA) provides a movable platform to an inspection camera and an in-vacuum leak detector. The second is a bilateral, force-reflecting pair of slave arms which utilize specially developed tools to perform several maintenance functions. All components except the slave arms are capable of operating in TFTR's vacuum environment and during 150 0 C bakeout of the torus. (orig.)

MANIPULATING CONSUMERS THROUGH ADVERTISING

Directory of Open Access Journals (Sweden)

Nicoleta -Andreea Neacşu

2012-12-01

Full Text Available Marketing communication has evolved steadily in the direction of increasing complexity and increasing volume of funds needed to run their own actions. More than ever, consumers are exposed to an overwhelming variety of sources and communication tehniques, the information received being numerous, diverse and polyvalent. The desire to make more efficient the marketing communication activity urges the broadcasters to encode messages, to use effective means of propagation in order to obtain a high degree of control on receptors and to influence the consumption attitudes. Between the means used for this purpose, manipulation tehniques are well known. This paper highlights the main conclusions drawn as a result of a quantitative marketing research on the adult population from Braşov in order to identify the attitudes and opinions of consumers from Braşov regarding the manipulation techniques used by commercial practices and advertising.The results of the research have shown that 82% of the respondents buy products in promotional offers, and 18% choose not to buy these products and 61% of the respondents consider that they have not been manipulated not even once, while only 39% believe that they have been manipulated at least once through advertising or commercial practices. Advertisements on TV have a strong influence on consumers, 81% of the respondents considering that at least once they have bought a product because of a TV commercial.

Efficacy of manual and manipulative therapy in the perception of pain and cervical motion in patients with tension-type headache: a randomized, controlled clinical trial.

Science.gov (United States)

Espí-López, Gemma V; Gómez-Conesa, Antonia

2014-03-01

The purpose of this study was to evaluate the efficacy of manipulative and manual therapy treatments with regard to pain perception and neck mobility in patients with tension-type headache. A randomized clinical trial was conducted on 84 adults diagnosed with tension-type headache. Eighty-four subjects were enrolled in this study: 68 women and 16 men. Mean age was 39.76 years, ranging from 18 to 65 years. A total of 57.1% were diagnosed with chronic tension-type headache and 42.9% with tension-type headache. Participants were divided into 3 treatment groups (manual therapy, manipulative therapy, a combination of manual and manipulative therapy) and a control group. Four treatment sessions were administered during 4 weeks, with posttreatment assessment and follow-up at 1 month. Cervical ranges of motion pain perception, and frequency and intensity of headaches were assessed. All 3 treatment groups showed significant improvements in the different dimensions of pain perception. Manual therapy and manipulative treatment improved some cervical ranges of motion. Headache frequency was reduced with manipulative treatment (P treatment reported improvement after the treatment (P treatment and at follow-up with manipulative therapy (P treatment (P treatments, administered both separately and combined together, showed efficacy for patients with tension-type headache with regard to pain perception. As for cervical ranges of motion, treatments produced greater effect when separately administered.

On stiffening cables of a long reach manipulator

International Nuclear Information System (INIS)

Wang, S.L.; Santiago, P.

1996-01-01

A long reach manipulator will be used for waste remediation in large underground storage tanks. The manipulator's slenderness makes it flexible and difficult to control. A low-cost and effective method to enhance the manipulator's stiffness is proposed in this research by using suspension cables. These cables can also be used to accurately measure the position of the manipulator's wrist

Manipulation Robustness of Collaborative Filtering

OpenAIRE

Benjamin Van Roy; Xiang Yan

2010-01-01

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

Atomic and molecular manipulation

CERN Document Server

Mayne, Andrew J

2011-01-01

Work with individual atoms and molecules aims to demonstrate that miniaturized electronic, optical, magnetic, and mechanical devices can operate ultimately even at the level of a single atom or molecule. As such, atomic and molecular manipulation has played an emblematic role in the development of the field of nanoscience. New methods based on the use of the scanning tunnelling microscope (STM) have been developed to characterize and manipulate all the degrees of freedom of individual atoms and molecules with an unprecedented precision. In the meantime, new concepts have emerged to design molecules and substrates having specific optical, mechanical and electronic functions, thus opening the way to the fabrication of real nano-machines. Manipulation of individual atoms and molecules has also opened up completely new areas of research and knowledge, raising fundamental questions of "Optics at the atomic scale", "Mechanics at the atomic scale", Electronics at the atomic scale", "Quantum physics at the atomic sca...

Design and implementation of embedded un-interruptible power supply system (EUPSS) for web-based mobile application

Science.gov (United States)

Zhang, De-gan; Zhang, Xiao-dan

2012-11-01

With the growth of the amount of information manipulated by embedded application systems, which are embedded into devices and offer access to the devices on the internet, the requirements of saving the information systemically is necessary so as to fulfil access from the client and the local processing more efficiently. For supporting mobile applications, a design and implementation solution of embedded un-interruptible power supply (UPS) system (in brief, EUPSS) is brought forward for long-distance monitoring and controlling of UPS based on Web. The implementation of system is based on ATmega161, RTL8019AS and Arm chips with TCP/IP protocol suite for communication. In the embedded UPS system, an embedded file system is designed and implemented which saves the data and index information on a serial EEPROM chip in a structured way and communicates with a microcontroller unit through I2C bus. By embedding the file system into UPS system or other information appliances, users can access and manipulate local data on the web client side. Embedded file system on chips will play a major role in the growth of IP networking. Based on our experiment tests, the mobile users can easily monitor and control UPS in different places of long-distance. The performance of EUPSS has satisfied the requirements of all kinds of Web-based mobile applications.

NoSQL and SQL Databases for Mobile Applications. Case Study: MongoDB versus PostgreSQL

Directory of Open Access Journals (Sweden)

Marin FOTACHE

2013-01-01

Full Text Available Compared with "classical" web, multi-tier applications, mobile applications have common and specific requirements concerning data persistence and processing. In mobile apps, database features can be distinctly analyzed for the client (minimalistic, isolated, memory-only and the server (data rich, centralized, distributed, synchronized and disk-based layers. Currently, a few lite relational database products reign the persistence for client platforms of mobile applications. There are two main objectives of this paper. First is to investigate storage options for major mobile platforms. Second is to point out some major differences between SQL and NoSQL datastores in terms of deployment, data model, schema design, data definition and manipulation. As NoSQL movement lacks standardization, from NoSQL products family MongoDB was chosen as reference, due to its strengths and popularity among developers. PostgreSQL serves the position of SQL DBMSs representative due to its popularity and conformity with SQL standards.

Mobile Workforce, Mobile Technology, Mobile Threats

International Nuclear Information System (INIS)

Garcia, J.

2015-01-01

Mobile technologies' introduction into the world of safeguards business processes such as inspection creates tremendous opportunity for novel approaches and could result in a number of improvements to such processes. Mobile applications are certainly the wave of the future. The success of the application ecosystems has shown that users want full fidelity, highly-usable, simple purpose applications with simple installation, quick responses and, of course, access to network resources at all times. But the counterpart to opportunity is risk, and the widespread adoption of mobile technologies requires a deep understanding of the threats and vulnerabilities inherent in mobile technologies. Modern mobile devices can be characterized as small computers. As such, the threats against computing infrastructure apply to mobile devices. Meanwhile, the attributes of mobile technology that make it such an obvious benefit over traditional computing platforms all have elements of risk: pervasive, always-on networking; diverse ecosystems; lack of centralized control; constantly shifting technological foundations; intense competition among competitors in the marketplace; the scale of the installation base (from millions to billions); and many more. This paper will explore the diverse and massive environment of mobile, the number of attackers and vast opportunities for compromise. The paper will explain how mobile devices prove valuable targets to both advanced and persistent attackers as well as less-skilled casual hackers. Organized crime, national intelligence agencies, corporate espionage are all part of the landscape. (author)

Data manipulation with R

CERN Document Server

Abedin, Jaynal

2014-01-01

This book is a step-by step, example-oriented tutorial that will show both intermediate and advanced users how data manipulation is facilitated smoothly using R.This book is aimed at intermediate to advanced level users of R who want to perform data manipulation with R, and those who want to clean and aggregate data effectively. Readers are expected to have at least an introductory knowledge of R and some basic administration work in R, such as installing packages and calling them when required.

Stock Market Manipulation on the Hong Kong Stock Exchange

Directory of Open Access Journals (Sweden)

Dionigi Gerace

2014-10-01

Full Text Available This study is the first to empirically examine stock market manipulation on the Hong Kong Stock Exchange. The dataset contains 40 cases of market manipulation from 1996 to 2009 that were successfully prosecuted by the Hong Kong Securities & Futures Commission. Manipulation is found to negatively impact market efficiency measures such as the bid-ask spread and volatility. Markets appear incapable of efficiently responding to the presence of manipulators and are characterised by information asymmetry. Manipulators were successfully able to raise prices and exit the market. This finding contradicts views that trade-based manipulation is entirely unprofitable and self-deterring. The victimisation of information-seeking investors and the market as a whole provides a strong rationale for all jurisdictions, including Australia, to have effective laws that prohibit manipulation and for robust enforcement of those laws to further deter market manipulation.

Managing collaboration in the nanoManipulator

DEFF Research Database (Denmark)

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

2004-01-01

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

Tension Stiffened and Tendon Actuated Manipulator

Science.gov (United States)

Doggett, William R. (Inventor); Dorsey, John T. (Inventor); Ganoe, George G. (Inventor); King, Bruce D. (Inventor); Jones, Thomas C. (Inventor); Mercer, Charles D. (Inventor); Corbin, Cole K. (Inventor)

2015-01-01

A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge.

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

Directory of Open Access Journals (Sweden)

Lagerev I.A.

2016-12-01

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

Particle Manipulation Methods in Droplet Microfluidics.

Science.gov (United States)

Tenje, Maria; Fornell, Anna; Ohlin, Mathias; Nilsson, Johan

2018-02-06

This Feature describes the different particle manipulation techniques available in the droplet microfluidics toolbox to handle particles encapsulated inside droplets and to manipulate whole droplets. We address the advantages and disadvantages of the different techniques to guide new users.

Manipulation or Mobilisation for Neck Pain

NARCIS (Netherlands)

Gross, Anita; Miller, Jordan; D'Sylva, Jonathan; Burnie, Stephen J.; Goldsmith, Charles H.; Graham, Nadine; Haines, Ted; Brønfort, Gert; Hoving, Jan L.

2010-01-01

Background Manipulation and mobilisation are often used, either alone or combined with other treatment approaches, to treat neck pain. Objectives To assess if manipulation or mobilisation improves pain, function/disability, patient satisfaction, quality of life, and global perceived effect in adults

Modeling of Continuum Manipulators Using Pythagorean Hodograph Curves.

Science.gov (United States)

Singh, Inderjeet; Amara, Yacine; Melingui, Achille; Mani Pathak, Pushparaj; Merzouki, Rochdi

2018-05-10

Research on continuum manipulators is increasingly developing in the context of bionic robotics because of their many advantages over conventional rigid manipulators. Due to their soft structure, they have inherent flexibility, which makes it a huge challenge to control them with high performances. Before elaborating a control strategy of such robots, it is essential to reconstruct first the behavior of the robot through development of an approximate behavioral model. This can be kinematic or dynamic depending on the conditions of operation of the robot itself. Kinematically, two types of modeling methods exist to describe the robot behavior; quantitative methods describe a model-based method, and qualitative methods describe a learning-based method. In kinematic modeling of continuum manipulator, the assumption of constant curvature is often considered to simplify the model formulation. In this work, a quantitative modeling method is proposed, based on the Pythagorean hodograph (PH) curves. The aim is to obtain a three-dimensional reconstruction of the shape of the continuum manipulator with variable curvature, allowing the calculation of its inverse kinematic model (IKM). It is noticed that the performances of the PH-based kinematic modeling of continuum manipulators are considerable regarding position accuracy, shape reconstruction, and time/cost of the model calculation, than other kinematic modeling methods, for two cases: free load manipulation and variable load manipulation. This modeling method is applied to the compact bionic handling assistant (CBHA) manipulator for validation. The results are compared with other IKMs developed in case of CBHA manipulator.

Agent Control for Reconfigurable Open Kinematic Chain Manipulators

Directory of Open Access Journals (Sweden)

Janez Sluga

2013-10-01

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

Sistem kontrol gerak kinematika robot gripper manipulator

Directory of Open Access Journals (Sweden)

Wayan Widhiada

2018-01-01

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

The development of advanced robotics for the nuclear industry -The development of robotic system for the nuclear power plants-

Energy Technology Data Exchange (ETDEWEB)

Kim, Seung Hoh; Kim, Chang Heui; Kim, Byung Soo; Hwang, Suk Yong; Kim, Kee Hoh; Lee, Jae Kyung; Lee, Yung Kwang; Suh, Yong Chil; Lee, Yong Bum; Kim, Woong Kee; Park, Soon Yong [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

1995-07-01

The Advanced Robotics Department of the Korea Atomic Energy Research Institute (KAERI) is developing a Dexterous Manipulation System (DMS) and a teleoperated mobile robot, identified as KAEROT/ml, for use in nuclear power plants. The DMS is being developed for performing tasks such as the opening and closing of nozzle dam inside water chamber of steam generator. The DMS has two major subsystems; a master-slave 6 degrees of freedom (dof) manipulator and a support device. The master-slave arms are designed dissimilar kinematically and dynamically, and their functions are performed by a bilateral force-reflecting force control. The slave is a hydraulically powered arm with a 3 dof end effector, and is mounted on the top of the support device for nozzle dam operation. The support device guides the slave arm into the water chamber and supports it during its operation. The DMS can be operated either in teleoperated or supervisory control modes. The KAEROT/ml is designed to be used in emergency response applications such as monitoring and mapping radiation areas, handling radioactive materials and performing decontamination tasks. The KAEROT/ml equipped with four-omnidirectional planetary wheels has a 6 dof joint-controlled arm and is capable of ascending and descending stairs and navigating flat surface with zero turning radius. This report describes the mechanical design, features, modeling and control system of both the DMS and the KAEROT/ml. 209 figs, 49 pix, 69 tabs, 62 refs. (Author).

The development of advanced robotics for the nuclear industry -The development of robotic system for the nuclear power plants-

International Nuclear Information System (INIS)

Kim, Seung Hoh; Kim, Chang Heui; Kim, Byung Soo; Hwang, Suk Yong; Kim, Kee Hoh; Lee, Jae Kyung; Lee, Yung Kwang; Suh, Yong Chil; Lee, Yong Bum; Kim, Woong Kee; Park, Soon Yong

1995-07-01

The Advanced Robotics Department of the Korea Atomic Energy Research Institute (KAERI) is developing a Dexterous Manipulation System (DMS) and a teleoperated mobile robot, identified as KAEROT/ml, for use in nuclear power plants. The DMS is being developed for performing tasks such as the opening and closing of nozzle dam inside water chamber of steam generator. The DMS has two major subsystems; a master-slave 6 degrees of freedom (dof) manipulator and a support device. The master-slave arms are designed dissimilar kinematically and dynamically, and their functions are performed by a bilateral force-reflecting force control. The slave is a hydraulically powered arm with a 3 dof end effector, and is mounted on the top of the support device for nozzle dam operation. The support device guides the slave arm into the water chamber and supports it during its operation. The DMS can be operated either in teleoperated or supervisory control modes. The KAEROT/ml is designed to be used in emergency response applications such as monitoring and mapping radiation areas, handling radioactive materials and performing decontamination tasks. The KAEROT/ml equipped with four-omnidirectional planetary wheels has a 6 dof joint-controlled arm and is capable of ascending and descending stairs and navigating flat surface with zero turning radius. This report describes the mechanical design, features, modeling and control system of both the DMS and the KAEROT/ml. 209 figs, 49 pix, 69 tabs, 62 refs. (Author)

A Molecular Analysis of Training Multiple versus Single Manipulations to Establish a Generalized Manipulative Imitation Repertoire

Science.gov (United States)

Hartley, Breanne K.

2009-01-01

This study evaluates the necessity of training multiple versus single manipulative-imitations per object in order to establish generalized manipulative-imitation. Training took place in Croyden Avenue School's Early Childhood Developmental Delay preschool classroom in Kalamazoo, MI. Two groups of 3 children each were trained to imitate in order to…

Evaluation of Remote Collaborative Manipulation for Scientific Data Analysis

OpenAIRE

Fleury , Cédric; Duval , Thierry; Gouranton , Valérie; Steed , Anthony

2012-01-01

International audience; In the context of scientific data analysis, we propose to compare a remote collaborative manipulation technique with a single user manipulation technique. The manipulation task consists in positioning a clipping plane in order to perform cross-sections of scientific data which show several points of interest located inside this data. For the remote collaborative manipulation, we have chosen to use the 3-hand manipulation technique proposed by Aguerreche et al. which is...

Phenomena of Inter-age Manipulations in Interaction "Teacher-Student"

Directory of Open Access Journals (Sweden)

Miklyaeva A.V.,

2017-01-01

Full Text Available Thearticlepresentsthe results of studies of the phenomenon empirical inter-age manipulation in the pedagogical interaction. Inter-age manipulation is considered a form of manipulation carried out on the basis of an appeal to the participants in the interaction age roles. Based on the results of a survey 109 teenagers 13-15 years, using a questionnaire, color test of relations and projective drawing shows that inter-age manipulation is a common way to impact on the students, elected teacher. Teachers are the subjects of inter-age manipulation more often than students. It was revealed that the effectiveness of inter-age manipulation in pedagogical interaction increases if it is meaningful is consistent with the normative content of age roles, as well as «inter-age distance" between the teacher and the students. The greatest effectiveness of have inter-age manipulation undertaken for older teachers, and manipulation "from below" from young teachers

Mobility management in mobile IP

Science.gov (United States)

Medidi, Sirisha; Golshani, Forouzan

2002-07-01

There is an emerging interest in integrating mobile wireless communication with the Internet based on the Ipv6 technology. Many issues introduced by the mobility of users arise when such an integration is attempted. This paper addresses the problem of mobility management, i.e., that of tracking the current IP addresses of mobile terminals and sustaining active IP connections as mobiles move. The paper presents some architectural and mobility management options for integrating wireless access to the Internet. We then present performance results for Mobile IPv4, route optimization and Mobile IPv6.

Laser Diode Beam Basics, Manipulations and Characterizations

CERN Document Server

Sun, Haiyin

2012-01-01

Many optical design technical books are available for many years which mainly deal with image optics design based on geometric optics and using sequential raytracing technique. Some books slightly touched laser beam manipulation optics design. On the other hand many books on laser diodes have been published that extensively deal with laser diode physics with little touching on laser diode beam manipulations and characterizations. There are some internet resources dealing with laser diode beams. However, these internet resources have not covered enough materials with enough details on laser diode beam manipulations and characterizations. A technical book concentrated on laser diode beam manipulations and characterizations can fit in to the open and provide useful information to laser diode users. Laser Diode Beam Basics, Manipulations and  Characterizations is concentrated on the very practical side of the subject, it only discusses the basic physics and mathematics that are necessary for the readers in order...

Manipulatives Work!

Science.gov (United States)

Moch, Peggy L.

2001-01-01

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

SAMSIN: the next-generation servo-manipulator

International Nuclear Information System (INIS)

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

1985-01-01

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

Seismic qualification of existing safety class manipulators

International Nuclear Information System (INIS)

Wu, Ting-shu; Moran, T.J.

1992-01-01

There are two bridge type electromechanical manipulators within a nuclear fuel handling facility which were constructed over twenty-five years ago. At that time, there were only minimal seismic considerations. These manipulators together with the facility are being reactivated. Detailed analyses have shown that the manipulators will satisfy the requirements of ANSI/AISC N690-1984 when they are subjected to loadings including the site specific design basis earthquake. 4 refs

Control of master-slave manipulator using virtual force

International Nuclear Information System (INIS)

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

1994-01-01

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

How to Make the Most of Math Manipulatives.

Science.gov (United States)

Burns, Marilyn

1996-01-01

A discussion of how to use math manipulatives to teach elementary students focuses on essential program elements: what math manipulatives are and why they are used, common questions about math manipulatives, how one teacher introduced the geoboard into the classroom, and pattern block activities. (SM)

Computational simulator of robotic manipulators

International Nuclear Information System (INIS)

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

1995-01-01

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

Advanced manipulator system for large hot cells

International Nuclear Information System (INIS)

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

1981-01-01

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

Digital Manipulation in Scientific Images: Some Ethical Considerations.

Science.gov (United States)

Hayden, James E.

2000-01-01

Discusses the importance of images in the publishing and presentation of scientific research. Explains the use of photographs as scientific data in research. Lists some reasons for the manipulation of images, and clarifies the acceptable and unacceptable limits of manipulation and image manipulation policy. (Author/YDS)

Mobile robot worksystem (Rosie). Innovative technology summary report

International Nuclear Information System (INIS)

1999-05-01

The US Department of Energy (DOE) and the Federal Energy Technology Center (FETC) have developed a Large Scale Demonstration Project (LSDP) at the Chicago Pile-5 Research Reactor (CP-5) at Argonne National Laboratory-East (ANL). The objective of the LSDP is to demonstrate potentially beneficial Deactivation and Decommissioning (D and D) technologies in comparison with current baseline technologies. Rosie is a mobile robot worksystem developed for nuclear facilities D and D. Rosie performs mechanical dismantlement of radiologically contaminated structures by remotely deploying other tools or systems. At the CP-5 reactor site, Rosie is a mobile platform used to support reactor assembly demolition through its long reach, heavy lift capability and its deployment and positioning of a Kraft Predator dexterous manipulator arm. Rosie is a tethered, 50 m (165 ft) long, robotic system controlled via teleoperation from a control console that is located outside of the radiological containment area. The operator uses Rosie to move, lift or offload radioactive materials using its integral lifting hook or to position the Kraft Predator arm in locations where the arm can be used to dismantle parts of the CP-5 reactor. The specific operating areas were concentrated in two high radiation areas, one at the top of the reactor structure atop and within the reactor tank assembly and the second at a large opening on the west side of the reactor's biological shield called the west thermal column. In the first of these areas, low level radioactive waste size previously segmented or dismantled by the Dual Arm Work Platform (DAWP) and placed into a steel drum or transfer can were moved to a staging area for manual packaging. In the latter area, the manipulator arm removed and transferred shielding blocks from the west thermal column area of the reactor into waste containers. Rosie can also deploy up to twelve remotely controlled television cameras, some with microphones, which can be used

Structural Mobility, Exchange Mobility and Subgroup Consistent Mobility Measurement – US–German Mobility Measurements Revisited

OpenAIRE

C. SCHLUTER; D. VAN DE GAER

2008-01-01

We formalize the concept of structural mobility and use the framework of subgroup consistent mobility measurement to derive a relative and an absolute measure of mobility that is increasing both in upward structural mobility and exchange mobility. In our empirical illustration, we contribute substantively to the ongoing debate about mobility rankings between the USA and Germany.

Analysis of a closed-kinematic chain robot manipulator

Science.gov (United States)

Nguyen, Charles C.; Pooran, Farhad J.

1988-01-01

Presented are the research results from the research grant entitled: Active Control of Robot Manipulators, sponsored by the Goddard Space Flight Center (NASA) under grant number NAG-780. This report considers a class of robot manipulators based on the closed-kinematic chain mechanism (CKCM). This type of robot manipulators mainly consists of two platforms, one is stationary and the other moving, and they are coupled together through a number of in-parallel actuators. Using spatial geometry and homogeneous transformation, a closed-form solution is derived for the inverse kinematic problem of the six-degree-of-freedom manipulator, built to study robotic assembly in space. Iterative Newton Raphson method is employed to solve the forward kinematic problem. Finally, the equations of motion of the above manipulators are obtained by employing the Lagrangian method. Study of the manipulator dynamics is performed using computer simulation whose results show that the robot actuating forces are strongly dependent on the mass and centroid locations of the robot links.

Manipulating stored phonological input during verbal working memory

Science.gov (United States)

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

2016-01-01

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

MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

International Nuclear Information System (INIS)

Geisinger, Joseph W. Ph.D.

2001-01-01

ARM Automation, Inc. is developing a FR-amework of modular actuators that can address the DOE's wide range of robotics needs. The objective of this effort is to demonstrate the effectiveness of this technology by constructing a manipulator FR-om these actuators within a glovebox for Automated Plutonium Processing (APP). At the end of the project, the system of actuators was used to construct several different manipulator configurations, which accommodate common glovebox tasks such as repackaging. The modular nature and quickconnects of this system simplify installation into ''hot'' boxes and any potential modifications or repair therein. This work focused on the development of self-contained robotic actuator modules including the embedded electronic controls for the purpose of building a manipulator system. Both of the actuators developed under this project contain the control electronics, sensors, motor, gear train, wiring, system communications and mechanical interfaces of a complete robotics servo device. Test actuators and accompanying DISC(trademark)s underwent validation testing at The University of Texas at Austin and ARM Automation, Inc. following final design and fabrication. The system also included custom links, an umbilical cord, an open architecture PC-based system controller, and operational software that permitted integration into a completely functional robotic manipulator system. The open architecture on which this system is based avoids proprietary interfaces and communication protocols which only serve to limit the capabilities and flexibility of automation equipment. The system was integrated and tested in the contractor's facility for intended performance and operations. The manipulator was tested using the full-scale equipment and process mock-ups. The project produced a practical and operational system including a quantitative evaluation of its performance and cost

Manipulation of biological samples using micro and nano techniques.

Science.gov (United States)

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

2009-01-01

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

Improvement of the M/S manipulator maintenance at OSL

International Nuclear Information System (INIS)

Kuwana, Koichi; Ouchi, Hiroshi; Ito, Yutaka; Sato, Yoshihiro; Midorikawa, Mituhiro; Hayakawa, Tuyoshi

2010-01-01

The safeguards inspection samples from the JNFL Rokkasho Reprocessing Plant (RRP) are received and analyzed at the On Site Laboratory (OSL). Since the samples from the input accountancy tank of the RRP contain a lot of fission products, they are treated in a hot-cell line with a M/S (Master /Slave) manipulator. Special equipment and tools were used for the maintenance of the M/S manipulator, especially for the exchange of the M/S manipulator. However, the manipulator exchange work was not easy due to the limitation of the space in the OSL. For solution to this problem, a monorail and monorail hoist equipment was installed onto wall surface of analytical room close to each M/S manipulator, and then it made the exchange of M/S manipulator easy without special equipment and tools. Additionally, operator was freed from the burden of working space arranging for the exchange of M/S manipulator such as removing of analytical equipments. This report represents the improvement of operation for the exchange of M/S manipulator with installation of monorail and hoist equipment. (author)

Manipulations of Totalitarian Nazi Architecture

Science.gov (United States)

Antoszczyszyn, Marek

2017-10-01

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

Manipulation of viscous fingering in a radially tapered cell geometry

Science.gov (United States)

Bongrand, Grégoire; Tsai, Peichun Amy

2018-06-01

When a more mobile fluid displaces another immiscible one in a porous medium, viscous fingering propagates with a partial sweep, which hinders oil recovery and soil remedy. We experimentally investigate the feasibility of tuning such fingering propagation in a nonuniform narrow passage with a radial injection, which is widely used in various applications. We show that a radially converging cell can suppress the common viscous fingering observed in a uniform passage, and a full sweep of the displaced fluid is then achieved. The injection flow rate Q can be further exploited to manipulate the viscous fingering instability. For a fixed gap gradient α , our experimental results show a full sweep at a small Q but partial displacement with fingering at a sufficient Q . Finally, by varying α , we identify and characterize the variation of the critical threshold between stable and unstable displacements. Our experimental results reveal good agreement with theoretical predictions by a linear stability analysis.

Can earnings manipulation create value?

OpenAIRE

Anton Miglo

2008-01-01

Existing literature usually considers earnings manipulation to be a negative social phenomenon. We argue that earnings manipulation can be a part of the equilibrium relationships between firm's insiders and outsiders. We consider an optimal contract between an entrepreneur and an investor where the entrepreneur is subject to a double moral hazard problem (one being the choice of production effort and the other being intertemporal substitution, which consists of transferring cash flows between...

A Geometry Deformation Model for Braided Continuum Manipulators

Directory of Open Access Journals (Sweden)

S. M. Hadi Sadati

2017-06-01

Full Text Available Continuum manipulators have gained significant attention in the robotic community due to their high dexterity, deformability, and reachability. Modeling of such manipulators has been shown to be very complex and challenging. Despite many research attempts, a general and comprehensive modeling method is yet to be established. In this paper, for the first time, we introduce the bending effect in the model of a braided extensile pneumatic actuator with both stiff and bendable threads. Then, the effect of the manipulator cross-section deformation on the constant curvature and variable curvature models is investigated using simple analytical results from a novel geometry deformation method and is compared to experimental results. We achieve 38% mean reference error simulation accuracy using our constant curvature model for a braided continuum manipulator in presence of body load and 10% using our variable curvature model in presence of extensive external loads. With proper model assumptions and taking to account the cross-section deformation, a 7–13% increase in the simulation mean error accuracy is achieved compared to a fixed cross-section model. The presented models can be used for the exact modeling and design optimization of compound continuum manipulators by providing an analytical tool for the sensitivity analysis of the manipulator performance. Our main aim is the application in minimal invasive manipulation with limited workspaces and manipulators with regional tunable stiffness in their cross section.

The application of manipulator robot for nuclear plant maintenance

International Nuclear Information System (INIS)

Kohata, Yukifumi; Fujita, Jun; Onishi, Ken; Tsuhari, Hiroyuki; Hosoe, Fumihiro

2010-01-01

In the maintenance works at nuclear power plant, robots are used because of high radiation, narrow space and underwater work. Various robots are needed because there is various maintenance works. This is inefficiency. As the solutions, we developed manipulator robots for the access of specialized tools. This study shows manipulator robots developed by MHI, application example to maintenance works and effectiveness of manipulator robots. When robotization of maintenance works are considered, manipulator technology is very effective solution means. We achieved efficiency improvement and the reliability improvement by developing a high generality manipulator. (author)

Physics Based Vision Systems for Robotic Manipulation

Data.gov (United States)

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

Mobile Learning Using Mobile Phones

Science.gov (United States)

Vicente, Paula

2013-01-01

The participation in mobile learning programs is conditioned by having/using mobile communication technology. Those who do not have or use such technology cannot participate in mobile learning programs. This study evaluates who are the most likely participants of mobile learning programs by examining the demographic profile and mobile phone usage…

Distinguishing manipulated stocks via trading network analysis

Science.gov (United States)

Sun, Xiao-Qian; Cheng, Xue-Qi; Shen, Hua-Wei; Wang, Zhao-Yang

2011-10-01

Manipulation is an important issue for both developed and emerging stock markets. For the study of manipulation, it is critical to analyze investor behavior in the stock market. In this paper, an analysis of the full transaction records of over a hundred stocks in a one-year period is conducted. For each stock, a trading network is constructed to characterize the relations among its investors. In trading networks, nodes represent investors and a directed link connects a stock seller to a buyer with the total trade size as the weight of the link, and the node strength is the sum of all edge weights of a node. For all these trading networks, we find that the node degree and node strength both have tails following a power-law distribution. Compared with non-manipulated stocks, manipulated stocks have a high lower bound of the power-law tail, a high average degree of the trading network and a low correlation between the price return and the seller-buyer ratio. These findings may help us to detect manipulated stocks.

Development of a maintenance manipulator for TFTR

International Nuclear Information System (INIS)

Holloway, C.

1986-01-01

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

Design and Development of a Mechanical Carrier for Mobile Robot (with rough surface/terrain movement features)- Extension of KINPOE Robot Project for Application at K-1

International Nuclear Information System (INIS)

Ahmad, H. W.

2012-01-01

During plant (KANUPP) operation, it is difficult or nearly impossible to access and monitor (high) radiation areas where some abnormal condition has to be detected or mitigated. Presence of a surveillance mobile robot will be very useful for such a scenario. This project work is an effort towards the development of a mobile robot that can be used for remote surveillance. A four DOF (degree of freedom) articulated robotic arm, and mobile base is developed. Manipulator is designed using Autodesk inventor, and then fabricated in PIEAS Fabrication Shop. All joints of the manipulator are revolute joints. Maxon DC motors have been used to empower the joints with the help of gears. Spur gear and planetary gear head have been used to increase the torque at joints and to reduce the speed. The report provides complete detail about mechanical design, moreover some casting procedures are also discussed at the end to cast main parts of robot, problems that were faced during the project and their solutions are also discussed in the report. (author)

Path planning of master-slave manipulator using graphic simulator

International Nuclear Information System (INIS)

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

2002-01-01

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

Droplet manipulation by an external electric field for crystalline film growth.

Science.gov (United States)

Komino, Takeshi; Kuwabara, Hirokazu; Ikeda, Masaaki; Yahiro, Masayuki; Takimiya, Kazuo; Adachi, Chihaya

2013-07-30

Combining droplet manipulation by the application of an electric field with inkjet printing is proposed as a unique technique to control the surface wettability of substrates for solution-processed organic field-effect transistors (FETs). With the use of this technique, uniform thin films of 2,7-dioctyl[1]benzothieno[2,3,-b][1]benzothiopene (C8-BTBT) could be fabricated on the channels of FET substrates without self-assembled monolayer treatment. High-speed camera observation revealed that the crystals formed at the solid/liquid interface. The coverage of the crystals on the channels depended on the ac frequency of the external electric field applied during film formation, leading to a wide variation in the carrier transport of the films. The highest hole mobility of 0.03 cm(2) V(-1) s(-1) was obtained when the coverage was maximized with an ac frequency of 1 kHz.

Horizontal transfer of potential mobile units in phytoplasmas.

Science.gov (United States)

Ku, Chuan; Lo, Wen-Sui; Kuo, Chih-Horng

2013-09-01

Phytoplasmas are uncultivated phytopathogenic bacteria that cause diseases in a wide range of economically important plants. Through secretion of effector proteins, they are able to manipulate their plant hosts to facilitate their multiplication and dispersal by insect vectors. The genome sequences of several phytoplasmas have been characterized to date and a group of putative composite transposons called potential mobile units (PMUs) are found in these highly reduced genomes. Recently, our team reported the genome sequence and comparative analysis of a peanut witches' broom (PnWB) phytoplasma, the first representative of the phytoplasma 16SrII group. Comparisons between the species phylogeny and the phylogenies of the PMU genes revealed that the PnWB PMU is likely to have been transferred from the 16SrI group. This indicates that PMUs are not only the DNA unit for transposition within a genome, but also for horizontal transfer among divergent phytoplasma lineages. Given the association of PMUs with effector genes, the mobility of PMUs across genomes has important implications for phytoplasma ecology and evolution.

Pose Space Surface Manipulation

Directory of Open Access Journals (Sweden)

Yusuke Yoshiyasu

2012-01-01

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

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

International Nuclear Information System (INIS)

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

2015-01-01

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

MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

Energy Technology Data Exchange (ETDEWEB)

Joseph W. Geisinger, Ph.D.

2001-07-31

ARM Automation, Inc. is developing a framework of modular actuators that can address the DOE's wide range of robotics needs. The objective of this effort is to demonstrate the effectiveness of this technology by constructing a manipulator from these actuators within a glovebox for Automated Plutonium Processing (APP). At the end of the project, the system of actuators was used to construct several different manipulator configurations, which accommodate common glovebox tasks such as repackaging. The modular nature and quickconnects of this system simplify installation into ''hot'' boxes and any potential modifications or repair therein. This work focused on the development of self-contained robotic actuator modules including the embedded electronic controls for the purpose of building a manipulator system. Both of the actuators developed under this project contain the control electronics, sensors, motor, gear train, wiring, system communications and mechanical interfaces of a complete robotics servo device. Test actuators and accompanying DISC{trademark}s underwent validation testing at The University of Texas at Austin and ARM Automation, Inc. following final design and fabrication. The system also included custom links, an umbilical cord, an open architecture PC-based system controller, and operational software that permitted integration into a completely functional robotic manipulator system. The open architecture on which this system is based avoids proprietary interfaces and communication protocols which only serve to limit the capabilities and flexibility of automation equipment. The system was integrated and tested in the contractor's facility for intended performance and operations. The manipulator was tested using the full-scale equipment and process mock-ups. The project produced a practical and operational system including a quantitative evaluation of its performance and cost.

Judging Nudging : Answering the Manipulation Objection

NARCIS (Netherlands)

Nys, Thomas; Engelen, Bart

2017-01-01

Is it ever justified to ‘nudge’ people towards their own health? In this article, we argue that it is. We do so by arguing (1) that nudges are not necessarily – as is commonly thought – manipulative; (2) that even those nudges that are manipulative can be justified, for instance, when they preserve

Surgical manipulation of mammalian embryos in vitro.

Science.gov (United States)

Naruse, I; Keino, H; Taniguchi, M

1997-04-01

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

High-throughput particle manipulation by hydrodynamic, electrokinetic, and dielectrophoretic effects in an integrated microfluidic chip

KAUST Repository

Li, Shunbo; Li, Ming; Bougot-Robin, Kristelle; Cao, Wenbin; Yeung Yeung Chau, Irene; Li, Weihua; Wen, Weijia

2013-01-01

Integrating different steps on a chip for cell manipulations and sample preparation is of foremost importance to fully take advantage of microfluidic possibilities, and therefore make tests faster, cheaper and more accurate. We demonstrated particle manipulation in an integrated microfluidic device by applying hydrodynamic, electroosmotic (EO), electrophoretic (EP), and dielectrophoretic (DEP) forces. The process involves generation of fluid flow by pressure difference, particle trapping by DEP force, and particle redirect by EO and EP forces. Both DC and AC signals were applied, taking advantages of DC EP, EO and AC DEP for on-chip particle manipulation. Since different types of particles respond differently to these signals, variations of DC and AC signals are capable to handle complex and highly variable colloidal and biological samples. The proposed technique can operate in a high-throughput manner with thirteen independent channels in radial directions for enrichment and separation in microfluidic chip. We evaluated our approach by collecting Polystyrene particles, yeast cells, and E. coli bacteria, which respond differently to electric field gradient. Live and dead yeast cells were separated successfully, validating the capability of our device to separate highly similar cells. Our results showed that this technique could achieve fast pre-concentration of colloidal particles and cells and separation of cells depending on their vitality. Hydrodynamic, DC electrophoretic and DC electroosmotic forces were used together instead of syringe pump to achieve sufficient fluid flow and particle mobility for particle trapping and sorting. By eliminating bulky mechanical pumps, this new technique has wide applications for in situ detection and analysis.

High-throughput particle manipulation by hydrodynamic, electrokinetic, and dielectrophoretic effects in an integrated microfluidic chip

KAUST Repository

Li, Shunbo

2013-03-20

Integrating different steps on a chip for cell manipulations and sample preparation is of foremost importance to fully take advantage of microfluidic possibilities, and therefore make tests faster, cheaper and more accurate. We demonstrated particle manipulation in an integrated microfluidic device by applying hydrodynamic, electroosmotic (EO), electrophoretic (EP), and dielectrophoretic (DEP) forces. The process involves generation of fluid flow by pressure difference, particle trapping by DEP force, and particle redirect by EO and EP forces. Both DC and AC signals were applied, taking advantages of DC EP, EO and AC DEP for on-chip particle manipulation. Since different types of particles respond differently to these signals, variations of DC and AC signals are capable to handle complex and highly variable colloidal and biological samples. The proposed technique can operate in a high-throughput manner with thirteen independent channels in radial directions for enrichment and separation in microfluidic chip. We evaluated our approach by collecting Polystyrene particles, yeast cells, and E. coli bacteria, which respond differently to electric field gradient. Live and dead yeast cells were separated successfully, validating the capability of our device to separate highly similar cells. Our results showed that this technique could achieve fast pre-concentration of colloidal particles and cells and separation of cells depending on their vitality. Hydrodynamic, DC electrophoretic and DC electroosmotic forces were used together instead of syringe pump to achieve sufficient fluid flow and particle mobility for particle trapping and sorting. By eliminating bulky mechanical pumps, this new technique has wide applications for in situ detection and analysis.

A systematic review of the use of dosage form manipulation to obtain required doses to inform use of manipulation in paediatric practice.

Science.gov (United States)

Richey, Roberta H; Hughes, Clare; Craig, Jean V; Shah, Utpal U; Ford, James L; Barker, Catrin E; Peak, Matthew; Nunn, Anthony J; Turner, Mark A

2017-02-25

This study sought to determine whether there is an evidence base for drug manipulation to obtain the required dose, a common feature of paediatric clinical practice. A systematic review of the data sources, PubMed, EMBASE, CINAHL, IPA and the Cochrane database of systematic reviews, was used. Studies that considered the dose accuracy of manipulated medicines of any dosage form, evidence of safety or harm, bioavailability, patient experience, tolerability, contamination and comparison of methods of manipulation were included. Case studies and letters were excluded. Fifty studies were eligible for inclusion, 49 of which involved tablets being cut, split, crushed or dispersed. The remaining one study involved the manipulation of suppositories of one drug. No eligible studies concerning manipulation of oral capsules or liquids, rectal enemas, nebuliser solutions, injections or transdermal patches were identified. Twenty four of the tablet studies considered dose accuracy using weight and/or drug content. In studies that considered weight using adapted pharmacopoeial specifications, the percentage of halved tablets meeting these specifications ranged from 30% to 100%. Eighteen studies investigated bioavailability, pharmacokinetics or clinical outcomes following manipulations which included nine delayed or modified release formulations. In each of these nine studies the entirety of the dosage form was administered. Only one of the 18 studies was identified where drugs were manipulated to obtain a proportion of the dosage form, and that proportion administered. The five studies that considered patient perception found that having to manipulate the tablets did not have a negative impact on adherence. Of the 49 studies only two studies reported investigating children. This review yielded limited evidence to support manipulation of medicines for children. The results cannot be extrapolated between dosage forms, methods of manipulation or between different brands of the same

Manipulators in deep ocean environments, needs versus technology

International Nuclear Information System (INIS)

Mackey, L.A.; Stenovec, G.M.

1984-01-01

As exploration and production proceed into deeper water, remotely operated vehicles (ROVs) and their manipulators acquire many of the tasks now performed by divers in shallower water. The resulting increased complexity of work tasks requires more dexterious manipulators. Even the most sophisticated of the manipulators today cannot perform many of the work tasks now performed by divers in shallower waters. Manipulators cannot yet duplicate the functions of the human hand. How much technology must be improved to perform the desired tasks, and how much adapting of the work task or equipment must be done to achieve a workable underwater robotics environment?

Interpersonal relationship manipulation at a personal level

OpenAIRE

Andreja Hribernik

2010-01-01

Manipulation is not unknown or strange to any of us. We have all experienced it, or perhaps even practiced it. It is wrong not to recognize it, to find excuses for it, and, above all, it is wrong not to decide to change one’s behaviour. Long-lasting use of manipulation leaves consequences on all the parties involved: the victim, the observer and the perpetrator. Manipulation is a relation between persons which does not consider the needs of everybody involved. It means exploitation and mislea...

W-026, acceptance test report manipulator system

International Nuclear Information System (INIS)

Watson, T.L.

1997-01-01

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

Recent improvements of a mobile polarizer system for {sup 129}Xe

Energy Technology Data Exchange (ETDEWEB)

Stahl, Vanessa; Heil, Werner; Karpuk, Sergei; Bluemler, Peter; Repetto, Maricel; Niederlaender, Benjamin; Braun, Manuel; Fuchs, Martin [Institut fuer Physik, Universitaet Mainz (Germany); Muennemann, Kerstin; Spiess, Hans [Max Planck Institute for Polymer Research Mainz (Germany)

2013-07-01

(HP){sup 129}Xe has numerous applications both in fundamental physics like nuclear spin clocks and in medical research, e.g. in lung MRI. We report on a compact mobile {sup 129}Xe polarizer built in order to achieve high polarization degrees operating in counter flow. The optical pumping scheme is optimized in terms of magnetic field homogeneity, rubidium saturation, freeze-thaw method, gas-transport and its storage in special vessels with low wall relaxation. This talk will cover different aspects of HP gas production, manipulation and minimization of losses due to relaxation.

Manipulation for the control of back pain and curve progression in patients with skeletally mature idiopathic scoliosis: two cases.

Science.gov (United States)

Tarola, G A

1994-05-01

This report of two cases illustrates the potential effect of chiropractic manipulative therapy on back pain and curve progression in the at-risk, skeletally mature patient with adolescent idiopathic scoliosis. Two patients suffering from lumbar scoliosis and chronic back pain. Both had scoliosis that had progressed after skeletal maturity. Diversified type chiropractic manipulative therapy was used palliatively for back pain relief in one case, and routinely 1-2 times per month in the other case. The manipulation was applied manually, with the patients in the prone and side-posture positions. Vertebral levels manipulated were identified as fixated/dysfunctional segments based on static and/or motion palpation. They were generally applied to areas above and/or below the curve apex. When applied at the apex, cavitation was more easily achieved when the direction of thrust was into the concave side. This was also tolerated better by the patient. No attempt was made to "straighten the curve" by thrusting into the convex side. Gentle manual intersegmental mobilization, stretching and muscle massage techniques were also applied. The case treated palliatively had curve progression consistent with the literature over an 8-yr period. The case treated routinely did not. The procedure was effective in both cases for subjective relief of back pain. Diversified-type CMT has a favorable effect on acute back pain when used palliatively. The procedure may also have a favorable long term effect of preventing recurrence of back pain and on retarding curve progression when used routinely 1-2 times per month.

Mobile Probes in Mobile Learning

DEFF Research Database (Denmark)

Ørngreen, Rikke; Blomhøj, Ulla; Duvaa, Uffe

In this paper experiences from using mobile probes in educational design of a mobile learning application is presented. The probing process stems from the cultural probe method, and was influenced by qualitative interview and inquiry approaches. In the project, the mobile phone was not only acting...... as an agent for acquiring empirical data (as the situation in hitherto mobile probe settings) but was also the technological medium for which data should say something about (mobile learning). Consequently, not only the content of the data but also the ways in which data was delivered and handled, provided...... a valuable dimension for investigating mobile use. The data was collected at the same time as design activities took place and the collective data was analysed based on user experience goals and cognitive processes from interaction design and mobile learning. The mobile probe increased the knowledge base...

ADVERTISING AS MEAN OF MANIPULATION OF PEOPLE

Directory of Open Access Journals (Sweden)

Camelia PAVEL

2014-04-01

Full Text Available The article provides a number of issues involved in defining manipulation, because both in the current language as in the specialty literature, the manipulation notion is used with multiple significations, often contradictory ones, and that it’s not firmly delimited by other notions from the same sphere, like persuasion or propaganda. The aim of the article will be, in the end, removing ambiguity that surrounds this concept and offering a better understanding of its very real effects on human lives. We advance and sustain the hypothesis that manipulation is an illegitimate process, justified by the structure of the human conscience and by the mechanisms of the social life. In addition, the paper provides a concrete example of manipulation of public through advertising contracts offered by Roşia Montană Gold Corporation. Finally conclusions were outlined.

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

Directory of Open Access Journals (Sweden)

Jarmo Nurmi

2017-05-01

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

Emerging technologies to power next generation mobile electronic devices using solar energy

Institute of Scientific and Technical Information of China (English)

Dewei JIA; Yubo DUAN; Jing LIU

2009-01-01

Mobile electronic devices such as MP3, mobile phones, and wearable or implanted medical devices have already or will soon become a necessity in peoples' lives.However, the further development of these devices is restricted not only by the inconvenient charging process of the power module, but also by the soaring prices of fossil fuel and its downstream chain of electricity manipulation.In view of the huge amount of solar energy fueling the world biochemically and thermally, a carry-on electricity harvester embedded in portable devices is emerging as a most noteworthy research area and engineering practice for a cost efficient solution. Such a parasitic problem is intrinsic in the next generation portable devices. This paper is dedicated to presenting an overview of the photovoltaic strategy in the chain as a reference for researchers and practitioners committed to solving the problem.

MA-23-6000: underwater bilateral servo master slave manipulator

International Nuclear Information System (INIS)

Vertut, Jean

The different types of manipulators, recent data on their dexterity and the underwater work possible with servo master slave manipulators are reviewed. The general specifications of the manipulator MA 23-6000 designed for the machine ERIC II are given [fr

Advanced Bimanual Manipulation Results from the DEXMART Project

CERN Document Server