A novel magnetorheological damper based parallel planar manipulator design
International Nuclear Information System (INIS)
Hoyle, A; Arzanpour, S; Shen, Y
2010-01-01
This paper presents a novel parallel planar robot design which is low cost and simple in structure. The design addresses some of the problems, such as concentration of excessive load on the links and joints, due to wrong commanding signals being given by the controller. In this application two of the conventional actuators are replaced by magnetorheological (MR) dampers, and only one actuator is used to generate motion. The design paradigm is based on the concept that a moving object 'intuitively' follows the path with minimum resistance to its motion. This implies that virtual adoptable constraints can be used effectively to define motion trajectories. In fact, motion generation and adaptive constraints are two elements essential to implementing this strategy. In this paper, MR dampers are used to provide adjustable constraints and to guide the platform that is moved by the linear motor. The model of the MR dampers is derived using the Bouc–Wen model. This model is then used for manipulator simulation and controller design. Two controllers are developed for this manipulator: (1) a closed loop on/off one and (2) a proportional–derivative controller. Also, three different trajectories are defined and used for both the simulations and experiments. The results indicate a good agreement between the simulations and experiments. The experimental results also demonstrate the capability of the manipulator for following sophisticated trajectories
Stiffness Analysis and Comparison of 3-PPR Planar Parallel Manipulators with Actuation Compliance
DEFF Research Database (Denmark)
Wu, Guanglei; Bai, Shaoping; Kepler, Jørgen Asbøl
2012-01-01
In this paper, the stiffness of 3-PPR planar parallel manipulator (PPM) is analyzed with the consideration of nonlinear actuation compliance. The characteristics of the stiffness matrix pertaining to the planar parallel manipulators are analyzed and discussed. Graphic representation of the stiffn...... of the stiffness characteristics by means of translational and rotational stiffness mapping is developed. The developed method is illustrated with an unsymmetrical 3-PPR PPM, being compared with its structure-symmetrical counterpart....
Kinematics analysis of a novel planar parallel manipulator with kinematic redundancy
Energy Technology Data Exchange (ETDEWEB)
Qu, Haibo; Guo, Sheng [Beijing Jiaotong University, Beijing (China)
2017-04-15
In this paper, a novel planar parallel manipulator with kinematic redundancy is proposed. First, the Degrees of freedom (DOF) of the whole parallel manipulator and the Relative DOF (RDOF) between the moving platform and fixed base are studied. The results indicate that the proposed mechanism is kinematically redundant. Then, the kinematics, Jacobian matrices and workspace of this proposed parallel manipulator with kinematic redundancy are analyzed. Finally, the statics simulation of the proposed parallel manipulator is performed. The obtained stress and displacement distribution can be used to determine the easily destroyed place in the mechanism configurations.
Kinematics analysis of a novel planar parallel manipulator with kinematic redundancy
International Nuclear Information System (INIS)
Qu, Haibo; Guo, Sheng
2017-01-01
In this paper, a novel planar parallel manipulator with kinematic redundancy is proposed. First, the Degrees of freedom (DOF) of the whole parallel manipulator and the Relative DOF (RDOF) between the moving platform and fixed base are studied. The results indicate that the proposed mechanism is kinematically redundant. Then, the kinematics, Jacobian matrices and workspace of this proposed parallel manipulator with kinematic redundancy are analyzed. Finally, the statics simulation of the proposed parallel manipulator is performed. The obtained stress and displacement distribution can be used to determine the easily destroyed place in the mechanism configurations
DEFF Research Database (Denmark)
Wu, Guanglei; Bai, Shaoping; Kepler, Jørgen Asbøl
2012-01-01
This paper deals with the error modelling and analysis of a 3-PPR planar parallel manipulator with joint clearances. The kinematics and the Cartesian workspace of the manipulator are analyzed. An error model is established with considerations of both configuration errors and joint clearances. Using...
Directory of Open Access Journals (Sweden)
Yong-Lin Kuo
2014-01-01
Full Text Available This paper implements the model predictive control to fulfill the position control of a 3-DOF 3-RRR planar parallel manipulator. The research work covers experimental and numerical studies. First, an experimental hardware-in-the-loop system to control the manipulator is constructed. The manipulator is driven by three DC motors, and each motor has an encoder to measure the rotating angles of the motors. The entire system is designed as a semiclosed-loop control system. The controller receives the encoder signals as inputs to produce signals driving the motors. Secondly, the motor parameters are obtained by system identification, and the controllers are designed based on these parameters. Finally, the numerical simulations are performed by incorporating the manipulator kinematics and the motor dynamics; the results are compared with those from the experiments. Both results show that they are in good agreement at steady state. There are two main contributions in this paper. One is the application of the model predictive control to the planar parallel manipulator, and the other one is to overcome the effects of the uncertainties of the DC motors and the performance of the position control due to the dynamic behavior of the manipulator.
van der Wijk, V.; Krut, S.; Pierrot, F.; Herder, Justus Laurens
2011-01-01
This paper proposes a generic method for deriving the general shaking force balance conditions of parallel manipulators. Instead of considering the balancing of a parallel manipulator link-by-link or leg-by-leg, the architecture is considered altogether. The first step is to write the linear
Chattering-Free Neuro-Sliding Mode Control of 2-DOF Planar Parallel Manipulators
Directory of Open Access Journals (Sweden)
Tien Dung Le
2013-01-01
Full Text Available This paper proposes a novel chattering free neuro-sliding mode controller for the trajectory tracking control of two degrees of freedom (DOF parallel manipulators which have a complicated dynamic model, including modelling uncertainties, frictional uncertainties and external disturbances. A feedforward neural network (NN is combined with an error estimator to completely compensate the large nonlinear uncertainties and external disturbances of the parallel manipulators. The online weight tuning algorithms of the NN and the structure of the error estimator are derived with the strict theoretical stability proof of the Lyapunov theorem. The upper bound of uncertainties and the upper bound of the approximation errors are not required to be known in advance in order to guarantee the stability of the closed-loop system. The example simulation results show the effectiveness of the proposed control strategy for the tracking control of a 2-DOF parallel manipulator. It results in its being chattering-free, very small tracking errors and its robustness against uncertainties and external disturbances.
Directory of Open Access Journals (Sweden)
Lianchao Sheng
2017-01-01
Full Text Available Due to the complexity of the dynamic model of a planar 3-RRR flexible parallel manipulator (FPM, it is often difficult to achieve active vibration control algorithm based on the system dynamic model. To establish a simple and efficient dynamic model of the planar 3-RRR FPM to study its dynamic characteristics and build a controller conveniently, firstly, considering the effect of rigid-flexible coupling and the moment of inertia at the end of the flexible intermediate link, the modal function is determined with the pinned-free boundary condition. Then, considering the main vibration modes of the system, a high-efficiency coupling dynamic model is established on the basis of guaranteeing the model control accuracy. According to the model, the modal characteristics of the flexible intermediate link are analyzed and compared with the modal test results. The results show that the model can effectively reflect the main vibration modes of the planar 3-RRR FPM; in addition the model can be used to analyze the effects of inertial and coupling forces on the dynamics model and the drive torque of the drive motor. Because this model is of the less dynamic parameters, it is convenient to carry out the control program.
Robust nonlinear PID-like fuzzy logic control of a planar parallel (2PRP-PPR) manipulator.
Londhe, P S; Singh, Yogesh; Santhakumar, M; Patre, B M; Waghmare, L M
2016-07-01
In this paper, a robust nonlinear proportional-integral-derivative (PID)-like fuzzy control scheme is presented and applied to complex trajectory tracking control of a 2PRP-PPR (P-prismatic, R-revolute) planar parallel manipulator (motion platform) with three degrees-of-freedom (DOF) in the presence of parameter uncertainties and external disturbances. The proposed control law consists of mainly two parts: first part uses a feed forward term to enhance the control activity and estimated perturbed term to compensate for the unknown effects namely external disturbances and unmodeled dynamics, and the second part uses a PID-like fuzzy logic control as a feedback portion to enhance the overall closed-loop stability of the system. Experimental results are presented to show the effectiveness of the proposed control scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Energy Technology Data Exchange (ETDEWEB)
Tang, Xiaoqiang; Tang, Lewei; Wang, Jinsong [Tsinghua University, Beijing (China); Sun, Dengfeng [Purdue University, West Lafayette (United States)
2013-08-15
With the advantage of large workspace, low energy consumption and small inertia, the cable-driven parallel manipulator (CDPM) is suitable for heavy workpieces in rapid velocity and acceleration. We present a workspace analysis approach to solve force and torque equilibriums of completely restrained CDPMs. By this approach, not only the distribution but also the value of tensions driven by cables is investigated together. Two new indices, all cable tension distribution index (ACTDI) and area of the global quality workspace (AG) are proposed to evaluate the quality of the workspace. By concentrating on the workspace and its quality combined with the tension characteristics, these criteria are used to determine the optimal workspace in CDPMs. To verify the capacity of the proposed method, simulation examples are presented and the results demonstrate the approach's effectiveness. In the end, the dimensional design for a planar CDPM is discussed with the indices of workspace quality.
International Nuclear Information System (INIS)
Tang, Xiaoqiang; Tang, Lewei; Wang, Jinsong; Sun, Dengfeng
2013-01-01
With the advantage of large workspace, low energy consumption and small inertia, the cable-driven parallel manipulator (CDPM) is suitable for heavy workpieces in rapid velocity and acceleration. We present a workspace analysis approach to solve force and torque equilibriums of completely restrained CDPMs. By this approach, not only the distribution but also the value of tensions driven by cables is investigated together. Two new indices, all cable tension distribution index (ACTDI) and area of the global quality workspace (AG) are proposed to evaluate the quality of the workspace. By concentrating on the workspace and its quality combined with the tension characteristics, these criteria are used to determine the optimal workspace in CDPMs. To verify the capacity of the proposed method, simulation examples are presented and the results demonstrate the approach's effectiveness. In the end, the dimensional design for a planar CDPM is discussed with the indices of workspace quality.
Development master arm of 2-DOF planar parallel manipulator for In-Vitro Fertilization
Thamrongaphichartkul, Kitti; Vongbunyong, Supachai; Nuntakarn, Lalana
2018-01-01
Micromanipulator is a mechanical device used for manipulating miniature objects in the order of micron. It is widely used in In-Vitro Fertilization (IVF) in which sperms will be held in a micro-needle and penetrate to an oocyte for fertilization. IVF needs to be performed by high skill embryologists to control the movement of the needle accurately due to the lack of tactile perception of the user. Haptic device is a device that can transmit and simulate position, velocity and force in order to enhance interaction between the user and system. However, commercially available haptic devices have unnecessary degrees of freedom and limited workspace which are inappropriate for IVF process. This paper focuses on development of a haptic device for using in IVF process. It will be used as a master arm for the master-slave system for IVF process in order to enhance the ability of users to control the micromanipulator. As a result, the embryologist is able to carry out the IVF process more effectively with having tactile perception.
Techniques applied in design optimization of parallel manipulators
CSIR Research Space (South Africa)
Modungwa, D
2011-11-01
Full Text Available the desired dexterous workspace " Robot.Comput.Integrated Manuf., vol. 23, pp. 38 - 46, 2007. [12] A.P. Murray, F. Pierrot, P. Dauchez and J.M. McCarthy, "A planar quaternion approach to the kinematic synthesis of a parallel manipulator " Robotica, vol... design of a three translational DoFs parallel manipulator " Robotica, vol. 24, pp. 239, 2005. [15] J. Angeles, "The robust design of parallel manipulators," in 1st Int. Colloquium, Collaborative Research Centre 562, 2002. [16] S. Bhattacharya, H...
Design of a planar 3-DOF parallel micromanipulator
International Nuclear Information System (INIS)
Lee, Jeong Jae; Dong, Yanlu; Jeon, Yong Ho; Lee, Moon Gu
2013-01-01
A planar three degree-of-freedom (DOF) parallel manipulator is proposed to be applied for alignment during assembly of microcomponents. It adopts a PRR (prismatic-revolute-revolute) mechanism to meet the requirements of high precision for assembly and robustness against disturbance. The mechanism was designed to have a large workspace and good dexterity because parallel mechanisms usually have a narrow range and singularity of motion compared to serial mechanisms. Inverse kinematics and a simple closed-loop algorithm of the parallel manipulator are presented to control it. Experimental tests have been carried out with high-resolution capacitance sensors to verify the performance of the mechanism. The results of experiments show that the manipulator has a large workspace of ±1.0 mm, ±1.0 mm, and ±10 mrad in the X-, Y-, and θ-directions, respectively. This is a large workspace when considering it adopts a parallel mechanism and has a small size, 100 ´ 100 ´ 100 mm3 . It also has a good precision of 2 μm, 3 μm, and 0.2 mrad, in the X-, Y-, and θ- axes, respectively. These are high resolutions considering the manipulator adopts conventional joints. The manipulator is expected to have good dexterity.
Impedance Control of a Redundant Parallel Manipulator
DEFF Research Database (Denmark)
Méndez, Juan de Dios Flores; Schiøler, Henrik; Madsen, Ole
2017-01-01
This paper presents the design of Impedance Control to a redundantly actuated Parallel Kinematic Manipulator. The proposed control is based on treating each limb as a single system and their connection through the internal interaction forces. The controller introduces a stiffness and damping...
Error Modeling and Design Optimization of Parallel Manipulators
DEFF Research Database (Denmark)
Wu, Guanglei
/backlash, manufacturing and assembly errors and joint clearances. From the error prediction model, the distributions of the pose errors due to joint clearances are mapped within its constant-orientation workspace and the correctness of the developed model is validated experimentally. ix Additionally, using the screw......, dynamic modeling etc. Next, the rst-order dierential equation of the kinematic closure equation of planar parallel manipulator is obtained to develop its error model both in Polar and Cartesian coordinate systems. The established error model contains the error sources of actuation error...
Kinematics and optimization of 2-DOF parallel manipulator with revolute actuators and a passive leg
International Nuclear Information System (INIS)
Nam, Yun Joo; Park, Myeong Kwan
2006-01-01
In this paper, a 2-DOF planar parallel manipulator with two revolute actuators and one passive constraining leg. The kinematic analysis of the mechanism is analytically performed : the inverse and forward kinematics problems are solved in closed forms, the workspace is derived systematically, and the three kinds of singular configurations are found. The optimal design to determine the geometric parameters and the operating limits of the actuated legs is performed considering the kinematic manipulability and workspace size. These results of the paper show the effectiveness of the presented manipulator
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...
Numerical kinematic transformation calculations for a parallel link manipulator
International Nuclear Information System (INIS)
Killough, S.M.
1993-01-01
Parallel link manipulators are often considered for particular robotic applications because of the unique advantages they provide. Unfortunately, they have significant disadvantages with respect to calculating the kinematic transformations because of the high-order equations that must be solved. Presented is a manipulator design that exploits the mechanical advantages of parallel links yet also has a corresponding numerical kinematic solution that can be solved in real time on common microcomputers
Design, Dynamics, and Workspace of a Hybrid-Driven-Based Cable Parallel Manipulator
Directory of Open Access Journals (Sweden)
Bin Zi
2013-01-01
Full Text Available The design, dynamics, and workspace of a hybrid-driven-based cable parallel manipulator (HDCPM are presented. The HDCPM is able to perform high efficiency, heavy load, and high-performance motion due to the advantages of both the cable parallel manipulator and the hybrid-driven planar five-bar mechanism. The design is performed according to theories of mechanism structure synthesis for cable parallel manipulators. The dynamic formulation of the HDCPM is established on the basis of Newton-Euler method. The workspace of the manipulator is analyzed additionally. As an example, a completely restrained HDCPM with 3 degrees of freedom is studied in simulation in order to verify the validity of the proposed design, workspace, and dynamic analysis. The simulation results, compared with the theoretical analysis, and the case study previously performed show that the manipulator design is reasonable and the mathematical models are correct, which provides the theoretical basis for future physical prototype and control system design.
Optically active Babinet planar metamaterial film for terahertz polarization manipulation
DEFF Research Database (Denmark)
Zalkovskij, Maksim; Malureanu, Radu; Kremers, C.
2013-01-01
A planar Babinet-inverted dimer metamaterial possessing strong optical activity is proposed and characterized. An original fabrication method to produce large area (up to several cm2) freely suspended flexible metallic membranes is implemented to fabricate the metamaterial. Its optical properties...
Dynamic Modelling for Planar Extensible Continuum Robot Manipulators
2006-01-01
to the OCTARM continuum ma- nipulator. The OCTARM manipulator is a biologically inspired soft robot manipulator resembling an elephant trunk or an... octopus arm [18]. The OCTARM, shown in Figure 1, is a three-section robot with nine degrees of freedom. Aside from two axis bending with constant...increasing interest in designing �biologically inspired � continuum robots . Some of these designs are mimicking trunks [8], [25], tentacles [17], [21], [24
Optical Pushing: A Tool for Parallelized Biomolecule Manipulation
Sitters, G.; Laurens, N.; de Rijk, E.J.; Kress, H.; Peterman, E.J.G.; Wuite, G.J.L.
2016-01-01
The ability to measure and manipulate single molecules has greatly advanced the field of biophysics. Yet, the addition of more single-molecule tools that enable one to measure in a parallel fashion is important to diversify the questions that can be addressed. Here we present optical pushing (OP), a
Parallel algorithms and architecture for computation of manipulator forward dynamics
Fijany, Amir; Bejczy, Antal K.
1989-01-01
Parallel computation of manipulator forward dynamics is investigated. Considering three classes of algorithms for the solution of the problem, that is, the O(n), the O(n exp 2), and the O(n exp 3) algorithms, parallelism in the problem is analyzed. It is shown that the problem belongs to the class of NC and that the time and processors bounds are of O(log2/2n) and O(n exp 4), respectively. However, the fastest stable parallel algorithms achieve the computation time of O(n) and can be derived by parallelization of the O(n exp 3) serial algorithms. Parallel computation of the O(n exp 3) algorithms requires the development of parallel algorithms for a set of fundamentally different problems, that is, the Newton-Euler formulation, the computation of the inertia matrix, decomposition of the symmetric, positive definite matrix, and the solution of triangular systems. Parallel algorithms for this set of problems are developed which can be efficiently implemented on a unique architecture, a triangular array of n(n+2)/2 processors with a simple nearest-neighbor interconnection. This architecture is particularly suitable for VLSI and WSI implementations. The developed parallel algorithm, compared to the best serial O(n) algorithm, achieves an asymptotic speedup of more than two orders-of-magnitude in the computation the forward dynamics.
Parallel algorithms for computation of the manipulator inertia matrix
Amin-Javaheri, Masoud; Orin, David E.
1989-01-01
The development of an O(log2N) parallel algorithm for the manipulator inertia matrix is presented. It is based on the most efficient serial algorithm which uses the composite rigid body method. Recursive doubling is used to reformulate the linear recurrence equations which are required to compute the diagonal elements of the matrix. It results in O(log2N) levels of computation. Computation of the off-diagonal elements involves N linear recurrences of varying-size and a new method, which avoids redundant computation of position and orientation transforms for the manipulator, is developed. The O(log2N) algorithm is presented in both equation and graphic forms which clearly show the parallelism inherent in the algorithm.
Experimental characterization of a binary actuated parallel manipulator
Giuseppe, Carbone
2016-05-01
This paper describes the BAPAMAN (Binary Actuated Parallel MANipulator) series of parallel manipulators that has been conceived at Laboratory of Robotics and Mechatronics (LARM). Basic common characteristics of BAPAMAN series are described. In particular, it is outlined the use of a reduced number of active degrees of freedom, the use of design solutions with flexural joints and Shape Memory Alloy (SMA) actuators for achieving miniaturization, cost reduction and easy operation features. Given the peculiarities of BAPAMAN architecture, specific experimental tests have been proposed and carried out with the aim to validate the proposed design and to evaluate the practical operation performance and the characteristics of a built prototype, in particular, in terms of operation and workspace characteristics.
Mechatronic Model Based Computed Torque Control of a Parallel Manipulator
Directory of Open Access Journals (Sweden)
Zhiyong Yang
2008-11-01
Full Text Available With high speed and accuracy the parallel manipulators have wide application in the industry, but there still exist many difficulties in the actual control process because of the time-varying and coupling. Unfortunately, the present-day commercial controlles cannot provide satisfying performance for its single axis linear control only. Therefore, aimed at a novel 2-DOF (Degree of Freedom parallel manipulator called Diamond 600, a motor-mechanism coupling dynamic model based control scheme employing the computed torque control algorithm are presented in this paper. First, the integrated dynamic coupling model is deduced, according to equivalent torques between the mechanical structure and the PM (Permanent Magnetism servomotor. Second, computed torque controller is described in detail for the above proposed model. At last, a series of numerical simulations and experiments are carried out to test the effectiveness of the system, and the results verify the favourable tracking ability and robustness.
Mechatronic Model Based Computed Torque Control of a Parallel Manipulator
Directory of Open Access Journals (Sweden)
Zhiyong Yang
2008-03-01
Full Text Available With high speed and accuracy the parallel manipulators have wide application in the industry, but there still exist many difficulties in the actual control process because of the time-varying and coupling. Unfortunately, the present-day commercial controlles cannot provide satisfying performance for its single axis linear control only. Therefore, aimed at a novel 2-DOF (Degree of Freedom parallel manipulator called Diamond 600, a motor-mechanism coupling dynamic model based control scheme employing the computed torque control algorithm are presented in this paper. First, the integrated dynamic coupling model is deduced, according to equivalent torques between the mechanical structure and the PM (Permanent Magnetism servomotor. Second, computed torque controller is described in detail for the above proposed model. At last, a series of numerical simulations and experiments are carried out to test the effectiveness of the system, and the results verify the favourable tracking ability and robustness.
Kinematic analysis of parallel manipulators by algebraic screw theory
Gallardo-Alvarado, Jaime
2016-01-01
This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author additionally investigates acceleration, jerk, and hyper-jerk analyses of rigid-bodies following the trend of the velocity analysis. With the material provided in this book, readers can extend the theory of screws into the kinematics of optional order of rigid-bodies. Illustrative examples and exercises to reinforce learning are provided. Of particular note, the kinematics of emblematic parallel manipulators, such as the Delta robot as well as the original Gough and Stewart platforms are revisited applying, in addition to the theory of screws, new methods devoted to simplify the corresponding forward-displacement analysis, a challenging task for most parallel manipulators. Stands as the only book devoted to the acceleration, jerk and hyper-jerk (snap) analyses of rigid-body by means of screw theory; Provides new strategies to simplify the forward kinematic...
Work space optimization of a r-r planar manipulator using particle ...
African Journals Online (AJOL)
A two link revolute planar robotic manipulator is optimized for maximization of work space covered by its end effector. A mathematical model for optimization is built considering singularities which control the range of design variables. Condition number which is the measure of change in output value (End effector position) ...
Power-Based Setpoint Control : Experimental Results on a Planar Manipulator
Dirksz, D. A.; Scherpen, J. M. A.
In the last years the power-based modeling framework, developed in the sixties to model nonlinear electrical RLC networks, has been extended for modeling and control of a larger class of physical systems. In this brief we apply power-based integral control to a planar manipulator experimental setup.
Parallel conjugate gradient algorithms for manipulator dynamic simulation
Fijany, Amir; Scheld, Robert E.
1989-01-01
Parallel conjugate gradient algorithms for the computation of multibody dynamics are developed for the specialized case of a robot manipulator. For an n-dimensional positive-definite linear system, the Classical Conjugate Gradient (CCG) algorithms are guaranteed to converge in n iterations, each with a computation cost of O(n); this leads to a total computational cost of O(n sq) on a serial processor. A conjugate gradient algorithms is presented that provide greater efficiency using a preconditioner, which reduces the number of iterations required, and by exploiting parallelism, which reduces the cost of each iteration. Two Preconditioned Conjugate Gradient (PCG) algorithms are proposed which respectively use a diagonal and a tridiagonal matrix, composed of the diagonal and tridiagonal elements of the mass matrix, as preconditioners. Parallel algorithms are developed to compute the preconditioners and their inversions in O(log sub 2 n) steps using n processors. A parallel algorithm is also presented which, on the same architecture, achieves the computational time of O(log sub 2 n) for each iteration. Simulation results for a seven degree-of-freedom manipulator are presented. Variants of the proposed algorithms are also developed which can be efficiently implemented on the Robot Mathematics Processor (RMP).
Position Control of a 3-CPU Spherical Parallel Manipulator
Directory of Open Access Journals (Sweden)
Massimo Callegari
2013-01-01
Full Text Available The paper presents the first experimental results on the control of a prototypal robot designed for the orientation of parts or tools. The innovative machine is a spherical parallel manipulator actuated by 3 linear motors; several position control schemes have been tested and compared with the final aim of designing an interaction controller. The relative simplicity of machine kinematics allowed to test algorithms requiring the closed-loop evaluation of both inverse and direct kinematics; the compensation of gravitational terms has been experimented as well.
Sliding mode control of a "Soft" 2-DOF Planar Pneumatic Manipulator
Van Damme, M.; Vanderborght, B.; Beyl, P.; Versluys, R.; Vanderniepen, I.; Van Ham, R.; Cherelle, P.; Daerden, F.; Lefeber, D.
2008-10-01
This paper presents a sliding mode controller for a "Soft" 2-DOF Planar Pneumatic Manipulator actuated by pleated pneumatic artificial muscle actuators. Since actuator dynamics is not negligible, an approximate model for pressure dynamics was taken into account, which made it necessary to perform full input-output feedback linearization in order to design a sliding mode controller. The design of the controller is presented in detail, and experimental results obtained by implementing the controller are discussed
Parallel algorithms for interactive manipulation of digital terrain models
Davis, E. W.; Mcallister, D. F.; Nagaraj, V.
1988-01-01
Interactive three-dimensional graphics applications, such as terrain data representation and manipulation, require extensive arithmetic processing. Massively parallel machines are attractive for this application since they offer high computational rates, and grid connected architectures provide a natural mapping for grid based terrain models. Presented here are algorithms for data movement on the massive parallel processor (MPP) in support of pan and zoom functions over large data grids. It is an extension of earlier work that demonstrated real-time performance of graphics functions on grids that were equal in size to the physical dimensions of the MPP. When the dimensions of a data grid exceed the processing array size, data is packed in the array memory. Windows of the total data grid are interactively selected for processing. Movement of packed data is needed to distribute items across the array for efficient parallel processing. Execution time for data movement was found to exceed that for arithmetic aspects of graphics functions. Performance figures are given for routines written in MPP Pascal.
Kinematics and design of a class of parallel manipulators
Hertz, Roger Barry
1998-12-01
This dissertation is concerned with the kinematic analysis and design of a class of three degree-of-freedom, spatial parallel manipulators. The class of manipulators is characterized by two platforms, between which are three legs, each possessing a succession of revolute, spherical, and revolute joints. The class is termed the "revolute-spherical-revolute" class of parallel manipulators. Two members of this class are examined. The first mechanism is a double-octahedral variable-geometry truss, and the second is termed a double tripod. The history the mechanisms is explored---the variable-geometry truss dates back to 1984, while predecessors of the double tripod mechanism date back to 1869. This work centers on the displacement analysis of these three-degree-of-freedom mechanisms. Two types of problem are solved: the forward displacement analysis (forward kinematics) and the inverse displacement analysis (inverse kinematics). The kinematic model of the class of mechanism is general in nature. A classification scheme for the revolute-spherical-revolute class of mechanism is introduced, which uses dominant geometric features to group designs into 8 different sub-classes. The forward kinematics problem is discussed: given a set of independently controllable input variables, solve for the relative position and orientation between the two platforms. For the variable-geometry truss, the controllable input variables are assumed to be the linear (prismatic) joints. For the double tripod, the controllable input variables are the three revolute joints adjacent to the base (proximal) platform. Multiple solutions are presented to the forward kinematics problem, indicating that there are many different positions (assemblies) that the manipulator can assume with equivalent inputs. For the double tripod these solutions can be expressed as a 16th degree polynomial in one unknown, while for the variable-geometry truss there exist two 16th degree polynomials, giving rise to 256
Massively Parallel Single-Molecule Manipulation Using Centrifugal Force
Wong, Wesley; Halvorsen, Ken
2011-03-01
Precise manipulation of single molecules has led to remarkable insights in physics, chemistry, biology, and medicine. However, two issues that have impeded the widespread adoption of these techniques are equipment cost and the laborious nature of making measurements one molecule at a time. To meet these challenges, we have developed an approach that enables massively parallel single- molecule force measurements using centrifugal force. This approach is realized in the centrifuge force microscope, an instrument in which objects in an orbiting sample are subjected to a calibration-free, macroscopically uniform force- field while their micro-to-nanoscopic motions are observed. We demonstrate high- throughput single-molecule force spectroscopy with this technique by performing thousands of rupture experiments in parallel, characterizing force-dependent unbinding kinetics of an antibody-antigen pair in minutes rather than days. Currently, we are taking steps to integrate high-resolution detection, fluorescence, temperature control and a greater dynamic range in force. With significant benefits in efficiency, cost, simplicity, and versatility, single-molecule centrifugation has the potential to expand single-molecule experimentation to a wider range of researchers and experimental systems.
Parallel control method for a bilateral master-slave manipulator
International Nuclear Information System (INIS)
Miyazaki, Tomohiro; Hagihara, Shiro
1989-01-01
In this paper, a new control method for a bilateral master-slave manipulator is proposed. The proposed method yields stable and fast response of the control system. These are essential to obtain a precise position control and a sensitive force reflection control. In the conventional position-force control method, each control loop of the master and the slave arms are connected in series to construct a bilateral control loop. Therefore the total phase lag through the bilateral control loop becomes twice as much as that of one arm control. Such phase lag makes the control system unstable and control performance worse. To improve the stability and the control performance, we propose 'parallel control method.' In the proposed method, the control loops of the master and the slave arms are connected in parallel so that the total phase lag is reduced to as much as that of one arm. The stability condition of the proposed method is studied and it is proved that the stability of this method can be guaranteed independent of the rigidness of a reaction surface and the position/force ratio between the master and the slave arms while the stability of the conventional method depends on them. (author)
Pa2 kinematic bond in translational parallel manipulators
Directory of Open Access Journals (Sweden)
A. Hernández
2018-01-01
Full Text Available The Pa2 pair is composed of two intertwined articulated parallelograms connecting in parallel two links of a kinematic chain. This pair has two translational degrees of freedom leading to a translational plane variable with the position. Currently, the Pa2 pair appears in conceptual designs presented in recent papers. However, its practical application is very limited. One of the reasons for this can be the high number of redundant constraints it has. But, it has to be considered that most of them can be eliminated by replacing wisely the revolute joints by spherical joints. On the other side, the structure of the Pa2 pair contributes to increase the global stiffness of the kinematic chain in which it is mounted. Also, its implementation is a promising alternative to the problematic passive prismatic joints. In this paper, the Pa2 pairs are used in the design of a 3 − P Pa2 parallel manipulator. The potentiality of this design is evaluated and proven after doing the following analyses: direct and inverse kinematics, singularity study, and workspace computation and assessment.
Parallel hole collimator acceptance tests for SPECT and planar studies
International Nuclear Information System (INIS)
Babicheva, R.R.; Bennie, D.N.; Collins, L.T.; Gruenwald, S.M.
1998-01-01
Full text: Different kinds of collimator damage can occur either during shipping or from regular use. Imperfections of construction along the strips or their connections give rise to nonperpendicular hole alignments to the crystal face and can produce potential problems such as ring artifacts and image degradation. Gamma camera collimator hole alignments and integrity were compared in four parallel hole high resolution collimators-two new cast and two used foil collimators, one with damage to the protective surface. [1] The point source flood image of the defective collimator was non-circular as were the images of cast collimators. The image of new foil collimator was circular. [2] High count sheet flood did not show any imperfections. [3] Bone mineral densitometer was used to perform collimated X-ray beam. The collimator was placed on the scanning bed with an X-ray cassette placed directly above it. The damaged area was well demonstrated. [4] The COR offset test was taken at two extreme radii. The offset value with the defective collimator is increased by 0.53 pixel or 129% with increase of COR from radius 14 cm to 28cm. [5] The collimator hole alignment test involves performing multiple measurements of COR along the length of the collimator, and checking for variations in COR with both position of source and angle of rotation. The maximum variation in COR of the defective collimator hole alignment was 1.13 mm. Collimators require testing when new and at regular intervals, or following damage. The point source test can be used for foil collimators. The most sensitive tests were collimated X-ray source, COR offset test and collimator hole alignment
Parallel manipulators with two end-effectors : Getting a grip on Jacobian-based stiffness analysis
Hoevenaars, A.G.L.
2016-01-01
Robots that are developed for applications which require a high stiffness-over-inertia ratio, such as pick-and-place robots, machining robots, or haptic devices, are often based on parallel manipulators. Parallel manipulators connect an end-effector to an inertial base using multiple serial
DEFF Research Database (Denmark)
Wu, Guanglei
2012-01-01
parameters of the spherical parallel manipulator. The proposed approach is illustrated with the optimum design of a special spherical parallel manipulator with unlimited rolling motion. The corresponding optimization problem aims to maximize the kinematic and dynamic dexterities over its regular shaped...
Parallel-fed planar dipole antenna arrays for low-observable platforms
Singh, Hema; Jha, Rakesh Mohan
2016-01-01
This book focuses on determination of scattering of parallel-fed planar dipole arrays in terms of reflection and transmission coefficients at different levels of the array system. In aerospace vehicles, the phased arrays are often in planar configuration. The radar cross section (RCS) of the vehicle is mainly due to its structure and the antennas mounted over it. There can be situation when the signatures due to antennas dominate over the structural RCS of the platform. This necessitates the study towards the reduction and control of antenna/ array RCS. The planar dipole array is considered as a stacked linear dipole array. A systematic, step-by-step approach is used to determine the RCS pattern including the finite dimensions of dipole antenna elements. The mutual impedance between the dipole elements for planar configuration is determined. The scattering till second-level of couplers in parallel feed network is taken into account. The phase shifters are modelled as delay line. All the couplers in the feed n...
MEMS 6 degrees of freedom parallel micro manipulator for TEM sample manipulation
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
Active Vibration Suppression of a 3-DOF Flexible Parallel Manipulator Using Efficient Modal Control
Directory of Open Access Journals (Sweden)
Quan Zhang
2014-01-01
Full Text Available This paper addresses the dynamic modeling and efficient modal control of a planar parallel manipulator (PPM with three flexible linkages actuated by linear ultrasonic motors (LUSM. To achieve active vibration control, multiple lead zirconate titanate (PZT transducers are mounted on the flexible links as vibration sensors and actuators. Based on Lagrange’s equations, the dynamic model of the flexible links is derived with the dynamics of PZT actuators incorporated. Using the assumed mode method (AMM, the elastic motion of the flexible links are discretized under the assumptions of pinned-free boundary conditions, and the assumed mode shapes are validated through experimental modal test. Efficient modal control (EMC, in which the feedback forces in different modes are determined according to the vibration amplitude or energy of their own, is employed to control the PZT actuators to realize active vibration suppression. Modal filters are developed to extract the modal displacements and velocities from the vibration sensors. Numerical simulation and vibration control experiments are conducted to verify the proposed dynamic model and controller. The results show that the EMC method has the capability of suppressing multimode vibration simultaneously, and both the structural and residual vibrations of the flexible links are effectively suppressed using EMC approach.
A novel six-degrees-of-freedom series-parallel manipulator
Energy Technology Data Exchange (ETDEWEB)
Gallardo-Alvarado, J.; Rodriguez-Castro, R.; Aguilar-Najera, C. R.; Perez-Gonzalez, L. [Instituto Tecnologico de Celaya, Celaya (Mexico)
2012-06-15
This paper addresses the description and kinematic analyses of a new non-redundant series-parallel manipulator. The primary feature of the robot is to have a decoupled topology consisting of a lower parallel manipulator, for controlling the orientation of the coupler platform, assembled in series connection with a upper parallel manipulator, for controlling the position of the output platform, capable to provide arbitrary poses to the output platform with respect to the fixed platform. The forward displacement analysis is carried-out in semi-closed form solutions by resorting to simple closure equations. On the other hand; the velocity, acceleration and singularity analyses of the manipulator are approached by means of the theory of screws. Simple and compact expressions are derived here for solving the infinitesimal kinematics by taking advantage of the concept of reciprocal screws. Furthermore, the analysis of the Jacobians of the robot shows that the lower parallel manipulator is practically free of singularities. In order to illustrate the performance of the manipulator, a numerical example which consists of solving the inverse/forward kinematics of the series-parallel manipulator as well as its singular configurations is provided.
Screw-System-Based Mobility Analysis of a Family of Fully Translational Parallel Manipulators
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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.
Particularities of fully-parallel manipulators in 6-DOFs robots design: a review of critical aspects
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Milica Lucian
2017-01-01
Full Text Available A whole range of industrial applications requires the presence of parallel mechanisms with six degrees of freedom (6-DOF which have been developed in the last fifteen years, and one of the reasons why they still are a current topic is that present-day computers are capable of performing real-time motion laws of great complexity associated with these types of parallel mechanisms. The present work underlines particularities of parallel manipulators and their importance in the design of 6-DOF robots. The paper reveals the progress made in the last twenty years in the development of 6-DOF parallel manipulators, which increasingly find a wide scope of applications in different industrial areas such as robotics, manufacture and assisted medicine. It also emphasizes the need to determine singular configurations and the effect of cinematic redundancy which can increase the working space of the manipulators by adding active joints in one or more branches of the manipulator. Throughout the work, there were outlined three types of singularities encountered in the modelling of different types of parallel manipulators, and three types of redundancy. Furthermore, an analysis was made of the dimension of the workspace for a series of parallel manipulators, highlighting a number of factors that influence its size.
Directory of Open Access Journals (Sweden)
Zhihua Liu
2013-01-01
Full Text Available The first adjustable feed support system in FAST is a six-cable-driven parallel manipulator. Due to flexibility of the cables, the cable-driven parallel manipulator bears a concern of possible vibration caused by wind disturbance or internal force from the fine drive system. The purpose of this paper is to analyze vibration characteristic of the six-cable-driven parallel manipulator in FAST. The tension equilibrium equation of the six-cable-driven parallel manipulator is set up regarding the cables as catenaries. Then, vibration equation is established considering the longitudinal vibration of the cables. On this basis, the natural frequencies are depicted in figures since both analytical and numerical solutions are ineffective. Influence of the sags of the cables on the natural frequencies is discussed. It is shown that the sags of the cables will decrease the natural frequencies of the six-cable-driven parallel manipulator. Simplification to acquire the natural frequencies is proposed in this paper. The results justify effectiveness of the simplification to calculate the first-order natural frequencies. Distribution of the first-order natural frequencies in the required workspace is provided based on the simplification method. Finally, parameters optimization is implemented in terms of natural frequencies for building the six-cable-driven parallel manipulator in FAST.
International Nuclear Information System (INIS)
Holen, Roel van; Vandenberghe, Stefaan; Staelens, Steven; Lemahieu, Ignace
2008-01-01
The main remaining challenge for a gamma camera is to overcome the existing trade-off between collimator spatial resolution and system sensitivity. This problem, strongly limiting the performance of parallel hole collimated gamma cameras, can be overcome by applying new collimator designs such as rotating slat (RS) collimators which have a much higher photon collection efficiency. The drawback of a RS collimated gamma camera is that, even for obtaining planar images, image reconstruction is needed, resulting in noise accumulation. However, nowadays iterative reconstruction techniques with accurate system modeling can provide better image quality. Because the impact of this modeling on image quality differs from one system to another, an objective assessment of the image quality obtained with a RS collimator is needed in comparison to classical projection images obtained using a parallel hole (PH) collimator. In this paper, a comparative study of image quality, achieved with system modeling, is presented. RS data are reconstructed to planar images using maximum likelihood expectation maximization (MLEM) with an accurate Monte Carlo derived system matrix while PH projections are deconvolved using a Monte Carlo derived point-spread function. Contrast-to-noise characteristics are used to show image quality for cold and hot spots of varying size. Influence of the object size and contrast is investigated using the optimal contrast-to-noise ratio (CNR o ). For a typical phantom setup, results show that cold spot imaging is slightly better for a PH collimator. For hot spot imaging, the CNR o of the RS images is found to increase with increasing lesion diameter and lesion contrast while it decreases when background dimensions become larger. Only for very large background dimensions in combination with low contrast lesions, the use of a PH collimator could be beneficial for hot spot imaging. In all other cases, the RS collimator scores better. Finally, the simulation of a
A class of parallel algorithms for computation of the manipulator inertia matrix
Fijany, Amir; Bejczy, Antal K.
1989-01-01
Parallel and parallel/pipeline algorithms for computation of the manipulator inertia matrix are presented. An algorithm based on composite rigid-body spatial inertia method, which provides better features for parallelization, is used for the computation of the inertia matrix. Two parallel algorithms are developed which achieve the time lower bound in computation. Also described is the mapping of these algorithms with topological variation on a two-dimensional processor array, with nearest-neighbor connection, and with cardinality variation on a linear processor array. An efficient parallel/pipeline algorithm for the linear array was also developed, but at significantly higher efficiency.
Transmission Index Research of Parallel Manipulators Based on Matrix Orthogonal Degree
Shao, Zhu-Feng; Mo, Jiao; Tang, Xiao-Qiang; Wang, Li-Ping
2017-11-01
Performance index is the standard of performance evaluation, and is the foundation of both performance analysis and optimal design for the parallel manipulator. Seeking the suitable kinematic indices is always an important and challenging issue for the parallel manipulator. So far, there are extensive studies in this field, but few existing indices can meet all the requirements, such as simple, intuitive, and universal. To solve this problem, the matrix orthogonal degree is adopted, and generalized transmission indices that can evaluate motion/force transmissibility of fully parallel manipulators are proposed. Transmission performance analysis of typical branches, end effectors, and parallel manipulators is given to illustrate proposed indices and analysis methodology. Simulation and analysis results reveal that proposed transmission indices possess significant advantages, such as normalized finite (ranging from 0 to 1), dimensionally homogeneous, frame-free, intuitive and easy to calculate. Besides, proposed indices well indicate the good transmission region and relativity to the singularity with better resolution than the traditional local conditioning index, and provide a novel tool for kinematic analysis and optimal design of fully parallel manipulators.
Dynamic Analysis of Planar 3-RRR Flexible Parallel Robots with Dynamic Stiffening
Directory of Open Access Journals (Sweden)
Qinghua Zhang
2014-01-01
Full Text Available In consideration of the second-order coupling quantity of the axial displacement caused by the transverse displacement of flexible beam, the first-order approximation coupling model of planar 3-RRR flexible parallel robots is presented, in which the rigid body motion constraints, elastic deformation motion constraints, and dynamic constraints of the moving platform are considered. Based on the different speed of the moving platform, numerical simulation results using the conventional zero-order approximation coupling model and the proposed firstorder approximation coupling model show that the effect of “dynamic stiffening” term on dynamic characteristics of the system is insignificant and can be neglected, and the zero-order approximation coupling model is enough precisely for catching essentially dynamic characteristics of the system. Then, the commercial software ANSYS 13.0 is used to confirm the validity of the zero-order approximation coupling model.
A redundant, 6-DOF parallel manipulator structure with improved workspace and dexterity
International Nuclear Information System (INIS)
Stoughton, R.S.; Salerno, R.; Canfield, S.; Reinholtz, C.
1994-08-01
This paper presents a novel manipulator structure which combines two known parallel manipulator structures--a Stewart Platform (SP), and a double octahedral Variable Geometry Truss (VGT). The combined VGT + SP structure is redundant, using nine actuators to realize six-DOF motion. Combining the two structures allows the translational and orientational workspaces of the two individual structures to sum together to a much larger workspace than is generally achievable with parallel manipulator structures. In addition, the VGT portion of the structure allows the configuration of the Stewart Platform to be changed ''on the fly'' from one with a large workspace to one with high dexterity. A useful application of this structure is at the distal end of a truss-based manipulator, where it can serve as a dexterous wrist while preserving an internal passageway for cabling and/or conveyance systems
Lee, J.; Kim, K.
1991-01-01
A Very Large Scale Integration (VLSI) architecture for robot direct kinematic computation suitable for industrial robot manipulators was investigated. The Denavit-Hartenberg transformations are reviewed to exploit a proper processing element, namely an augmented CORDIC. Specifically, two distinct implementations are elaborated on, such as the bit-serial and parallel. Performance of each scheme is analyzed with respect to the time to compute one location of the end-effector of a 6-links manipulator, and the number of transistors required.
Lee, J.; Kim, K.
A Very Large Scale Integration (VLSI) architecture for robot direct kinematic computation suitable for industrial robot manipulators was investigated. The Denavit-Hartenberg transformations are reviewed to exploit a proper processing element, namely an augmented CORDIC. Specifically, two distinct implementations are elaborated on, such as the bit-serial and parallel. Performance of each scheme is analyzed with respect to the time to compute one location of the end-effector of a 6-links manipulator, and the number of transistors required.
Design Issues and Application of Cable-Based Parallel Manipulators for Rehabilitation Therapy
Directory of Open Access Journals (Sweden)
E. Ottaviano
2008-01-01
Full Text Available In this study, cable-based manipulators are proposed for application in rehabilitation therapies. Cable-based manipulators show good features that are very useful when the system has to interact with humans. In particular, they can be used to aid motion or as monitoring/training systems in rehabilitation therapies. Modelling and simulation of both active and passive cable-based parallel manipulators are presented for an application to help older people, patients or disabled people in the sit-to-stand transfer and as a monitoring/training system. Experimental results are presented by using built prototypes.
Experimental Study of Active Vibration Control of Planar 3-RRR Flexible Parallel Robots Mechanism
Directory of Open Access Journals (Sweden)
Qinghua Zhang
2016-01-01
Full Text Available An active vibration control experiment of planar 3-RRR flexible parallel robots is implemented in this paper. Considering the direct and inverse piezoelectric effect of PZT material, a general motion equation is established. A strain rate feedback controller is designed based on the established general motion equation. Four control schemes are designed in this experiment: three passive flexible links are controlled at the same time, only passive flexible link 1 is controlled, only passive flexible link 2 is controlled, and only passive flexible link 3 is controlled. The experimental results show that only one flexible link controlled scheme suppresses elastic vibration and cannot suppress the elastic vibration of the other flexible links, whereas when three passive flexible links are controlled at the same time, they are able to effectively suppress the elastic vibration of all of the flexible links. In general, the experiment verifies that a strain rate feedback controller is able to effectively suppress the elastic vibration of the flexible links of plane 3-RRR flexible parallel robots.
Directory of Open Access Journals (Sweden)
A. L. Lapikov
2014-01-01
Full Text Available The article is aimed at creating techniques to study multi-sectional manipulators with parallel structure. To solve this task the analysis in the field concerned was carried out to reveal both advantages and drawbacks of such executive mechanisms and main problems to be encountered in the course of research. The work shows that it is inefficient to create complete mathematical models of multisectional manipulators, which in the context of solving a direct kinematic problem are to derive a functional dependence of location and orientation of the end effector on all the generalized coordinates of the mechanism. The structure of multisectional manipulators was considered, where the sections are platform manipulators of parallel kinematics with six degrees of freedom. The paper offers an algorithm to define location and orientation of the end effector of the manipulator by means of iterative solution of analytical equation of the moving platform plane for each section. The equation for the unknown plane is derived using three points, which are attachment points of the moving platform joints. To define the values of joint coordinates a system of nine non-linear equations is completed. It is necessary to mention that for completion of the equation system are used the equations with the same type of non-linearity. The physical sense of all nine equations of the system is Euclidean distance between the points of the manipulator. The result of algorithm execution is a matrix of homogenous transformation for each section. The correlations describing transformations between adjoining sections of the manipulator are given. An example of the mechanism consisting of three sections is examined. The comparison of theoretical calculations with results obtained on a 3D-prototype is made. The next step of the work is to conduct research activities both in the field of dynamics of platform parallel kinematics manipulators with six degrees of freedom and in the
Work space optimization of a r-r planar manipulator using particle ...
African Journals Online (AJOL)
*Corresponding Author (1) E-Mail:chaitanyagoteti16@gmail.com ... presented the variable structure theory for planning and trajectory control of planar ..... Rao S.S., 2009, Engineering Optimization Theory and Practice, 4th edition, Ed., John ...
Kinematics of the 3(RPSP-S Fully Spherical Parallel Manipulator by Means of Screw Theory
Directory of Open Access Journals (Sweden)
Jaime Gallardo-Alvarado
2018-06-01
Full Text Available In this work, the kinematics of a spherical parallel manipulator composed of three peripheral limbs equipped with linear actuators and a passive center shaft is approached by means of the theory of screws. The displacement analysis is carried out solving closure equations, which are obtained upon simple linear combinations of the components of two unit vectors describing the orientation of the moving platform. After, the input-output equations of velocity and acceleration of the spherical parallel manipulator are systematically obtained by resorting to reciprocal-screw theory. This strategy avoids the computation of the passive joint velocity and acceleration rates of the robot manipulator. Numerical examples illustrate the efficiency of the proposed method.
Motion control of planar parallel robot using the fuzzy descriptor system approach.
Vermeiren, Laurent; Dequidt, Antoine; Afroun, Mohamed; Guerra, Thierry-Marie
2012-09-01
This work presents the control of a two-degree of freedom parallel robot manipulator. A quasi-LPV approach, through the so-called TS fuzzy model and LMI constraints problems is used. Moreover, in this context a way to derive interesting control laws is to keep the descriptor form of the mechanical system. Therefore, new LMI problems have to be defined that helps to reduce the conservatism of the usual results. Some relaxations are also proposed to leave the pure quadratic stability/stabilization framework. A comparison study between the classical control strategies from robotics and the control design using TS fuzzy descriptor models is carried out to show the interest of the proposed approach. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.
Long-time self-diffusion of charged spherical colloidal particles in parallel planar layers.
Contreras-Aburto, Claudio; Báez, César A; Méndez-Alcaraz, José M; Castañeda-Priego, Ramón
2014-06-28
The long-time self-diffusion coefficient, D(L), of charged spherical colloidal particles in parallel planar layers is studied by means of Brownian dynamics computer simulations and mode-coupling theory. All particles (regardless which layer they are located on) interact with each other via the screened Coulomb potential and there is no particle transfer between layers. As a result of the geometrical constraint on particle positions, the simulation results show that D(L) is strongly controlled by the separation between layers. On the basis of the so-called contraction of the description formalism [C. Contreras-Aburto, J. M. Méndez-Alcaraz, and R. Castañeda-Priego, J. Chem. Phys. 132, 174111 (2010)], the effective potential between particles in a layer (the so-called observed layer) is obtained from integrating out the degrees of freedom of particles in the remaining layers. We have shown in a previous work that the effective potential performs well in describing the static structure of the observed layer (loc. cit.). In this work, we find that the D(L) values determined from the simulations of the observed layer, where the particles interact via the effective potential, do not agree with the exact values of D(L). Our findings confirm that even when an effective potential can perform well in describing the static properties, there is no guarantee that it will correctly describe the dynamic properties of colloidal systems.
The Integration of the Image Sensor with a 3-DOF Pneumatic Parallel Manipulator
Directory of Open Access Journals (Sweden)
Hao-Ting Lin
2016-07-01
Full Text Available The study aims to integrate the image sensor for a three-axial pneumatic parallel manipulator which can pick and place objects automatically by the feature information of the image processed through the SURF algorithm. The SURF algorithm is adopted for defining and matching the features of a target object and an object database. In order to accurately mark the center of target and strengthen the feature matching results, the random sample and consensus method (RANSAC is utilized. The ASUS Xtion Pro Live depth camera which can directly estimate the 3-D location of the target point is used in this study. A set of coordinate estimation calibrations is developed for enhancing the accuracy of target location estimation. This study also presents hand gesture recognition exploiting skin detection and noise elimination to determine the active finger count for input signals of the parallel manipulator. The end-effector of the parallel manipulator can be manipulated to the desired poses according to the measured finger count. Finally, the proposed methods are successfully to achieve the feature recognition and pick and place of the target object.
Design and Analysis of Cooperative Cable Parallel Manipulators for Multiple Mobile Cranes
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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.
A Novel Reconfiguration Strategy of a Delta-Type Parallel Manipulator
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Albert Lester Balmaceda-Santamaría
2016-02-01
Full Text Available This work introduces a novel reconfiguration strategy for a Delta-type parallel robot. The robot at hand, whose patent is pending, is equipped with an intermediate mechanism that allows for modifying the operational Cartesian workspace. Furthermore, singularities of the robot may be ameliorated owing to the inherent kinematic redundancy introduced by four actuable kinematic joints. The velocity and acceleration analyses of the parallel manipulator are carried out by resorting to reciprocal-screw theory. Finally, the manipulability of the new robot is investigated based on the computation of the condition number associated with the active Jacobian matrix, a well-known procedure. The results obtained show improved performance of the robot introduced when compared with results generated for another Delta-type robot.
Structural Synthesis of 3-DoF Spatial Fully Parallel Manipulators
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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.
Energy Technology Data Exchange (ETDEWEB)
Yoon, Jung Won; Hwang, Yoon Kwon [Gyeongsang National University, Jinju (Korea, Republic of); Ryu, Je Ha [Gwangju Institute of Science and Technology, Gwangju (Korea, Republic of)
2010-05-15
This paper proposes an optimum design method that satisfies the desired orientation workspace at the boundary of the translation workspace while maximizing the mechanism isotropy for parallel manipulators. A simple genetic algorithm is used to obtain the optimal linkage parameters of a six-degree-of-freedom parallel manipulator that can be used as a haptic device. The objective function is composed of a desired spherical shape translation workspace and a desired orientation workspace located on the boundaries of the desired translation workspace, along with a global conditioning index based on a homogeneous Jacobian matrix. The objective function was optimized to satisfy the desired orientation workspace at the boundary positions as translated from a neutral position of the increased entropy mechanism. An optimization result with desired translation and orientation workspaces for a haptic device was obtained to show the effectiveness of the suggested scheme, and the kinematic performances of the proposed model were compared with those of a preexisting base model
International Nuclear Information System (INIS)
Yoon, Jung Won; Hwang, Yoon Kwon; Ryu, Je Ha
2010-01-01
This paper proposes an optimum design method that satisfies the desired orientation workspace at the boundary of the translation workspace while maximizing the mechanism isotropy for parallel manipulators. A simple genetic algorithm is used to obtain the optimal linkage parameters of a six-degree-of-freedom parallel manipulator that can be used as a haptic device. The objective function is composed of a desired spherical shape translation workspace and a desired orientation workspace located on the boundaries of the desired translation workspace, along with a global conditioning index based on a homogeneous Jacobian matrix. The objective function was optimized to satisfy the desired orientation workspace at the boundary positions as translated from a neutral position of the increased entropy mechanism. An optimization result with desired translation and orientation workspaces for a haptic device was obtained to show the effectiveness of the suggested scheme, and the kinematic performances of the proposed model were compared with those of a preexisting base model
Directory of Open Access Journals (Sweden)
Jingli Du
2013-01-01
Full Text Available Cable-driven parallel manipulators are one of the best solutions to achieving large workspace since flexible cables can be easily stored on reels. However, due to the negligible flexural stiffness of cables, long cables will unavoidably vibrate during operation for large workspace applications. In this paper a finite element model for cable-driven parallel manipulators is proposed to mimic small amplitude vibration of cables around their desired position. Output feedback of the cable tension variation at the end of the end-effector is utilized to design the vibration attenuation controller which aims at attenuating the vibration of cables by slightly varying the cable length, thus decreasing its effect on the end-effector. When cable vibration is attenuated, motion controller could be designed for implementing precise large motion to track given trajectories. A numerical example is presented to demonstrate the dynamic model and the control algorithm.
Decoupled Sliding Mode Control for a Novel 3-DOF Parallel Manipulator with Actuation Redundancy
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Niu Xuemei
2015-05-01
Full Text Available This paper presents a decoupled nonsingular terminal sliding mode controller (DNTSMC for a novel 3-DOF parallel manipulator with actuation redundancy. According to kinematic analysis, the inverse dynamic model for a novel 3-DOF redundantly actuated parallel manipulator is formulated in the task space using Lagrangian formalism and decoupled into three entirely independent subsystems under generalized coordinates to significantly reduce system complexity. Based on the dynamic model, a decoupled sliding mode control strategy is proposed for the parallel manipulator; the idea behind this strategy is to design a nonsingular terminal sliding mode controller for each subsystem, which can drive states of three subsystems to the original equilibrium points simultaneously by two intermediate variables. Additionally, a RBF neural network is used to compensate the cross-coupling force and gravity to enhance the control precision. Simulation and experimental results show that the proposed DNTSMC can achieve better control performances compared with the conventional sliding mode controller (SMC and the DNTSMC without compensator.
Characteristics of manipulator for industrial robot with three rotational pairs having parallel axes
Poteyev, M. I.
1986-01-01
The dynamics of a manipulator with three rotatinal kinematic pairs having parallel axes are analyzed, for application in an industrial robot. The system of Lagrange equations of the second kind, describing the motion of such a mechanism in terms of kinetic energy in generalized coordinates, is reduced to equations of motion in terms of Newton's laws. These are useful not only for either determining the moments of force couples which will produce a prescribed motion or, conversely determining the motion which given force couples will produce but also for solving optimization problems under constraints in both cases and for estimating dynamic errors. As a specific example, a manipulator with all three axes of vertical rotation is considered. The performance of this manipulator, namely the parameters of its motion as functions of time, is compared with that of a manipulator having one rotational and two translational kinematic pairs. Computer aided simulation of their motion on the basis of ideal models, with all three links represented by identical homogeneous bars, has yielded velocity time diagrams which indicate that the manipulator with three rotational pairs is 4.5 times faster.
Dimensional synthesis of a 3-DOF parallel manipulator with full circle rotation
Ni, Yanbing; Wu, Nan; Zhong, Xueyong; Zhang, Biao
2015-07-01
Parallel robots are widely used in the academic and industrial fields. In spite of the numerous achievements in the design and dimensional synthesis of the low-mobility parallel robots, few research efforts are directed towards the asymmetric 3-DOF parallel robots whose end-effector can realize 2 translational and 1 rotational(2T1R) motion. In order to develop a manipulator with the capability of full circle rotation to enlarge the workspace, a new 2T1R parallel mechanism is proposed. The modeling approach and kinematic analysis of this proposed mechanism are investigated. Using the method of vector analysis, the inverse kinematic equations are established. This is followed by a vigorous proof that this mechanism attains an annular workspace through its circular rotation and 2 dimensional translations. Taking the first order perturbation of the kinematic equations, the error Jacobian matrix which represents the mapping relationship between the error sources of geometric parameters and the end-effector position errors is derived. With consideration of the constraint conditions of pressure angles and feasible workspace, the dimensional synthesis is conducted with a goal to minimize the global comprehensive performance index. The dimension parameters making the mechanism to have optimal error mapping and kinematic performance are obtained through the optimization algorithm. All these research achievements lay the foundation for the prototype building of such kind of parallel robots.
Directory of Open Access Journals (Sweden)
Jianxun Fu
2015-05-01
Full Text Available This article presents a special 6-degree-of freedom parallel manipulator, and the mechanical structure of this robot has been introduced; with this structure, the kinematic constrain equations are decoupled. Based on this character, the polynomial solutions of the forward kinematics problem are also presented. In this method, the closed-loop kinematic chain of the manipulator is divided into two parts, the solution forward position kinematics is obtained by a first-degree polynomial equation first, and then an eighth-degree polynomial equation in a single variable for the forward orientation kinematics is obtained. Based on those solutions, the configurations of the robot, including position and orientation of the end-effector, are graphically displayed. A numerical simulation is given to verify the algorithm, and the result implies that for a given set of input values, the manipulator can be assembled in eight different configurations at most. And a set of experiments illustrate the motion ability for forward kinematics of the prototype of this manipulator.
Development of structural schemes of parallel structure manipulators using screw calculus
Rashoyan, G. V.; Shalyukhin, K. A.; Gaponenko, EV
2018-03-01
The paper considers the approach to the structural analysis and synthesis of parallel structure robots based on the mathematical apparatus of groups of screws and on a concept of reciprocity of screws. The results are depicted of synthesis of parallel structure robots with different numbers of degrees of freedom, corresponding to the different groups of screws. Power screws are applied with this aim, based on the principle of static-kinematic analogy; the power screws are similar to the orts of axes of not driven kinematic pairs of a corresponding connecting chain. Accordingly, kinematic screws of the outlet chain of a robot are simultaneously determined which are reciprocal to power screws of kinematic sub-chains. Solution of certain synthesis problems is illustrated with practical applications. Closed groups of screws can have eight types. The three-membered groups of screws are of greatest significance, as well as four-membered screw groups [1] and six-membered screw groups. Three-membered screw groups correspond to progressively guiding mechanisms, to spherical mechanisms, and to planar mechanisms. The four-membered group corresponds to the motion of the SCARA robot. The six-membered group includes all possible motions. From the works of A.P. Kotelnikov, F.M. Dimentberg, it is known that closed fifth-order screw groups do not exist. The article presents examples of the mechanisms corresponding to the given groups.
Directory of Open Access Journals (Sweden)
Farzin Piltan
2013-06-01
Full Text Available Sliding mode controller (SMC is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Conversely, pure sliding mode controller is used in many applications; it has two important drawbacks namely; chattering phenomenon, and nonlinear equivalent dynamic formulation in uncertain dynamic parameter. The nonlinear equivalent dynamic formulation problem and chattering phenomenon in uncertain system can be solved by using artificial intelligence theorem. However fuzzy logic controller is used to control complicated nonlinear dynamic systems, but it cannot guarantee stability and robustness. In this research parallel fuzzy logic theory is used to compensate the system dynamic uncertainty.
Ouyang, Bo; Shang, Weiwei
2016-03-01
The solution of tension distributions is infinite for cable-driven parallel manipulators(CDPMs) with redundant cables. A rapid optimization method for determining the optimal tension distribution is presented. The new optimization method is primarily based on the geometry properties of a polyhedron and convex analysis. The computational efficiency of the optimization method is improved by the designed projection algorithm, and a fast algorithm is proposed to determine which two of the lines are intersected at the optimal point. Moreover, a method for avoiding the operating point on the lower tension limit is developed. Simulation experiments are implemented on a six degree-of-freedom(6-DOF) CDPM with eight cables, and the results indicate that the new method is one order of magnitude faster than the standard simplex method. The optimal distribution of tension distribution is thus rapidly established on real-time by the proposed method.
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Gianni Castelli
2010-01-01
Full Text Available This paper presents results on the modelling, simulation and experimental tests of a cable-based parallel manipulator to be used as an aiding or guiding system for people with motion disabilities. There is a high level of motivation for people with a motion disability or the elderly to perform basic daily-living activities independently. Therefore, it is of great interest to design and implement safe and reliable motion assisting and guiding devices that are able to help end-users. In general, a robot for a medical application should be able to interact with a patient in safety conditions, i.e. it must not damage people or surroundings; it must be designed to guarantee high accuracy and low acceleration during the operation. Furthermore, it should not be too bulky and it should exert limited wrenches after close interaction with people. It can be advisable to have a portable system which can be easily brought into and assembled in a hospital or a domestic environment. Cable-based robotic structures can fulfil those requirements because of their main characteristics that make them light and intrinsically safe. In this paper, a reconfigurable four-cable-based parallel manipulator has been proposed as a motion assisting and guiding device to help people to accomplish a number of tasks, such as an aiding or guiding system to move the upper and lower limbs or the whole body. Modelling and simulation are presented in the ADAMS environment. Moreover, experimental tests are reported as based on an available laboratory prototype.
Adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic cylinders
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Ce Shang
2016-04-01
Full Text Available Due to the compressibility of air, non-linear characteristics, and parameter uncertainties of pneumatic elements, the position control of a pneumatic cylinder or parallel platform is still very difficult while comparing with the systems driven by electric or hydraulic power. In this article, based on the basic dynamic model and descriptions of thermal processes, a controller integrated with online parameter estimation is proposed to improve the performance of a pneumatic cylinder controlled by a proportional valve. The trajectory tracking error is significantly decreased by applying this method. Moreover, the algorithm is expanded to the problem of posture trajectory tracking for the three-revolute prismatic spherical pneumatic parallel manipulator. Lyapunov’s method is used to give the proof of stability of the controller. Using NI-CompactRio, NI-PXI, and Veristand platform as the realistic controller hardware and data interactive environment, the adaptive robust control algorithm is applied to the physical system successfully. Experimental results and data analysis showed that the posture error of the platform could be about 0.5%–0.7% of the desired trajectory amplitude. By integrating this method to the mechatronic system, the pneumatic servo solutions can be much more competitive in the industrial market of position and posture control.
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.)
Analysis of jacobian and singularity of planar parallel robots using screw theory
Energy Technology Data Exchange (ETDEWEB)
Choi, Jung Hyun; Lee, Jeh Won; Lee, Hyuk Jin [Yeungnam Univ., Gyeongsan (Korea, Republic of)
2012-11-15
The Jacobian and singularity analysis of parallel robots is necessary to analyze robot motion. The derivations of the Jacobian matrix and singularity configuration are complicated and have no geometrical earning in the velocity form of the Jacobian matrix. In this study, the screw theory is used to derive the Jacobian of parallel robots. The statics form of the Jacobian has a geometrical meaning. In addition, singularity analysis can be performed by using the geometrical values. Furthermore, this study shows that the screw theory is applicable to redundantly actuated robots as well as non redundant robots.
International Nuclear Information System (INIS)
Cao, Yi; Zhou, Hui; Li, Baokun; Shen, Long
2011-01-01
This paper presents a new principle and method of kinematics to analyze the singularity of Stewart-Gough parallel manipulators and addresses the property identification of the position-singularity loci of the 6-3 Stewart-Gough manipulators for special orientations. Based on the kinematic relationship of a rigid body, a necessary and sufficient condition that three velocities of three non-collinear points in a moving rigid body can determine a screw motion is addressed and some typical singular configurations of the 6-3 Stewart-Gough parallel manipulators are also addressed in detail. With the above-mentioned condition, a symbolic analytical polynomial expression of degree three in the moving platform position parameters, representing the position-singularity locus of the 6-3 Stewart-Gough manipulators for special orientations, is derived: and the property identification of the position-singularity loci of the 6-3 Stewart-Gough manipulator for these special orientations is investigated at length. It is shown that position-singularity loci of the 6-3 Stewart-Gough parallel manipulator for these special orientations will be a plane and a hyperbolic paraboloid, even three intersecting planes
International Nuclear Information System (INIS)
Cao Chongzhen; Gao, X.; Ma, P.; Yu, H.; Wang, F.; Huang, Y.; Liu, P.
2005-01-01
A novel fine adjustment mechanism of the second crystal in a double-crystal monochromator is put forward, which is based on a 3-PS parallel manipulator and the magnetic force. Not only is the principle of fine adjusting the pitch angle and the roll angle analyzed, but also optimization of the structure parameters of the permanent magnet, a key part of the fine adjustment mechanism. The fine adjustment mechanism with the 3-PS parallel manipulator has been applied successfully in the double-crystal monochromator of 4W1B beam line in the Beijing Synchrotron Radiation Facility (BSRF)
Zhu, Leize; Yuh, Brian; Schoen, Stefan; Li, Xinpei; Aldighaithir, Mohammed; Richardson, Beau J.; Alamer, Ahmed; Yu, Qiuming
2016-03-01
Binary lead and tin perovskites offer the benefits of narrower band gaps for broader adsorption of solar spectrum and better charge transport for higher photocurrent density. Here, we report the growth of large, smooth crystalline grains of bianry lead and tin triiodide perovskite films via a two-step solution process with thermal plus solvent vapor-assisted thermal annealing. The crystalline SnxPb1-xI2 films formed in the first step served as the templates for the formation of crystalline CH3NH3SnxPb1-xI3 films during the second step interdiffusion of methylammonium iodide (MAI). Followed by dimethylsulfoxide (DMSO) vapor-assisted thermal annealing, small, faceted perovskite grains grew into large, smooth grains via the possible mechanism involving bond breaking and reforming mediated by DMSO solvent molecules. The absorption onset was extended to 950 and 1010 nm for the CH3NH3SnxPb1-xI3 perovskites with x = 0.1 and 0.25, respectively. The highest PCE of 10.25% was achieved from the planar perovskite solar cell with the CH3NH3Sn0.1Pb0.9I3 layer prepared via the thermal plus DMSO vapor-assisted thermal annealing. This research provides a way to control and manipulate film morphology, grain size, and especially the distribution of metal cations in binary metal perovskite layers, which opens an avenue to grow perovskite materials with desired properties to enhance device performance.Binary lead and tin perovskites offer the benefits of narrower band gaps for broader adsorption of solar spectrum and better charge transport for higher photocurrent density. Here, we report the growth of large, smooth crystalline grains of bianry lead and tin triiodide perovskite films via a two-step solution process with thermal plus solvent vapor-assisted thermal annealing. The crystalline SnxPb1-xI2 films formed in the first step served as the templates for the formation of crystalline CH3NH3SnxPb1-xI3 films during the second step interdiffusion of methylammonium iodide (MAI
Variation in efficiency of parallel algorithms. [for study of stiffness matrices in planar trusses
Hayashi, A.; Melosh, R. J.; Utku, S.; Salama, M.
1985-01-01
The present study has the objective to investigate some iterative parallel-processor linear equation solving algorithms with respect to efficiency for analyses of typical linear engineering systems. Attention is given to a set of n linear equations, Ku = p, where K = an n x n positive definite, sparsely populated, symmetric matrix, u = an n x 1 vector of unknown responses, and p = an n x 1 vector of prescribed constants. This study is concerned with a hybrid method in which iteration is used to solve the problem, while a direct method is used on the local processor level. Variations in the efficiency of parallel algorithms are explored. Measures of the efficiency are based on computer experiments regarding the algorithms. For all the algorithms, the wall clock time is found to decrease as the number of processors increases.
A simple approach to solving the kinematics of the 4-UPS/PS (3R1T) parallel manipulator
Energy Technology Data Exchange (ETDEWEB)
Gallardo-Alvarado, Jaime; Gracio-Murillo, Mario A. [Instituto Tecnologico de Celaya, Celaya (Mexico); Islam, Md. Nazrul [Universiti Malasya Sabah, Sabah (Malaysia); Abedinnasab, Mohammad H. [Rowan University, New Jersey (United States)
2016-05-15
This work reports on the position, velocity and acceleration analyses of a four-degrees-of-freedom parallel manipulator, 4-DoF-PM for brevity, which generates Three-rotation-one-translation (3R1T) motion. Nearly closed-form solutions to solve the forward displacement analysis are easily obtained based on closure equations formulated upon linear combinations of the coordinates of three non-collinear points embedded in the moving platform. Then, the input-output equations of velocity and acceleration of the robot manipulator are systematically established by resorting to the theory of screws. To this end, the Klein form of the Lie algebra se(3) of the Euclidean group SE(3) is systematically applied to the velocity and reduced acceleration state in screw form of the moving platform cancelling the passive joint rates of the parallel manipulator. Numerical examples, which are confirmed by means of commercially available software, are provided to show the application of the method.
A simple approach to solving the kinematics of the 4-UPS/PS (3R1T) parallel manipulator
International Nuclear Information System (INIS)
Gallardo-Alvarado, Jaime; Gracio-Murillo, Mario A.; Islam, Md. Nazrul; Abedinnasab, Mohammad H.
2016-01-01
This work reports on the position, velocity and acceleration analyses of a four-degrees-of-freedom parallel manipulator, 4-DoF-PM for brevity, which generates Three-rotation-one-translation (3R1T) motion. Nearly closed-form solutions to solve the forward displacement analysis are easily obtained based on closure equations formulated upon linear combinations of the coordinates of three non-collinear points embedded in the moving platform. Then, the input-output equations of velocity and acceleration of the robot manipulator are systematically established by resorting to the theory of screws. To this end, the Klein form of the Lie algebra se(3) of the Euclidean group SE(3) is systematically applied to the velocity and reduced acceleration state in screw form of the moving platform cancelling the passive joint rates of the parallel manipulator. Numerical examples, which are confirmed by means of commercially available software, are provided to show the application of the method.
Energy Technology Data Exchange (ETDEWEB)
Daneshmand, Morteza [University of Tartu, Tartu (Estonia); Saadatzi, Mohammad Hossein [Colorado School of Mines, Golden (United States); Kaloorazi, Mohammad Hadi [École de Technologie Supérieur, Montréal (Canada); Masouleh, Mehdi Tale [University of Tehran, Tehran (Iran, Islamic Republic of); Anbarjafari, Gholamreza [Hasan Kalyoncu University, Gaziantep (Turkmenistan)
2016-03-15
This study aims to provide an optimal design for a Spherical parallel manipulator (SPM), namely, the Agile Eye. This aim is approached by investigating kinetostatic performance and workspace and searching for the most promising design. Previously recommended designs are examined to determine whether they provide acceptable kinetostatic performance and workspace. Optimal designs are provided according to different kinetostatic performance indices, especially kinematic sensitivity. The optimization process is launched based on the concept of the genetic algorithm. A single-objective process is implemented in accordance with the guidelines of an evolutionary algorithm called differential evolution. A multi-objective procedure is then provided following the reasoning of the nondominated sorting genetic algorithm-II. This process results in several sets of Pareto points for reconciliation between kinetostatic performance indices and workspace. The concept of numerous kinetostatic performance indices and the results of optimization algorithms are elaborated. The conclusions provide hints on the provided set of designs and their credibility to provide a well-conditioned workspace and acceptable kinetostatic performance for the SPM under study, which can be well extended to other types of SPMs.
Dionis: A Novel Remote-Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery
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R. Beira
2011-01-01
Full Text Available The large volume and reduced dexterity of current surgical robotic systems are factors that restrict their effective performance. To improve the usefulness of surgical robots in minimally invasive surgery (MIS, a compact and accurate positioning mechanism, named Dionis, is proposed in this paper. This spatial hybrid mechanism based on a novel parallel kinematics is able to provide three rotations and one translation for single port procedures. The corresponding axes intersect at a remote center of rotation (RCM that is the MIS entry port. Another important feature of the proposed positioning manipulator is that it can be placed below the operating table plane, allowing a quick and direct access to the patient, without removing the robotic system. This, besides saving precious space in the operating room, may improve safety over existing solutions. The conceptual design of Dionis is presented in this paper. Solutions for the inverse and direct kinematics are developed, as well as the analytical workspace and singularity analysis. Due to its unique design and kinematics, the proposed mechanism is highly compact, stiff and its dexterity fullfils the workspace specifications for MIS procedures.
Design of mechanical coxa joints based on three-degree-of-freedom spherical parallel manipulators
International Nuclear Information System (INIS)
Li, Yanbiao; Ji, Shiming; Wang, Zhongfei; Jin, Mingsheng; Liu, Yi; Jin, Zhenlin
2013-01-01
We addressed the issue of the design of mechanical coxa joints based on three-degree-of-freedom spherical parallel manipulators using the parameter statistics optimum method based on index atlases. The coxa joints have the advantages of high payload, high accuracy, and good technological efficiency. The first step of the design and prototyping used in this paper develops the direct and inverse displacement equations from the layout feature of the mechanical coxa joints. Then, the shapes of a constant-orientation workspace of the mechanical coxa joints are described, and the effects of the design parameters on the workspace volume are studied quantitatively. The next step deals with the graphical representation of the atlases that illustrates the relationship between performance evaluation index and design parameters based on the kinematics and torque analysis of the mechanical coxa joints. Finally, the geometric parameters of the coxa joints are obtained by the parameter statistics optimum method based on the index atlases. Considering assembly conditions, the design scheme of the mechanical coxa joints is developed, which provides a theoretical basis for the application of the mechanical coxa joints.
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...
Eslami, Sohrab; Shang, Weijian; Li, Gang; Patel, Nirav; Fischer, Gregory S.; Tokuda, Junichi; Hata, Nobuhiko; Tempany, Clare M.; Iordachita, Iulian
2015-01-01
Background The robot-assisted minimally-invasive surgery is well recognized as a feasible solution for diagnosis and treatment of the prostate cancer in human. Methods In this paper the kinematics of a parallel 4 Degrees-of-Freedom (DOF) surgical manipulator designed for minimally invasive in-bore prostate percutaneous interventions through the patient's perineum. The proposed manipulator takes advantage of 4 sliders actuated by MRI-compatible piezoelectric motors and incremental rotary encoders. Errors, mostly originating from the design and manufacturing process, need to be identified and reduced before the robot is deployed in the clinical trials. Results The manipulator has undergone several experiments to evaluate the repeatability and accuracy of the needle placement which is an essential concern in percutaneous prostate interventions. Conclusion The acquired results endorse the sustainability, precision (about 1 mm in air (in x or y direction) at the needle's reference point) and reliability of the manipulator. PMID:26111458
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.)
DEFF Research Database (Denmark)
Dam, Jeppe Seidelin; Perch-Nielsen, Ivan Ryberg; Rodrigo, Peter John
2007-01-01
We demonstrate how optical trapping and manipulation can be used to assemble microstructures. The microstructures we show being automatically recognized and manipulated are produced using the two-photon polymerization (2PP) technique with submicron resolution. In this work, we show identical shape...
International Nuclear Information System (INIS)
Zhang Xuping; Mills, James K.; Cleghorn, William L.
2009-01-01
Modeling of multibody dynamics with flexible links is a challenging task, which not only involves the effect of rigid body motion on elastic deformations, but also includes the influence of elastic deformations on rigid body motion. This paper presents coupling characteristics of rigid body motions and elastic motions of a 3-PRR parallel manipulator with three flexible intermediate links. The intermediate links are modeled as Euler-Bernoulli beams with pinned-pinned boundary conditions based on the assumed mode method (AMM). Using Lagrange multipliers, the fully coupled equations of motions of the flexible parallel manipulator are developed by incorporating the rigid body motions with elastic motions. The mutual dependence of elastic deformations and rigid body motions are investigated from the analysis of the derived equations of motion. Open-loop simulation without joint motion controls and closed-loop simulation with joint motion controls are performed to illustrate the effect of elastic motion on rigid body motions and the coupling effect amongst flexible links. These analyses and results provide valuable insight to the design and control of the parallel manipulator with flexible intermediate links
Directory of Open Access Journals (Sweden)
Hongzhe Jin
2017-01-01
Full Text Available This paper presents a synthetic algorithm for tracking a moving object in a multiple-dynamic obstacles environment based on kinematically planar manipulators. By observing the motions of the object and obstacles, Spline filter associated with polynomial fitting is utilized to predict their moving paths for a period of time in the future. Several feasible paths for the manipulator in Cartesian space can be planned according to the predicted moving paths and the defined feasibility criterion. The shortest one among these feasible paths is selected as the optimized path. Then the real-time path along the optimized path is planned for the manipulator to track the moving object in real-time. To improve the convergence rate of tracking, a virtual controller based on PD controller is designed to adaptively adjust the real-time path. In the process of tracking, the null space of inverse kinematic and the local rotation coordinate method (LRCM are utilized for the arms and the end-effector to avoid obstacles, respectively. Finally, the moving object in a multiple-dynamic obstacles environment is thus tracked via real-time updating the joint angles of manipulator according to the iterative method. Simulation results show that the proposed algorithm is feasible to track a moving object in a multiple-dynamic obstacles environment.
Filli, Lukas; Piccirelli, Marco; Kenkel, David; Guggenberger, Roman; Andreisek, Gustav; Beck, Thomas; Runge, Val M; Boss, Andreas
2015-01-01
PURPOSE The aim of this study was to investigate the feasibility of accelerated diffusion tensor imaging (DTI) of skeletal muscle using echo planar imaging (EPI) applying simultaneous multislice excitation with a blipped controlled aliasing in parallel imaging results in higher acceleration unaliasing technique. MATERIALS AND METHODS After federal ethics board approval, the lower leg muscles of 8 healthy volunteers (mean [SD] age, 29.4 [2.9] years) were examined in a clinical 3-T magnetic ...
Position Analysis of a Hybrid Serial-Parallel Manipulator in Immersion Lithography
Directory of Open Access Journals (Sweden)
Jie-jie Shao
2015-01-01
Full Text Available This paper proposes a novel hybrid serial-parallel mechanism with 6 degrees of freedom. The new mechanism combines two different parallel modules in a serial form. 3-P̲(PH parallel module is architecture of 3 degrees of freedom based on higher joints and specializes in describing two planes’ relative pose. 3-P̲SP parallel module is typical architecture which has been widely investigated in recent researches. In this paper, the direct-inverse position problems of the 3-P̲SP parallel module in the couple mixed-type mode are analyzed in detail, and the solutions are obtained in an analytical form. Furthermore, the solutions for the direct and inverse position problems of the novel hybrid serial-parallel mechanism are also derived and obtained in the analytical form. The proposed hybrid serial-parallel mechanism is applied to regulate the immersion hood’s pose in an immersion lithography system. Through measuring and regulating the pose of the immersion hood with respect to the wafer surface simultaneously, the immersion hood can track the wafer surface’s pose in real-time and the gap status is stabilized. This is another exploration to hybrid serial-parallel mechanism’s application.
Sakai, Seiichiro; Ueno, Kenichi; Ishizuka, Toru; Yawo, Hiromu
2013-01-01
Optical manipulation technologies greatly advanced the understanding of the neuronal network and its dysfunctions. To achieve patterned and parallel optical switching, we developed a microscopic illumination system using a commercial DMD-based projector and a software program. The spatiotemporal patterning of the system was evaluated using acute slices of the hippocampus. The neural activity was optically manipulated, positively by the combination of channelrhodopsin-2 (ChR2) and blue light, and negatively by the combination of archaerhodopsin-T (ArchT) and green light. It is suggested that our projector-managing optical system (PMOS) would effectively facilitate the optogenetic analyses of neurons and their circuits. Copyright © 2012 Elsevier Ireland Ltd and the Japan Neuroscience Society. All rights reserved.
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.
Miki, Kohei; Masamune, Ken
2015-10-01
Low-field open magnetic resonance imaging (MRI) is frequently used for performing image-guided neurosurgical procedures. Intraoperative magnetic resonance (MR) images are useful for tracking brain shifts and verifying residual tumors. However, it is difficult to precisely determine the boundary of the brain tumors and normal brain tissues because the MR image resolution is low, especially when using a low-field open MRI scanner. To overcome this problem, a high-resolution MR image acquisition system was developed and tested. An MR-compatible manipulator with pneumatic actuators containing an MR signal receiver with a small radiofrequency (RF) coil was developed. The manipulator had five degrees of freedom for position and orientation control of the RF coil. An 8-mm planar RF coil with resistance and inductance of 2.04 [Formula: see text] and 1.00 [Formula: see text] was attached to the MR signal receiver at the distal end of the probe. MR images of phantom test devices were acquired using the MR signal receiver and normal head coil for signal-to-noise ratio (SNR) testing. The SNR of MR images acquired using the MR signal receiver was 8.0 times greater than that of MR images acquired using the normal head coil. The RF coil was moved by the manipulator, and local MR images of a phantom with a 2-mm grid were acquired using the MR signal receiver. A wide field-of-view MR image was generated from a montage of local MR images. A small field-of-view RF system with a pneumatic manipulator was integrated in a low-field MRI scanner to allow acquisition of both wide field-of-view and high-resolution MR images. This system is promising for image-guided neurosurgery as it may allow brain tumors to be observed more clearly and removed precisely.
DEFF Research Database (Denmark)
Llopart, Adrian; Ravn, Ole; Andersen, Nils Axel
2017-01-01
The end-to-end approach presented in this paper deals with the recognition, detection, segmentation and grasping of objects, assuming no prior knowledge of the environment nor objects. The proposed pipeline is as follows: 1) Usage of a trained Convolutional Neural Net (CNN) that recognizes up to 80...... different classes of objects in real time and generates bounding boxes around them. 2) An algorithm to derive in parallel the pointclouds of said regions of interest (ROI). 3) Eight different segmentation methods to remove background data and noise from the pointclouds and obtain a precise result...
Yang, Chifu; Zhao, Jinsong; Li, Liyi; Agrawal, Sunil K
2018-01-01
Robotic spine brace based on parallel-actuated robotic system is a new device for treatment and sensing of scoliosis, however, the strong dynamic coupling and anisotropy problem of parallel manipulators result in accuracy loss of rehabilitation force control, including big error in direction and value of force. A novel active force control strategy named modal space force control is proposed to solve these problems. Considering the electrical driven system and contact environment, the mathematical model of spatial parallel manipulator is built. The strong dynamic coupling problem in force field is described via experiments as well as the anisotropy problem of work space of parallel manipulators. The effects of dynamic coupling on control design and performances are discussed, and the influences of anisotropy on accuracy are also addressed. With mass/inertia matrix and stiffness matrix of parallel manipulators, a modal matrix can be calculated by using eigenvalue decomposition. Making use of the orthogonality of modal matrix with mass matrix of parallel manipulators, the strong coupled dynamic equations expressed in work space or joint space of parallel manipulator may be transformed into decoupled equations formulated in modal space. According to this property, each force control channel is independent of others in the modal space, thus we proposed modal space force control concept which means the force controller is designed in modal space. A modal space active force control is designed and implemented with only a simple PID controller employed as exampled control method to show the differences, uniqueness, and benefits of modal space force control. Simulation and experimental results show that the proposed modal space force control concept can effectively overcome the effects of the strong dynamic coupling and anisotropy problem in the physical space, and modal space force control is thus a very useful control framework, which is better than the current joint
Directory of Open Access Journals (Sweden)
Tian Tixian
2015-04-01
Full Text Available A new simple and effective inertial parameter identification method based on sinusoidal vibrations of a six-degree-of-freedom parallel manipulator is proposed. Compared with previously known identification algorithms, the advantages of the new approach are there is no need to design the excitation trajectory to consider the condition number of the observation matrix and the inertial matrix can be accurately defined regardless of the effect of viscous friction. In addition, the use of a sinusoidal exciting trajectory allows calculation of the velocities and accelerations from the measured position response. Simulations show that the new approach has acceptable tolerance of dry friction when using a simple coupling parameter modified formula. The experimental application to the hydraulically driven Stewart platform demonstrates the capability and efficiency of the proposed identification method.
LiNbO3: A photovoltaic substrate for massive parallel manipulation and patterning of nano-objects
International Nuclear Information System (INIS)
Carrascosa, M.; García-Cabañes, A.; Jubera, M.; Ramiro, J. B.; Agulló-López, F.
2015-01-01
The application of evanescent photovoltaic (PV) fields, generated by visible illumination of Fe:LiNbO 3 substrates, for parallel massive trapping and manipulation of micro- and nano-objects is critically reviewed. The technique has been often referred to as photovoltaic or photorefractive tweezers. The main advantage of the new method is that the involved electrophoretic and/or dielectrophoretic forces do not require any electrodes and large scale manipulation of nano-objects can be easily achieved using the patterning capabilities of light. The paper describes the experimental techniques for particle trapping and the main reported experimental results obtained with a variety of micro- and nano-particles (dielectric and conductive) and different illumination configurations (single beam, holographic geometry, and spatial light modulator projection). The report also pays attention to the physical basis of the method, namely, the coupling of the evanescent photorefractive fields to the dielectric response of the nano-particles. The role of a number of physical parameters such as the contrast and spatial periodicities of the illumination pattern or the particle deposition method is discussed. Moreover, the main properties of the obtained particle patterns in relation to potential applications are summarized, and first demonstrations reviewed. Finally, the PV method is discussed in comparison to other patterning strategies, such as those based on the pyroelectric response and the electric fields associated to domain poling of ferroelectric materials
Experimental studies of control concepts for a parallel manipulator with flexible links
International Nuclear Information System (INIS)
Burkhardt, Markus; Eberhard, Peter; Seifried, Robert
2015-01-01
Control of flexible multibody systems, such as flexible manipulators, is a challenging task. This is especially true if end-effector trajectory tracking is aspired. On the one hand, these systems require a large number of generalized coordinates to describe their dynamical behavior accurately. On the other hand, only a small subset of these values can be measured or reconstructed on-the-fly. Hence, it is difficult, if not nearly impossible, to use a state controller. In addition, flexible systems are under actuated, i.e. they possess less control inputs than generalized coordinates. In case of a non-collocated output controller, which is the case for end-effector trajectory tracking, the closed loop of the system might lose passivity and is non-minimum phase. In order to achieve end-effector trajectory tracking, exact and approximate feed-forward controls can be applied. In this work, two different versions of such concepts are compared experimentally. These model-based concepts are computed off-line and they supply, next to the required input values, a C1 -continuous solution of the complete state vector which can be used for feedback control. If the system is non-minimum phase, a two-sided boundary value problem has to be solved and the solution includes a pre-actuation as well as a post-actuation phase. While the exact method incorporates all dynamical effects of the flexible multibody system, the approximate concepts neglect certain implications, for example the dynamical effects due to the flexibility. In addition to the presentation of the theoretical basics of the control approaches and the underlying models, this contribution addresses some of the crucial obstacles, which have to be overcome for the operation of the test bench, e.g., signal conditioning, state reconstruction and friction compensation. Since the installed sensors do not allow the direct measurement of the end effector position, image tracking is used to judge the quality of the different
Kinematics of an in-parallel actuated manipulator based on the Stewart platform mechanism
Williams, Robert L., II
1992-01-01
This paper presents kinematic equations and solutions for an in-parallel actuated robotic mechanism based on Stewart's platform. These equations are required for inverse position and resolved rate (inverse velocity) platform control. NASA LaRC has a Vehicle Emulator System (VES) platform designed by MIT which is based on Stewart's platform. The inverse position solution is straight-forward and computationally inexpensive. Given the desired position and orientation of the moving platform with respect to the base, the lengths of the prismatic leg actuators are calculated. The forward position solution is more complicated and theoretically has 16 solutions. The position and orientation of the moving platform with respect to the base is calculated given the leg actuator lengths. Two methods are pursued in this paper to solve this problem. The resolved rate (inverse velocity) solution is derived. Given the desired Cartesian velocity of the end-effector, the required leg actuator rates are calculated. The Newton-Raphson Jacobian matrix resulting from the second forward position kinematics solution is a modified inverse Jacobian matrix. Examples and simulations are given for the VES.
A New XYZ Compliant Parallel Mechanism for Micro-/Nano-Manipulation: Design and Analysis
Directory of Open Access Journals (Sweden)
Haiyang Li
2016-02-01
Full Text Available Based on the constraint and position identification (CPI approach for synthesizing XYZ compliant parallel mechanisms (CPMs and configuration modifications, this paper proposes a new fully-symmetrical XYZ CPM with desired motion characteristics such as reduced cross-axis coupling, minimized lost motion, and relatively small parasitic motion. The good motion characteristics arise from not only its symmetric configuration, but also the rigid linkages between non-adjacent rigid stages. Comprehensive kinematic analysis is carried out based on a series of finite element simulations over a motion range per axis less than ±5% of the beam length, which reveals that the maximum cross-axis coupling rate is less than 0.86%, the maximum lost motion rate is less than 1.20%, the parasitic rotations of the motion stage (MS are in the order of 10−5 rad, and the parasitic translations of the three actuated stages (ASs are in the order of 10−4 of the beam length (less than 0.3% of the motion range, where the beam slenderness ratio is larger than 20. Furthermore, the nonlinear analytical models of the primary translations of the XYZ CPM, including the primary translations of the MS and the ASs, are derived and validated to provide a quick design synthesis. Moreover, two practical design schemes of the proposed XYZ CPM are discussed with consideration of the manufacturability. The practical designs enable the XYZ CPM to be employed in many applications such as micro-/nano-positioning, micro-/nano-manufacturing and micro-/nano-assembly. Finally, a spatial high-precision translational system is presented based on the practical design schemes, taking the actuator and sensor integration into account.
Dewaraja, Yuni K; Ljungberg, Michael; Majumdar, Amitava; Bose, Abhijit; Koral, Kenneth F
2002-02-01
This paper reports the implementation of the SIMIND Monte Carlo code on an IBM SP2 distributed memory parallel computer. Basic aspects of running Monte Carlo particle transport calculations on parallel architectures are described. Our parallelization is based on equally partitioning photons among the processors and uses the Message Passing Interface (MPI) library for interprocessor communication and the Scalable Parallel Random Number Generator (SPRNG) to generate uncorrelated random number streams. These parallelization techniques are also applicable to other distributed memory architectures. A linear increase in computing speed with the number of processors is demonstrated for up to 32 processors. This speed-up is especially significant in Single Photon Emission Computed Tomography (SPECT) simulations involving higher energy photon emitters, where explicit modeling of the phantom and collimator is required. For (131)I, the accuracy of the parallel code is demonstrated by comparing simulated and experimental SPECT images from a heart/thorax phantom. Clinically realistic SPECT simulations using the voxel-man phantom are carried out to assess scatter and attenuation correction.
Zhang, Quan; Li, Chaodong; Zhang, Jiantao; Zhang, Xu
2017-11-01
The macro-micro combined approach, as an effective way to realize trans-scale nano-precision positioning with multi-dimensions and high velocity, plays a significant role in integrated circuit manufacturing field. A 3-degree-of-freedoms (3-DOFs) macro-micro manipulator is designed and analyzed to compromise the conflictions among the large stroke, high precision and multi-DOFs. The macro manipulator is a 3-Prismatic-Revolute-Revolute (3-PRR) structure parallel manipulator which is driven by three linear ultrasonic motors. The dynamic model and the cross-coupling error based synchronized motion controller of the 3-PRR parallel manipulator are theoretical analyzed and experimental tested. To further improve the positioning accuracy, a 3-DOFs monolithic compliant manipulator actuated by three piezoelectric stack actuators is designed. Then a multilayer BP neural network based inverse kinematic model identifier is developed to perform the positioning control. Finally, by forming the macro-micro structure, the dual stage manipulator successfully achieved the positioning task from the point (2 mm, 2 mm, 0 rad) back to the original point (0 mm, 0 mm, 0 rad) with the translation errors in X and Y directions less than ±50 nm and the rotation error around Z axis less than ±1 μrad, respectively.
Liang, Dong; Song, Yimin; Sun, Tao; Jin, Xueying
2018-03-01
This paper addresses the problem of rigid-flexible coupling dynamic modeling and active control of a novel flexible parallel manipulator (PM) with multiple actuation modes. Firstly, based on the flexible multi-body dynamics theory, the rigid-flexible coupling dynamic model (RFDM) of system is developed by virtue of the augmented Lagrangian multipliers approach. For completeness, the mathematical models of permanent magnet synchronous motor (PMSM) and piezoelectric transducer (PZT) are further established and integrated with the RFDM of mechanical system to formulate the electromechanical coupling dynamic model (ECDM). To achieve the trajectory tracking and vibration suppression, a hierarchical compound control strategy is presented. Within this control strategy, the proportional-differential (PD) feedback controller is employed to realize the trajectory tracking of end-effector, while the strain and strain rate feedback (SSRF) controller is developed to restrain the vibration of the flexible links using PZT. Furthermore, the stability of the control algorithm is demonstrated based on the Lyapunov stability theory. Finally, two simulation case studies are performed to illustrate the effectiveness of the proposed approach. The results indicate that, under the redundant actuation mode, the hierarchical compound control strategy can guarantee the flexible PM achieves singularity-free motion and vibration attenuation within task workspace simultaneously. The systematic methodology proposed in this study can be conveniently extended for the dynamic modeling and efficient controller design of other flexible PMs, especially the emerging ones with multiple actuation modes.
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.
Huijts, Martijn; Brouwer, Dannis Michel; van Dijk, Johannes
2009-01-01
Manipulators with guidance constructions based on elastic mechanisms are of interest for the increasing number of precision vacuum applications. Previously, the design of an elastic MEMS-based 6-DOFs manipulator was presented. Characterization in six degrees of freedom (DOFs) of a manipulator the
Tsai, Shang-Yueh; Hsu, Yi-Cheng; Chu, Ying-Hua; Kuo, Wen-Jui; Lin, Fa-Hsuan
2015-12-01
One major challenge of MRSI is the poor signal-to-noise ratio (SNR), which can be improved by using a surface coil array. Here we propose to exploit the spatial sensitivity of different channels of a coil array to enforce the k-space data consistency (DC) in order to suppress noise and consequently to improve MRSI SNR. MRSI data were collected using a proton echo planar spectroscopic imaging (PEPSI) sequence at 3 T using a 32-channel coil array and were averaged with one, two and eight measurements (avg-1, avg-2 and avg-8). The DC constraint was applied using a regularization parameter λ of 1, 2, 3, 5 or 10. Metabolite concentrations were quantified using LCModel. Our results show that the suppression of noise by applying the DC constraint to PEPSI reconstruction yields up to 32% and 27% SNR gain for avg-1 and avg-2 data with λ = 5, respectively. According to the reported Cramer-Rao lower bounds, the improvement in metabolic fitting was significant (p < 0.01) when the DC constraint was applied with λ ≥ 2. Using the DC constraint with λ = 3 or 5 can minimize both root-mean-square errors and spatial variation for all subjects using the avg-8 data set as reference values. Our results suggest that MRSI reconstructed with a DC constraint can save around 70% of scanning time to obtain images and spectra with similar SNRs using λ = 5. Copyright © 2015 John Wiley & Sons, Ltd.
Synthesis and Evaluation of A High Precision 3D-Printed Ti6Al4V Compliant Parallel Manipulator
Pham, Minh Tuan; Teo, Tat Joo; Huat Yeo, Song; Wang, Pan; Nai, Mui Ling Sharon
2017-12-01
A novel 3D printed compliant parallel manipulator (CPM) with θX - θX - Z motions is presented in this paper. This CPM is synthesized using the beam-based method, a new structural optimization approach, to achieve optimized stiffness properties with targeted dynamic behavior. The CPM performs high non-actuating stiffness based on the predicted stiffness ratios of about 3600 for translations and 570 for rotations, while the dynamic response is fast with the targeted first resonant mode of 100Hz. A prototype of the synthesized CPM is fabricated using the electron beam melting (EBM) technology with Ti6Al4V material. Driven by three voice-coil (VC) motors, the CPM demonstrated a positioning resolution of 50nm along the Z axis and an angular resolution of ~0.3 “about the X and Y axes, the positioning accuracy is also good with the measured values of ±25.2nm and ±0.17” for the translation and rotations respectively. Experimental investigation also shows that this large workspace CPM has a first resonant mode of 98Hz and the stiffness behavior matches the prediction with the highest deviation of 11.2%. Most importantly, the full workspace of 10° × 10° × 7mm of the proposed CPM can be achieved, that demonstrates 3D printed compliant mechanisms can perform large elastic deformation. The obtained results show that CPMs printed by EBM technology have predictable mechanical characteristics and are applicable in precise positioning systems.
Directory of Open Access Journals (Sweden)
Xiang Chen
2014-01-01
Full Text Available This paper presents a comparison study of two important three-degree-of-freedom (DOF parallel manipulators, the Sprint Z3 head and the A3 head, both commonly used in industry. As an initial step, the inverse kinematics are derived and an analysis of two classes of limbs is carried out via screw theory. For comparison, three transmission indices are then defined to describe their motion/force transmission performance. Based on the same main parameters, the compared results reveal some distinct characteristics in addition to the similarities between the two parallel manipulators. To a certain extent, the A3 head outperforms the common Sprint Z3 head, providing a new and satisfactory option for a machine tool head in industry.
Directory of Open Access Journals (Sweden)
V. N. Paschenko
2015-01-01
Full Text Available The paper describes a mechanism representing a kind of mechanisms of parallel kinematics with three degrees of freedom based on the crank mechanism. This mechanism consists of two platforms, namely: the lower fixed and the upper movable. The upper platform is connected to the lower one by six movable elements, three of which are rods attached to the bases by means of spherical joints, and another three have a crank structure.The paper shows an approach to the solution of a direct task of kinematics based on mathematical modeling. The inverse problem of kinematics is formulated as follows: at specified angles of rotation drive (the values of generalized coordinates to determine the position of the top mobile platform.To solve this problem has been used a mathematical model describing the proposed system. On the basis of the constructed model were made the necessary calculations that allowed us using the values of crank angles connected with the engines to determine the position of the platform in space. To solve the problem we used the method of virtual points to reduce the number of equations and unknowns, which determine the position of the upper platform in space, at a crucial system from eighteen to nine, thus simplifying the solution.To check the solution correctness was carried out numerical experiment. Each generalized coordinate took on values in the range from -30 ° to 30 °; for them a direct positional problem was solved, and its result was inserted, as initial data, in the previous solved and proven inverse problem on the position of the platform under study.The paper presents comparative results of measurements with the calculated values of the generalized coordinates and draws the appropriate conclusions, that this model is in good compliance with the results observed in practice. One of the distinctive features of the proposed approach is that rotation angles of engines are used as the generalized coordinates. This allowed us
Filli, Lukas; Piccirelli, Marco; Kenkel, David; Guggenberger, Roman; Andreisek, Gustav; Beck, Thomas; Runge, Val M; Boss, Andreas
2015-07-01
The aim of this study was to investigate the feasibility of accelerated diffusion tensor imaging (DTI) of skeletal muscle using echo planar imaging (EPI) applying simultaneous multislice excitation with a blipped controlled aliasing in parallel imaging results in higher acceleration unaliasing technique. After federal ethics board approval, the lower leg muscles of 8 healthy volunteers (mean [SD] age, 29.4 [2.9] years) were examined in a clinical 3-T magnetic resonance scanner using a 15-channel knee coil. The EPI was performed at a b value of 500 s/mm2 without slice acceleration (conventional DTI) as well as with 2-fold and 3-fold acceleration. Fractional anisotropy (FA) and mean diffusivity (MD) were measured in all 3 acquisitions. Fiber tracking performance was compared between the acquisitions regarding the number of tracks, average track length, and anatomical precision using multivariate analysis of variance and Mann-Whitney U tests. Acquisition time was 7:24 minutes for conventional DTI, 3:53 minutes for 2-fold acceleration, and 2:38 minutes for 3-fold acceleration. Overall FA and MD values ranged from 0.220 to 0.378 and 1.595 to 1.829 mm2/s, respectively. Two-fold acceleration yielded similar FA and MD values (P ≥ 0.901) and similar fiber tracking performance compared with conventional DTI. Three-fold acceleration resulted in comparable MD (P = 0.199) but higher FA values (P = 0.006) and significantly impaired fiber tracking in the soleus and tibialis anterior muscles (number of tracks, P DTI of skeletal muscle with similar image quality and quantification accuracy of diffusion parameters. This may increase the clinical applicability of muscle anisotropy measurements.
Optoelectronic Tweezers for Microparticle and Cell Manipulation
Wu, Ming Chiang (Inventor); Chiou, Pei-Yu (Inventor); Ohta, Aaron T. (Inventor)
2014-01-01
An optical image-driven light induced dielectrophoresis (DEP) apparatus and method are described which provide for the manipulation of particles or cells with a diameter on the order of 100 micromillimeters or less. The apparatus is referred to as optoelectric tweezers (OET) and provides a number of advantages over conventional optical tweezers, in particular the ability to perform operations in parallel and over a large area without damage to living cells. The OET device generally comprises a planar liquid-filled structure having one or more portions which are photoconductive to convert incoming light to a change in the electric field pattern. The light patterns are dynamically generated to provide a number of manipulation structures that can manipulate single particles and cells or group of particles/cells. The OET preferably includes a microscopic imaging means to provide feedback for the optical manipulation, such as detecting position and characteristics wherein the light patterns are modulated accordingly.
Closed-form dynamics of a hexarot parallel manipulator by means of the principle of virtual work
Pedrammehr, Siamak; Nahavandi, Saeid; Abdi, Hamid
2018-04-01
In this research, a systematic approach to solving the inverse dynamics of hexarot manipulators is addressed using the methodology of virtual work. For the first time, a closed form of the mathematical formulation of the standard dynamic model is presented for this class of mechanisms. An efficient algorithm for solving this closed-form dynamic model of the mechanism is developed and it is used to simulate the dynamics of the system for different trajectories. Validation of the proposed model is performed using SimMechanics and it is shown that the results of the proposed mathematical model match with the results obtained by the SimMechanics model.
Khym, Sungwon; Yoo, Taehee; Lee, Hakjoon; Lee, Sangyeop; Lee, Sanghoon; Liu, Xinyu; Furdyna, Jacek K.; Lee, Dong Uk; Kim, Eun Kyu
2012-09-01
A Hall device was fabricated from single-crystal Fe film having two in-plane magnetic easy axes. Planar Hall resistance measured by sequential application of current pulses to the metal strip that was deposited on the top of a Hall bar showed a hysteresis similar to that observed by scanning an external magnetic field. It was shown that discrete Hall resistance values in the hysteresis, which correspond to specific multidomain structures in Fe film, can be created by the application of appropriate sequences of current pulses to the metal strip, and can thus be used for read/write logic applications.
International Nuclear Information System (INIS)
Fujii, Hirofumi; Iwasaki, Ryuichiro; Hashimoto, Jun; Nakamura, Kayoko; Kunieda, Etsuo; Sanmiya, Toshikazu; Kubo, Atsushi; Ogawa, Koichi; Inagaki, Kazutoshi
1999-01-01
Parathyroid scintigraphy with 99m Tc-MIBI was performed using two kinds of collimators, namely, a pinhole one and a parallel-hole one, to evaluate which one was more suitable for the detection of hyperfunctioning parathyroid lesions. In the studies using 99m Tc source, the pinhole collimator showed better efficiency and spatial resolution in the distance where the parathyroid scan are actually performed. In the phantom study, the nodular activities modeling parathyroid lesions were visualized better on the images obtained using the pinhole collimator. In clinical studies for 30 patients suspicious of hyperparathyroidism, hyperfunctioning parathyroid nodules were better detected when the pinhole collimator was used. In conclusion, the pinhole collimator was thought to be more suitable for parathyroid scintigraphy with 99m Tc-MIBI than the parallel-hole collimator. (author)
Energy Technology Data Exchange (ETDEWEB)
Fujii, Hirofumi; Iwasaki, Ryuichiro; Hashimoto, Jun; Nakamura, Kayoko; Kunieda, Etsuo; Sanmiya, Toshikazu; Kubo, Atsushi [Keio Univ., Tokyo (Japan). School of Medicine; Ogawa, Koichi; Inagaki, Kazutoshi
1999-07-01
Parathyroid scintigraphy with {sup 99m}Tc-MIBI was performed using two kinds of collimators, namely, a pinhole one and a parallel-hole one, to evaluate which one was more suitable for the detection of hyperfunctioning parathyroid lesions. In the studies using {sup 99m}Tc source, the pinhole collimator showed better efficiency and spatial resolution in the distance where the parathyroid scan are actually performed. In the phantom study, the nodular activities modeling parathyroid lesions were visualized better on the images obtained using the pinhole collimator. In clinical studies for 30 patients suspicious of hyperparathyroidism, hyperfunctioning parathyroid nodules were better detected when the pinhole collimator was used. In conclusion, the pinhole collimator was thought to be more suitable for parathyroid scintigraphy with {sup 99m}Tc-MIBI than the parallel-hole collimator. (author)
The parallel volume at large distances
DEFF Research Database (Denmark)
Kampf, Jürgen
In this paper we examine the asymptotic behavior of the parallel volume of planar non-convex bodies as the distance tends to infinity. We show that the difference between the parallel volume of the convex hull of a body and the parallel volume of the body itself tends to . This yields a new proof...... for the fact that a planar body can only have polynomial parallel volume, if it is convex. Extensions to Minkowski spaces and random sets are also discussed....
The parallel volume at large distances
DEFF Research Database (Denmark)
Kampf, Jürgen
In this paper we examine the asymptotic behavior of the parallel volume of planar non-convex bodies as the distance tends to infinity. We show that the difference between the parallel volume of the convex hull of a body and the parallel volume of the body itself tends to 0. This yields a new proof...... for the fact that a planar body can only have polynomial parallel volume, if it is convex. Extensions to Minkowski spaces and random sets are also discussed....
Microradiographic microsphere manipulator
International Nuclear Information System (INIS)
Singleton, R.M.
1980-01-01
A method and apparatus are provided for radiographic characterization of small hollow spherical members (microspheres), constructed of either optically transparent or opaque materials. The apparatus involves a microsphere manipulator which holds a batch of microspheres between two parallel thin plastic films for contact microradiographic characterization or projection microradiography thereof. One plastic film is translated to relative to and parallel to the other to roll the microspheres through any desired angle to allow different views of the microspheres
Positional control of space robot manipulator
Kurochkin, Vladislav; Shymanchuk, Dzmitry
2018-05-01
In this article the mathematical model of a planar space robot manipulator is under study. The space robot manipulator represents a solid body with attached manipulators. The system of equations of motion is determined using the Lagrange's equations. The control problem concerning moving the robot to a given point and return it to a given trajectory in the phase space is solved. Changes of generalized coordinates and necessary control actions are plotted for a specific model.
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.)
Planarity certification of ATLAS Micromegas detector panels
Energy Technology Data Exchange (ETDEWEB)
Mueller, Ralph; Biebel, Otmar; Bortfeldt, Jonathan; Flierl, Bernhard; Hertenberger, Ralf; Loesel, Philipp; Herrmann, Maximilian [LMU Muenchen (Germany); Zibell, Andre [JMU Wuerzburg (Germany)
2016-07-01
During the second long LHC shutdown, 2019/20, the precision tracking detectors of the ATLAS muon spectrometer in the inner end caps will be replaced using Micromegas, a planar gas-detector technology. Modules of 2 m{sup 2} area are built in quadruplets from five precisely planar sandwich panels that define the anodes and the cathodes of the four active detector planes. A panel is composed of three consecutive layers FR4 - aluminum honeycomb - FR4. Single plane spatial particle resolution below 100 μm is achievable when the deviations from planarity of the strip-anodes do not exceed 80 μm RMS over the whole active area and the parallelism of the readout strips is within 30 μm. In order to measure the dimensional accuracy of each panel, laser distance sensors combined with a coordinate measurement system have been investigated. The sensor requirements to measure the planarity of the panels are a resolution of 0.3 μm and a beam spot diameter of ∼20 μm, well below 100 μ m the size of the smallest structures. We report on achieved planarities of the panels and the performance of the laser sensor system. A panel with an RMS better than 30 μm was build and the evolution of its planarity due to humidity and temperature effects is shown.
Kinematic sensitivity of robot manipulators
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.
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…
Weithing Zhang; Thomas Mertens; Tarek Hassan
2014-01-01
Many central banks manage the stochastic behavior of their currencies' exchange rates by imposing pegs relative to a target currency. We study the effects of such currency manipulation in a multi-country model of exchange rate determination with endogenous capital accumulation. We find that the imposition of an exchange rate peg relative to a given target currency increases the volatility of consumption in the target country and decreases the volatility of the target currency's exchange rate ...
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
Parallel magnetic resonance imaging
International Nuclear Information System (INIS)
Larkman, David J; Nunes, Rita G
2007-01-01
Parallel imaging has been the single biggest innovation in magnetic resonance imaging in the last decade. The use of multiple receiver coils to augment the time consuming Fourier encoding has reduced acquisition times significantly. This increase in speed comes at a time when other approaches to acquisition time reduction were reaching engineering and human limits. A brief summary of spatial encoding in MRI is followed by an introduction to the problem parallel imaging is designed to solve. There are a large number of parallel reconstruction algorithms; this article reviews a cross-section, SENSE, SMASH, g-SMASH and GRAPPA, selected to demonstrate the different approaches. Theoretical (the g-factor) and practical (coil design) limits to acquisition speed are reviewed. The practical implementation of parallel imaging is also discussed, in particular coil calibration. How to recognize potential failure modes and their associated artefacts are shown. Well-established applications including angiography, cardiac imaging and applications using echo planar imaging are reviewed and we discuss what makes a good application for parallel imaging. Finally, active research areas where parallel imaging is being used to improve data quality by repairing artefacted images are also reviewed. (invited topical review)
Maximum allowable load on wheeled mobile manipulators
International Nuclear Information System (INIS)
Habibnejad Korayem, M.; Ghariblu, H.
2003-01-01
This paper develops a computational technique for finding the maximum allowable load of mobile manipulator during a given trajectory. The maximum allowable loads which can be achieved by a mobile manipulator during a given trajectory are limited by the number of factors; probably the dynamic properties of mobile base and mounted manipulator, their actuator limitations and additional constraints applied to resolving the redundancy are the most important factors. To resolve extra D.O.F introduced by the base mobility, additional constraint functions are proposed directly in the task space of mobile manipulator. Finally, in two numerical examples involving a two-link planar manipulator mounted on a differentially driven mobile base, application of the method to determining maximum allowable load is verified. The simulation results demonstrates the maximum allowable load on a desired trajectory has not a unique value and directly depends on the additional constraint functions which applies to resolve the motion redundancy
Angelini, P.; Da Lozzo, G.; Di Battista, G.; Frati, F.; Patrignani, M.; Rutter, I.; Hu, Y.; Nöllenburg, M.
2016-01-01
In this paper we settle the computational complexity of two open problems related to the extension of the notion of level planarity to surfaces different from the plane. Namely, we show that the problems of testing the existence of a level embedding of a level graph on the surface of the rolling
International Nuclear Information System (INIS)
Gornov, M.G.; Gurov, Yu.B.; Soldatov, A.M.; Osipenko, B.P.; Yurkowski, J.; Podkopaev, O.I.
1989-01-01
Parameters of planar detectors manufactured of HP Ge are presented. The possibilities to use multilayer spectrometers on the base of such semiconductor detectors for nuclear physics experiments are discussed. It is shown that the obtained detectors including high square ones have spectrometrical characteristics close to limiting possible values. 9 refs.; 3 figs.; 1 tab
Bläsius, T.; Radermacher, M.; Rutter, I.; Steffen, B.; Baier, C.; van den Brand, M.; Eder, J.; Hinchey, M.; Margaria, T.
2017-01-01
We study the problem of computing straight-line drawings of non-planar graphs with few crossings. We assume that a crossing-minimization algorithm is applied first, yielding a planarization, i.e., a planar graph with a dummy vertex for each crossing, that fixes the topology of the resulting drawing.
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.
Planar metasurface retroreflector
Arbabi, Amir; Arbabi, Ehsan; Horie, Yu; Kamali, Seyedeh Mahsa; Faraon, Andrei
2017-07-01
Metasurfaces are two-dimensional arrangements of subwavelength scatterers that control the propagation of optical waves. Here, we show that cascaded metasurfaces, each performing a predefined mathematical transformation, provide a new optical design framework that enables new functionalities not yet demonstrated with single metasurfaces. Specifically, we demonstrate that retroreflection can be achieved with two vertically stacked planar metasurfaces, the first performing a spatial Fourier transform and its inverse, and the second imparting a spatially varying momentum to the Fourier transform of the incident light. Using this concept, we fabricate and test a planar monolithic near-infrared retroreflector composed of two layers of silicon nanoposts, which reflects light along its incident direction with a normal incidence efficiency of 78% and a large half-power field of view of 60°. The metasurface retroreflector demonstrates the potential of cascaded metasurfaces for implementing novel high-performance components, and enables low-power and low-weight passive optical transmitters.
Directory of Open Access Journals (Sweden)
David J. Aldous
2016-04-01
Full Text Available Modeling a road network as a planar graph seems very natural. However, in studying continuum limits of such networks it is useful to take {\\em routes} rather than {\\em edges} as primitives. This article is intended to introduce the relevant (discrete setting notion of {\\em routed network} to graph theorists. We give a naive classification of all 71 topologically different such networks on 4 leaves, and pose a variety of challenging research questions.
Modeling and optimization of planar microcoils
International Nuclear Information System (INIS)
Beyzavi, Ali; Nguyen, Nam-Trung
2008-01-01
Magnetic actuation has emerged as a useful tool for manipulating particles, droplets and biological samples in microfluidics. A planar coil is one of the suitable candidates for magnetic actuation and has the potential to be integrated in digital microfluidic devices. A simple model of microcoils is needed to optimize their use in actuation applications. This paper first develops an analytical model for calculating the magnetic field of a planar microcoil. The model was validated by experimental data from microcoils fabricated on printed circuit boards (PCB). The model was used for calculating the field strength and the force acting on a magnetic object. Finally, the effect of different coil parameters such as the magnitude of the electric current, the gap between the wires and the number of wire segments is discussed. Both analytical and experimental results show that a smaller gap size between wire segments, more wire segments and a higher electric current can increase both the magnitude and the gradient of the magnetic field, and consequently cause a higher actuating force. The planar coil analyzed in the paper is suitable for applications in magnetic droplet-based microfluidics
Ion manipulation method and device
Energy Technology Data Exchange (ETDEWEB)
Anderson, Gordon A.; Baker, Erin M.; Smith, Richard D.; Ibrahim, Yehia M.
2017-11-07
An ion manipulation method and device is disclosed. The device includes a pair of substantially parallel surfaces. An array of inner electrodes is contained within, and extends substantially along the length of, each parallel surface. The device includes a first outer array of electrodes and a second outer array of electrodes. Each outer array of electrodes is positioned on either side of the inner electrodes, and is contained within and extends substantially along the length of each parallel surface. A DC voltage is applied to the first and second outer array of electrodes. A RF voltage, with a superimposed electric field, is applied to the inner electrodes by applying the DC voltages to each electrode. Ions either move between the parallel surfaces within an ion confinement area or along paths in the direction of the electric field, or can be trapped in the ion confinement area.
Broadband Planar 5:1 Impedence Transformer
Ehsan, Negar; Hsieh, Wen-Ting; Moseley, Samuel H.; Wollack, Edward J.
2015-01-01
This paper presents a broadband Guanella-type planar impedance transformer that transforms so 50 omega to 10 omega with a 10 dB bandwidth of 1-14GHz. The transformer is designed on a flexible 50 micrometer thick polyimide substrate in microstrip and parallel-plate transmission line topologies, and is Inspired by the traditional 4:1 Guanella transformer. Back-to-back transformers were designed and fabricated for characterization in a 50 omega system. Simulated and measured results are in excellent agreement.
Kinematics and Dynamics of an Asymmetrical Parallel Robotic Wrist
DEFF Research Database (Denmark)
Wu, Guanglei
2014-01-01
This paper introduces an asymmetrical parallel robotic wrist, which can generate a decoupled unlimited-torsion motion and achieve high positioning accuracy. The kinematics, dexterity, and singularities of the manipulator are investigated to visualize the performance contours of the manipulator...
International Nuclear Information System (INIS)
Leo, Stefano de; Rotelli, Pietro
2009-01-01
We present the results of the planar diffusion of a Dirac particle by step and barrier potentials, when the incoming wave impinges at an arbitrary angle with the potential. Except for right-angle incidence this process is characterized by the appearance of spin flip terms. For the step potential, spin flip occurs for both transmitted and reflected waves. However, we find no spin flip in the transmitted barrier result. This is surprising because the barrier result may be derived directly from a two-step calculation. We demonstrate that the spin flip cancellation indeed occurs for each ''particle'' (wave packet) contribution. (orig.)
Simplifying massive planar subdivisions
DEFF Research Database (Denmark)
Arge, Lars; Truelsen, Jakob; Yang, Jungwoo
2014-01-01
We present the first I/O- and practically-efficient algorithm for simplifying a planar subdivision, such that no point is moved more than a given distance εxy and such that neighbor relations between faces (homotopy) are preserved. Under some practically realistic assumptions, our algorithm uses ....... For example, for the contour map simplification problem it is significantly faster than the previous algorithm, while obtaining approximately the same simplification factor. Read More: http://epubs.siam.org/doi/abs/10.1137/1.9781611973198.3...
Crockett, Thomas W.
1995-01-01
This article provides a broad introduction to the subject of parallel rendering, encompassing both hardware and software systems. The focus is on the underlying concepts and the issues which arise in the design of parallel rendering algorithms and systems. We examine the different types of parallelism and how they can be applied in rendering applications. Concepts from parallel computing, such as data decomposition, task granularity, scalability, and load balancing, are considered in relation to the rendering problem. We also explore concepts from computer graphics, such as coherence and projection, which have a significant impact on the structure of parallel rendering algorithms. Our survey covers a number of practical considerations as well, including the choice of architectural platform, communication and memory requirements, and the problem of image assembly and display. We illustrate the discussion with numerous examples from the parallel rendering literature, representing most of the principal rendering methods currently used in computer graphics.
DEFF Research Database (Denmark)
Brodal, Gerth Stølfting; Jacob, Rico
2002-01-01
In this paper we determine the computational complexity of the dynamic convex hull problem in the planar case. We present a data structure that maintains a finite set of n points in the plane under insertion and deletion of points in amortized O(log n) time per operation. The space usage of the d......In this paper we determine the computational complexity of the dynamic convex hull problem in the planar case. We present a data structure that maintains a finite set of n points in the plane under insertion and deletion of points in amortized O(log n) time per operation. The space usage...... of the data structure is O(n). The data structure supports extreme point queries in a given direction, tangent queries through a given point, and queries for the neighboring points on the convex hull in O(log n) time. The extreme point queries can be used to decide whether or not a given line intersects...... the convex hull, and the tangent queries to determine whether a given point is inside the convex hull. We give a lower bound on the amortized asymptotic time complexity that matches the performance of this data structure....
Spectroelectrochemical sensing: planar waveguides
Energy Technology Data Exchange (ETDEWEB)
Ross, Susan E.; Shi Yining; Seliskar, Carl J.; Heineman, William R
2003-09-30
The spectroelectrochemical sensor combines in a single device electrochemistry, spectroscopy, and selective partitioning into a film, giving improved selectivity for applications that involve complex samples. Sensing is based on the change in optical signal that accompanies electrochemical modulation of analyte that has partitioned into the film. Two classes of optical quality chemically-selective films based on two different host materials, namely, sol-gel processed silica and cross-linked poly(vinyl alcohol) have been developed. Films are typically 400-700 nm thick. Three types of sensor platforms are discussed: a multiple internal reflection (MIR) optic consisting of a bilayer of an indium tin oxide (ITO) optically transparent electrode deposited on a 1-mm thick glass substrate, a planar waveguide in which a potassium ion-exchanged BK7 glass waveguide (5-9 {mu}m thick) was over-coated with a thin film of ITO, and a planar waveguide in which a potassium ion-exchanged BK7 glass waveguide channel was formed and a pair of electrodes deposited along side the channel. These sensors were evaluated with ferrocyanide and a selective film of PDMDAAC-SiO{sub 2}, where PDMDAAC=poly(dimethyl diallylammonium chloride)
Spectroelectrochemical sensing: planar waveguides
International Nuclear Information System (INIS)
Ross, Susan E.; Shi Yining; Seliskar, Carl J.; Heineman, William R.
2003-01-01
The spectroelectrochemical sensor combines in a single device electrochemistry, spectroscopy, and selective partitioning into a film, giving improved selectivity for applications that involve complex samples. Sensing is based on the change in optical signal that accompanies electrochemical modulation of analyte that has partitioned into the film. Two classes of optical quality chemically-selective films based on two different host materials, namely, sol-gel processed silica and cross-linked poly(vinyl alcohol) have been developed. Films are typically 400-700 nm thick. Three types of sensor platforms are discussed: a multiple internal reflection (MIR) optic consisting of a bilayer of an indium tin oxide (ITO) optically transparent electrode deposited on a 1-mm thick glass substrate, a planar waveguide in which a potassium ion-exchanged BK7 glass waveguide (5-9 μm thick) was over-coated with a thin film of ITO, and a planar waveguide in which a potassium ion-exchanged BK7 glass waveguide channel was formed and a pair of electrodes deposited along side the channel. These sensors were evaluated with ferrocyanide and a selective film of PDMDAAC-SiO 2 , where PDMDAAC=poly(dimethyl diallylammonium chloride)
Design of special planar linkages
Zhao, Jing-Shan; Ma, Ning; Chu, Fulei
2013-01-01
Planar linkages play a very important role in mechanical engineering. As the simplest closed chain mechanisms, planar four-bar linkages are widely used in mechanical engineering, civil engineering and aerospace engineering.Design of Special Planar Linkages proposes a uniform design theory for planar four-bar linkages. The merit of the method proposed in this book is that it allows engineers to directly obtain accurate results when there are such solutions for the specified n precise positions; otherwise, the best approximate solutions will be found. This book discusses the kinematics and reach
1982-01-01
Parallel Computations focuses on parallel computation, with emphasis on algorithms used in a variety of numerical and physical applications and for many different types of parallel computers. Topics covered range from vectorization of fast Fourier transforms (FFTs) and of the incomplete Cholesky conjugate gradient (ICCG) algorithm on the Cray-1 to calculation of table lookups and piecewise functions. Single tridiagonal linear systems and vectorized computation of reactive flow are also discussed.Comprised of 13 chapters, this volume begins by classifying parallel computers and describing techn
Energy Technology Data Exchange (ETDEWEB)
Mineev, Mark [Los Alamos National Laboratory
2008-01-01
The planar elliptic extension of the Laplacian growth is, after a proper parametrization, given in a form of a solution to the equation for areapreserving diffeomorphisms. The infinite set of conservation laws associated with such elliptic growth is interpreted in terms of potential theory, and the relations between two major forms of the elliptic growth are analyzed. The constants of integration for closed form solutions are identified as the singularities of the Schwarz function, which are located both inside and outside the moving contour. Well-posedness of the recovery of the elliptic operator governing the process from the continuum of interfaces parametrized by time is addressed and two examples of exact solutions of elliptic growth are presented.
DEFF Research Database (Denmark)
Jacob, Riko
We determine the computational complexity of the dynamic convex hull problem in the planar case. We present a data structure that maintains a finite set of n points in the plane under insertion and deletion of points in amortized O(log n) time per operation. The space usage of the data structure...... is O(n). The data structure supports extreme point queries in a given direction, tangent queries through a given point, and queries for the neighboring points on the convex hull in O(log n) time. The extreme point queries can be used to decide whether or not a given line intersects the convex hull......, and the tangent queries to determine whether a given point is inside the convex hull. The space usage of the data structure is O(n). We give a lower bound on the amortized asymptotic time complexity that matches the performance of this data structure....
Improved Dynamic Planar Point Location
DEFF Research Database (Denmark)
Brodal, Gerth Stølting; Arge, Lars; Georgiadis, Loukas
2006-01-01
We develop the first linear-space data structures for dynamic planar point location in general subdivisions that achieve logarithmic query time and poly-logarithmic update time.......We develop the first linear-space data structures for dynamic planar point location in general subdivisions that achieve logarithmic query time and poly-logarithmic update time....
Contracting a planar graph efficiently
DEFF Research Database (Denmark)
Holm, Jacob; Italiano, Giuseppe F.; Karczmarz, Adam
2017-01-01
the data structure, we can achieve optimal running times for decremental bridge detection, 2-edge connectivity, maximal 3-edge connected components, and the problem of finding a unique perfect matching for a static planar graph. Furthermore, we improve the running times of algorithms for several planar...
Wave Manipulation by Topology Optimization
DEFF Research Database (Denmark)
Andkjær, Jacob Anders
topology optimization can be used to design structures for manipulation of the electromagnetic and acoustic waves. The wave problems considered here fall within three classes. The first class concerns the design of cloaks, which when wrapped around an object will render the object undetectable...... for the cloak is to delay the waves in regions of higher permittivity than the background and subsequently phase match them to the waves outside. Directional acoustic cloaks can also be designed using the topology optimization method. Aluminum cylinders constitutes the design and their placement and size...... concerns the design of planar Fresnel zone plate lenses for focusing electromagnetic waves. The topology optimized zone plates improve the focusing performance compared to results known from the literature....
Planar Hall Effect Sensors for Biodetection
DEFF Research Database (Denmark)
Rizzi, Giovanni
. In the second geometry (dPHEB) half of the sensor is used as a local negative reference to subtract the background signal from magnetic beads in suspension. In all applications below, the magnetic beads are magnetised using the magnetic field due to the bias current passed through the sensor, i.e., no external...... as labels and planar Hall effect bridge (PHEB) magnetic field sensor as readout for the beads. The choice of magnetic beads as label is motivated by the lack of virtually any magnetic background from biological samples. Moreover, magnetic beads can be manipulated via an external magnetic field...... hybridisation in real-time, in a background of suspended magnetic beads. This characteristic is employed in single nucleotide polymorphism (SNP) genotyping, where the denaturation of DNA is monitored in real-time upon washing with a stringency buffer. The sensor setup includes temperature control and a fluidic...
Casanova, Henri; Robert, Yves
2008-01-01
""…The authors of the present book, who have extensive credentials in both research and instruction in the area of parallelism, present a sound, principled treatment of parallel algorithms. … This book is very well written and extremely well designed from an instructional point of view. … The authors have created an instructive and fascinating text. The book will serve researchers as well as instructors who need a solid, readable text for a course on parallelism in computing. Indeed, for anyone who wants an understandable text from which to acquire a current, rigorous, and broad vi
Bessel functions: parallel display and processing.
Lohmann, A W; Ojeda-Castañeda, J; Serrano-Heredia, A
1994-01-01
We present an optical setup that converts planar binary curves into two-dimensional amplitude distributions, which are proportional, along one axis, to the Bessel function of order n, whereas along the other axis the order n increases. This Bessel displayer can be used for parallel Bessel transformation of a signal. Experimental verifications are included.
Feasibility of Parylene Coating for Planar Electroporation Copper Electrodes
Directory of Open Access Journals (Sweden)
Vitalij NOVICKIJ
2017-08-01
Full Text Available This paper is focused on the feasibility study of parylene as a biocompatible coating for planar electroporation microelectrodes. The planar parallel and the circular interdigitated electrodes are applied in the analysis. The electrodes feature 100 μm width with a 300 μm gap between anode and cathode. The parylene coating thickness was varied in the 250 nm – 2 μm range. The resultant electric field distribution evaluation has been performed using the finite element method. The electrodes have been applied in electroporation experiments with Saprolegnia parasitica. For reference the additional experiments using conventional electroporation cuvette (1 mm gap have been performed. It has been determined that the parylene coating with hydrophobic properties has limited applicability for the passivation of the planar electroporation electrodes.DOI: http://dx.doi.org/10.5755/j01.ms.23.2.14953
Contact planarization of ensemble nanowires
Chia, A. C. E.; LaPierre, R. R.
2011-06-01
The viability of four organic polymers (S1808, SC200, SU8 and Cyclotene) as filling materials to achieve planarization of ensemble nanowire arrays is reported. Analysis of the porosity, surface roughness and thermal stability of each filling material was performed. Sonication was used as an effective method to remove the tops of the nanowires (NWs) to achieve complete planarization. Ensemble nanowire devices were fully fabricated and I-V measurements confirmed that Cyclotene effectively planarizes the NWs while still serving the role as an insulating layer between the top and bottom contacts. These processes and analysis can be easily implemented into future characterization and fabrication of ensemble NWs for optoelectronic device applications.
Planar graphs theory and algorithms
Nishizeki, T
1988-01-01
Collected in this volume are most of the important theorems and algorithms currently known for planar graphs, together with constructive proofs for the theorems. Many of the algorithms are written in Pidgin PASCAL, and are the best-known ones; the complexities are linear or 0(nlogn). The first two chapters provide the foundations of graph theoretic notions and algorithmic techniques. The remaining chapters discuss the topics of planarity testing, embedding, drawing, vertex- or edge-coloring, maximum independence set, subgraph listing, planar separator theorem, Hamiltonian cycles, and single- or multicommodity flows. Suitable for a course on algorithms, graph theory, or planar graphs, the volume will also be useful for computer scientists and graph theorists at the research level. An extensive reference section is included.
Flat panel planar optic display
Energy Technology Data Exchange (ETDEWEB)
Veligdan, J.T. [Brookhaven National Lab., Upton, NY (United States). Dept. of Advanced Technology
1994-11-01
A prototype 10 inch flat panel Planar Optic Display, (POD), screen has been constructed and tested. This display screen is comprised of hundreds of planar optic class sheets bonded together with a cladding layer between each sheet where each glass sheet represents a vertical line of resolution. The display is 9 inches wide by 5 inches high and approximately 1 inch thick. A 3 milliwatt HeNe laser is used as the illumination source and a vector scanning technique is employed.
Three sets of crystallographic sub-planar structures in quartz formed by tectonic deformation
Derez, Tine; Pennock, Gill; Drury, Martyn; Sintubin, Manuel
2016-05-01
In quartz, multiple sets of fine planar deformation microstructures that have specific crystallographic orientations parallel to planes with low Miller-Bravais indices are commonly considered as shock-induced planar deformation features (PDFs) diagnostic of shock metamorphism. Using polarized light microscopy, we demonstrate that up to three sets of tectonically induced sub-planar fine extinction bands (FEBs), sub-parallel to the basal, γ, ω, and π crystallographic planes, are common in vein quartz in low-grade tectonometamorphic settings. We conclude that the observation of multiple (2-3) sets of fine scale, closely spaced, crystallographically controlled, sub-planar microstructures is not sufficient to unambiguously distinguish PDFs from tectonic FEBs.
Currency Manipulation versus Current Account Manipulation
Junning Cai
2005-01-01
It is said that a country’s currency peg can become currency manipulation representing protracted government intervention in the foreign exchange market that gives it unfair competitive advantage in international trade yet prevents effective balance of payments in its trade partners. Regarding this widespread fallacy, this paper explains why currency peg is not currency manipulation even when it keeps a country’s currency undervalued. We clarify that 1) government is inherently a major player...
International Nuclear Information System (INIS)
Jejcic, A.; Maillard, J.; Maurel, G.; Silva, J.; Wolff-Bacha, F.
1997-01-01
The work in the field of parallel processing has developed as research activities using several numerical Monte Carlo simulations related to basic or applied current problems of nuclear and particle physics. For the applications utilizing the GEANT code development or improvement works were done on parts simulating low energy physical phenomena like radiation, transport and interaction. The problem of actinide burning by means of accelerators was approached using a simulation with the GEANT code. A program of neutron tracking in the range of low energies up to the thermal region has been developed. It is coupled to the GEANT code and permits in a single pass the simulation of a hybrid reactor core receiving a proton burst. Other works in this field refers to simulations for nuclear medicine applications like, for instance, development of biological probes, evaluation and characterization of the gamma cameras (collimators, crystal thickness) as well as the method for dosimetric calculations. Particularly, these calculations are suited for a geometrical parallelization approach especially adapted to parallel machines of the TN310 type. Other works mentioned in the same field refer to simulation of the electron channelling in crystals and simulation of the beam-beam interaction effect in colliders. The GEANT code was also used to simulate the operation of germanium detectors designed for natural and artificial radioactivity monitoring of environment
Structural synthesis of parallel robots
Gogu, Grigore
This book represents the fifth part of a larger work dedicated to the structural synthesis of parallel robots. The originality of this work resides in the fact that it combines new formulae for mobility, connectivity, redundancy and overconstraints with evolutionary morphology in a unified structural synthesis approach that yields interesting and innovative solutions for parallel robotic manipulators. This is the first book on robotics that presents solutions for coupled, decoupled, uncoupled, fully-isotropic and maximally regular robotic manipulators with Schönflies motions systematically generated by using the structural synthesis approach proposed in Part 1. Overconstrained non-redundant/overactuated/redundantly actuated solutions with simple/complex limbs are proposed. Many solutions are presented here for the first time in the literature. The author had to make a difficult and challenging choice between protecting these solutions through patents and releasing them directly into the public domain. T...
Acoustic streaming in the transducer plane in ultrasonic particle manipulation devices.
Lei, Junjun; Glynne-Jones, Peter; Hill, Martyn
2013-06-07
In acoustofluidic manipulation and sorting devices, Rayleigh streaming flows are typically found in addition to the acoustic radiation forces. However, experimental work from various groups has described acoustic streaming that occurs in planar devices in a plane parallel to the transducer face. This is typically a four-quadrant streaming pattern with the circulation parallel to the transducer. Understanding its origins is essential for creating designs that limit or control this phenomenon. The cause of this kind of streaming pattern has not been previously explained as it is different from the well-known classical streaming patterns such as Rayleigh streaming and Eckart streaming, whose circulation planes are generally perpendicular to the face of the acoustic transducer. In order to gain insight into these patterns we present a numerical method based on Nyborg's limiting velocity boundary condition that includes terms ignored in the Rayleigh analysis, and verify its predictions against experimental PIV results in a simple device. The results show that the modelled particle trajectories match those found experimentally. Analysis of the dominant terms in the driving equations shows that the origin of this kind of streaming pattern is related to the circulation of the acoustic intensity.
McCallum, Ethan
2011-01-01
It's tough to argue with R as a high-quality, cross-platform, open source statistical software product-unless you're in the business of crunching Big Data. This concise book introduces you to several strategies for using R to analyze large datasets. You'll learn the basics of Snow, Multicore, Parallel, and some Hadoop-related tools, including how to find them, how to use them, when they work well, and when they don't. With these packages, you can overcome R's single-threaded nature by spreading work across multiple CPUs, or offloading work to multiple machines to address R's memory barrier.
Conjugate-Gradient Algorithms For Dynamics Of Manipulators
Fijany, Amir; Scheid, Robert E.
1993-01-01
Algorithms for serial and parallel computation of forward dynamics of multiple-link robotic manipulators by conjugate-gradient method developed. Parallel algorithms have potential for speedup of computations on multiple linked, specialized processors implemented in very-large-scale integrated circuits. Such processors used to stimulate dynamics, possibly faster than in real time, for purposes of planning and control.
Automated curved planar reformation of 3D spine images
International Nuclear Information System (INIS)
Vrtovec, Tomaz; Likar, Bostjan; Pernus, Franjo
2005-01-01
Traditional techniques for visualizing anatomical structures are based on planar cross-sections from volume images, such as images obtained by computed tomography (CT) or magnetic resonance imaging (MRI). However, planar cross-sections taken in the coordinate system of the 3D image often do not provide sufficient or qualitative enough diagnostic information, because planar cross-sections cannot follow curved anatomical structures (e.g. arteries, colon, spine, etc). Therefore, not all of the important details can be shown simultaneously in any planar cross-section. To overcome this problem, reformatted images in the coordinate system of the inspected structure must be created. This operation is usually referred to as curved planar reformation (CPR). In this paper we propose an automated method for CPR of 3D spine images, which is based on the image transformation from the standard image-based to a novel spine-based coordinate system. The axes of the proposed spine-based coordinate system are determined on the curve that represents the vertebral column, and the rotation of the vertebrae around the spine curve, both of which are described by polynomial models. The optimal polynomial parameters are obtained in an image analysis based optimization framework. The proposed method was qualitatively and quantitatively evaluated on five CT spine images. The method performed well on both normal and pathological cases and was consistent with manually obtained ground truth data. The proposed spine-based CPR benefits from reduced structural complexity in favour of improved feature perception of the spine. The reformatted images are diagnostically valuable and enable easier navigation, manipulation and orientation in 3D space. Moreover, reformatted images may prove useful for segmentation and other image analysis tasks
The planar cubic Cayley graphs
Georgakopoulos, Agelos
2018-01-01
The author obtains a complete description of the planar cubic Cayley graphs, providing an explicit presentation and embedding for each of them. This turns out to be a rich class, comprising several infinite families. He obtains counterexamples to conjectures of Mohar, Bonnington and Watkins. The author's analysis makes the involved graphs accessible to computation, corroborating a conjecture of Droms.
Development of a Planar Undulator
International Nuclear Information System (INIS)
Deyhim, Alex; Johnson, Eric; Kulesza, Joe; Lyndaker, Aaron; Waterman, Dave; Eisert, Dave; Green, Michael A.; Rogers, Greg; Blomqvist, K. Ingvar
2007-01-01
The design of a planar pure permanent magnet undulator is presented. The design requirements and mechanical difficulties for holding, positioning, and driving the magnetic arrays are explored. The structural, thermal, and electrical considerations that influenced the design are then analyzed. And finally detailed magnetic measurements are presented
Casimir stress inside planar materials
Griniasty, Itay; Leonhardt, Ulf
2017-09-01
The Casimir force between macroscopic bodies is well understood, but not the Casimir force inside bodies. Guided by a physically intuitive picture, we develop the macroscopic theory of the renormalized Casimir stress inside planar materials (where the electromagnetic properties vary in one direction). Our theory may be applied in predicting how inhomogeneous fluids respond to Casimir forces.
Approximation by planar elastic curves
DEFF Research Database (Denmark)
Brander, David; Gravesen, Jens; Nørbjerg, Toke Bjerge
2016-01-01
We give an algorithm for approximating a given plane curve segment by a planar elastic curve. The method depends on an analytic representation of the space of elastic curve segments, together with a geometric method for obtaining a good initial guess for the approximating curve. A gradient......-driven optimization is then used to find the approximating elastic curve....
Poling of Planar Silica Waveguides
DEFF Research Database (Denmark)
Arentoft, Jesper; Kristensen, Martin; Jensen, Jesper Bo
1999-01-01
UV-written planar silica waveguides are poled using two different poling techniques, thermal poling and UV-poling. Thermal poling induces an electro-optic coefficient of 0.067 pm/V. We also demonstrate simultaneous UV-writing and UV-poling. The induced electro-optic effect shows a linear dependence...
Getting Manipulative about Math.
Scheer, Janet K.; And Others
1984-01-01
Math manipulatives that are made from inexpensive, common items help students understand basic mathematics concepts. Learning activities using Cheerios, jellybeans, and clay as teaching materials are suggested. (DF)
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
MCM Polarimetric Radiometers for Planar Arrays
Kangaslahti, Pekka; Dawson, Douglas; Gaier, Todd
2007-01-01
A polarimetric radiometer that operates at a frequency of 40 GHz has been designed and built as a prototype of multiple identical units that could be arranged in a planar array for scientific measurements. Such an array is planned for use in studying the cosmic microwave background (CMB). All of the subsystems and components of this polarimetric radiometer are integrated into a single multi-chip module (MCM) of substantially planar geometry. In comparison with traditional designs of polarimetric radiometers, the MCM design is expected to greatly reduce the cost per unit in an array of many such units. The design of the unit is dictated partly by a requirement, in the planned CMB application, to measure the Stokes parameters I, Q, and U of the CMB radiation with high sensitivity. (A complete definition of the Stokes parameters would exceed the scope of this article. In necessarily oversimplified terms, I is a measure of total intensity of radiation, while Q and U are measures of the relationships between the horizontally and vertically polarized components of radiation.) Because the sensitivity of a single polarimeter cannot be increased significantly, the only way to satisfy the high-sensitivity requirement is to make a large array of polarimeters that operate in parallel. The MCM includes contact pins that can be plugged into receptacles on a standard printed-circuit board (PCB). All of the required microwave functionality is implemented within the MCM; any required supporting non-microwave ("back-end") electronic functionality, including the provision of DC bias and control signals, can be implemented by standard PCB techniques. On the way from a microwave antenna to the MCM, the incoming microwave signal passes through an orthomode transducer (OMT), which splits the radiation into an h + i(nu) beam and an h - i(nu) beam (where, using complex-number notation, h denotes the horizontal component, nu denotes the vertical component, and +/-i denotes a +/-90deg phase
Directory of Open Access Journals (Sweden)
James G. Worner
2017-05-01
Full Text Available James Worner is an Australian-based writer and scholar currently pursuing a PhD at the University of Technology Sydney. His research seeks to expose masculinities lost in the shadow of Australia’s Anzac hegemony while exploring new opportunities for contemporary historiography. He is the recipient of the Doctoral Scholarship in Historical Consciousness at the university’s Australian Centre of Public History and will be hosted by the University of Bologna during 2017 on a doctoral research writing scholarship. ‘Parallel Lines’ is one of a collection of stories, The Shapes of Us, exploring liminal spaces of modern life: class, gender, sexuality, race, religion and education. It looks at lives, like lines, that do not meet but which travel in proximity, simultaneously attracted and repelled. James’ short stories have been published in various journals and anthologies.
Decomposing series-parallel graphs into paths of length 3 and triangles
DEFF Research Database (Denmark)
Merker, Martin
2015-01-01
An old conjecture by Jünger, Reinelt and Pulleyblank states that every 2-edge-connected planar graph can be decomposed into paths of length 3 and triangles, provided its size is divisible by 3. We prove the conjecture for a class of planar graphs including all 2-edge-connected series-parallel gra...
Development of electrothermal actuation based planar variable optical attenuators (VOAs)
International Nuclear Information System (INIS)
Lee, Chengkuo; Yeh, J Andrew
2006-01-01
Several sorts of MEMS (Microelectromechanical Systems) based have been demonstrated by using electrostatic actuation scheme up to date. The comb drive and parallel plate are the two most common electrostatic actuators that have been well studied in variable optical attenuator (VOA) applications. In addition to the known retro-reflection type of optical attenuation being realized by our new devices driven by electrothermal actuators in present study, a novel planar tilted mirror with rotational and translation moving capability is proposed by using electrothermal actuators as well. Using electrothermal actuators to provide said planar tilted mirror with rotational and translational displacement has granted us a more efficient way to perform the light attenuation for in-plane structure. The static and transient characteristics of devices operated at ambient room temperature environment show good repeatability and stability
A fabrication guide for planar silicon quantum dot heterostructures
Spruijtenburg, Paul C.; Amitonov, Sergey V.; van der Wiel, Wilfred G.; Zwanenburg, Floris A.
2018-04-01
We describe important considerations to create top-down fabricated planar quantum dots in silicon, often not discussed in detail in literature. The subtle interplay between intrinsic material properties, interfaces and fabrication processes plays a crucial role in the formation of electrostatically defined quantum dots. Processes such as oxidation, physical vapor deposition and atomic-layer deposition must be tailored in order to prevent unwanted side effects such as defects, disorder and dewetting. In two directly related manuscripts written in parallel we use techniques described in this work to create depletion-mode quantum dots in intrinsic silicon, and low-disorder silicon quantum dots defined with palladium gates. While we discuss three different planar gate structures, the general principles also apply to 0D and 1D systems, such as self-assembled islands and nanowires.
Transfer matrix representation for periodic planar media
Parrinello, A.; Ghiringhelli, G. L.
2016-06-01
Sound transmission through infinite planar media characterized by in-plane periodicity is faced by exploiting the free wave propagation on the related unit cells. An appropriate through-thickness transfer matrix, relating a proper set of variables describing the acoustic field at the two external surfaces of the medium, is derived by manipulating the dynamic stiffness matrix related to a finite element model of the unit cell. The adoption of finite element models avoids analytical modeling or the simplification on geometry or materials. The obtained matrix is then used in a transfer matrix method context, making it possible to combine the periodic medium with layers of different nature and to treat both hard-wall and semi-infinite fluid termination conditions. A finite sequence of identical sub-layers through the thickness of the medium can be handled within the transfer matrix method, significantly decreasing the computational burden. Transfer matrices obtained by means of the proposed method are compared with analytical or equivalent models, in terms of sound transmission through barriers of different nature.
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.)
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
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
Subwavelength image manipulation through oblique and herringbone layered acoustic systems
International Nuclear Information System (INIS)
Li, Chunhui; Jia, Han; Ke, Manzhu; Li, Yixiang; Liu, Zhengyou
2014-01-01
In this paper, an oblique and a herringbone layered acoustic structure are experimentally and theoretically demonstrated to manipulate acoustic subwavelength images. An imaging resolution of less than one tenth of a wavelength is achieved with both optimized systems, and lateral image shift has been realized by an oblique layered system. The thicknesses of both the oblique and the herringbone layered acoustic systems are largely reduced through utilizing the oblique or herringbone wave propagation path instead of the vertical wave propagation path in the rectangular layered planar acoustic system. With smaller size and subwavelength image manipulation, the acoustic systems are more favourable for practical application. (paper)
Manufacturing of planar ceramic interconnects
Energy Technology Data Exchange (ETDEWEB)
Armstrong, B.L.; Coffey, G.W.; Meinhardt, K.D.; Armstrong, T.R. [Pacific Northwest National Lab., Richland, WA (United States)
1996-12-31
The fabrication of ceramic interconnects for solid oxide fuel cells (SOFC) and separator plates for electrochemical separation devices has been a perennial challenge facing developers. Electrochemical vapor deposition (EVD), plasma spraying, pressing, tape casting and tape calendering are processes that are typically utilized to fabricate separator plates or interconnects for the various SOFC designs and electrochemical separation devices. For sake of brevity and the selection of a planar fuel cell or gas separation device design, pressing will be the only fabrication technique discussed here. This paper reports on the effect of the characteristics of two doped lanthanum manganite powders used in the initial studies as a planar porous separator for a fuel cell cathode and as a dense interconnect for an oxygen generator.
Gooneratne, Chinthaka Pasan; Giouroudi, Ioanna; Kosel, Jü rgen
2012-01-01
tools for accurate and rapid cell sorting and counting. Effective manipulation of beads is a critical factor for the performance of LOC devices. In this paper we propose a planar conducting micro-loop structure to trap, manipulate and transport magnetic
Planar-Processed Polymer Transistors.
Xu, Yong; Sun, Huabin; Shin, Eul-Yong; Lin, Yen-Fu; Li, Wenwu; Noh, Yong-Young
2016-10-01
Planar-processed polymer transistors are proposed where the effective charge injection and the split unipolar charge transport are all on the top surface of the polymer film, showing ideal device characteristics with unparalleled performance. This technique provides a great solution to the problem of fabrication limitations, the ambiguous operating principle, and the performance improvements in practical applications of conjugated-polymer transistors. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.
Manipulation, salience, and nudges.
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.
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)
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
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
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)
Avalanche effect in the planar array of superheated superconductors
International Nuclear Information System (INIS)
Meagher, G.; Pond, J.; Kotlicki, A.; Turrell, B.G.; Eska, G.; Drukier, A.K.
1996-01-01
An avalanche effect has been observed in a cryogenic detector based on the planar array of superheated superconductors (PASS). The indium PASS, fabricated by photolithography on a mylar substrate, consisted of 40 well-separated lines each containing about 175 spheres of diameter 18 μm and separation 20 μm with those at the end being shielded by superconducting wire. The magnetic field was applied in the PASS plane parallel to the lines. Avalanche events in which several granules changed their state from superconducting to normal were triggered by the nucleation of the transition in a single grain by an alpha particle. (author)
Optimal External-Memory Planar Point Enclosure
DEFF Research Database (Denmark)
Arge, Lars; Samoladas, Vasilis; Yi, Ke
2007-01-01
.g. spatial and temporal databases, and is dual to the important and well-studied orthogonal range searching problem. Surprisingly, despite the fact that the problem can be solved optimally in internal memory with linear space and O(log N+K) query time, we show that one cannot construct a linear sized......In this paper we study the external memory planar point enclosure problem: Given N axis-parallel rectangles in the plane, construct a data structure on disk (an index) such that all K rectangles containing a query point can be reported I/O-efficiently. This problem has important applications in e...... external memory point enclosure data structure that can be used to answer a query in O(log B N+K/B) I/Os, where B is the disk block size. To obtain this bound, Ω(N/B 1−ε ) disk blocks are needed for some constant ε>0. With linear space, the best obtainable query bound is O(log 2 N+K/B) if a linear output...
Development of cofired type planar SOFC
Energy Technology Data Exchange (ETDEWEB)
Taira, Hiroaki; Sakamoto, Sadaaki; Zhou, Hua-Bing [Murata Manufacturing Co., Ltd., Shiga (Japan)] [and others
1996-12-31
We have developed fabrication process for planar SOFC fabricated with cofired anode/electrolyte/cathode multilayers and interconnects. By cofiring technique for the multilayers, we expect to reduce the thickness of the electrolyte layers, resulting in decrease of innerimpedance, and achieve low production cost. On the other hand, the cofiring technique requires that the sintering temperature, the shrinkage profiles and the thermal expansion characteristics of all component materials should be compatible with the other. It is, therefore, difficult to cofire the multilayers with large area. Using the multilayers with surface area of 150cm{sup 2}, we fabricated the multiple cell stacks. The maximum power of 5x4 multiple cell stack (5 planes of cells in series, 4 cells in parallel in each planes 484cm{sup 2} effective electrode area of each cell planes) was 601W (0.25Wcm{sup -2}, Uf=40%). However, the terminal voltage of the multiple cell stack decreased by the cause of cell cracking, gas leakage and degradation of cofired multilayers. This paper presents the improvements of cofired multilayers, and the performance of multiple cell stacks with the improved multilayers.
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)
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.
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...
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 of Flexible Beams for Robotic Manipulators
International Nuclear Information System (INIS)
Martins, Jorge; Ayala Botto, Miguel; Costa, Jose sa da
2002-01-01
This work treats the problem of modeling robotic manipulators with structural flexibility. A mathematical model of a planar manipulator with a single flexible link is developed. This model is capable of reproducing nonlinear dynamic effects, such as the beam stiffening due to the centrifugal forces induced by the rotation of the joints, giving it the capability to predict reliable dynamic behaviors for a wide range of applications. On the other hand, the model complexity is reduced, in order to keep it amenable for analysis and controller design. The models found in current literature for control design of flexible manipulator arms present dynamic limitations for the sake of real time implementation in a control scheme. These limitations are the result of premature linearization in the formulation of the dynamics equations. In this paper, this common linearization is presented and their dynamic limitations uncovered. An alternative reliable model is then presented. The model is founded on two basic assumptions: inextensibility of the neutral fiber and moderate rotations of the cross sections in order to account for the foreshortening of the beam due to bending. Simulation and experimental results show that the proposed model has the closest dynamic behavior to the real beam
A parallel robot to assist vitreoretinal surgery
Energy Technology Data Exchange (ETDEWEB)
Nakano, Taiga; Sugita, Naohiko; Mitsuishi, Mamoru [University of Tokyo, School of Engineering, Tokyo (Japan); Ueta, Takashi; Tamaki, Yasuhiro [University of Tokyo, Graduate School of Medicine, Tokyo (Japan)
2009-11-15
This paper describes the development and evaluation of a parallel prototype robot for vitreoretinal surgery where physiological hand tremor limits performance. The manipulator was specifically designed to meet requirements such as size, precision, and sterilization; this has six-degree-of-freedom parallel architecture and provides positioning accuracy with micrometer resolution within the eye. The manipulator is controlled by an operator with a ''master manipulator'' consisting of multiple joints. Results of the in vitro experiments revealed that when compared to the manual procedure, a higher stability and accuracy of tool positioning could be achieved using the prototype robot. This microsurgical system that we have developed has superior operability as compared to traditional manual procedure and has sufficient potential to be used clinically for vitreoretinal surgery. (orig.)
Circuit and bond polytopes on series–parallel graphs
Borne , Sylvie; Fouilhoux , Pierre; Grappe , Roland; Lacroix , Mathieu; Pesneau , Pierre
2015-01-01
International audience; In this paper, we describe the circuit polytope on series–parallel graphs. We first show the existence of a compact extended formulation. Though not being explicit, its construction process helps us to inductively provide the description in the original space. As a consequence, using the link between bonds and circuits in planar graphs, we also describe the bond polytope on series–parallel graphs.
Planar channeling in superlattices: Theory
International Nuclear Information System (INIS)
Ellison, J.A.; Picraux, S.T.; Allen, W.R.; Chu, W.K.
1988-01-01
The well-known continuum model theory for planar channeled energetic particles in perfect crystals is extended to layered crystalline structures and applied to superlattices. In a strained-layer structure, the planar channels with normals which are not perpendicular to the growth direction change their direction at each interface, and this dramatically influences the channeling behavior. The governing equation of motion for a planar channeled ion in a strained-layer superlattice with equal layer thicknesses is a one degree of freedom nonlinear oscillator which is periodically forced with a sequence of δ functions. These δ functions, which are of equal spacing and amplitude with alternating sign, represent the tilts at each of the interfaces. Thus upon matching an effective channeled particle wavelength, corresponding to a natural period of the nonlinear oscillator, to the period of the strained-layer superlattice, corresponding to the periodic forcing, strong resonance effects are expected. The condition of one effective wavelength per period corresponds to a rapid dechanneling at a well-defined depth (catastrophic dechanneling), whereas two wavelengths per period corresponds to no enhanced dechanneling after the first one or two layers (resonance channeling). A phase plane analysis is used to characterize the channeled particle motion. Detailed calculations using the Moliere continuum potential are compared with our previously described modified harmonic model, and new results are presented for the phase plane evolution, as well as the dechanneling as a function of depth, incident angle, energy, and layer thickness. General scaling laws are developed and nearly universal curves are obtained for the dechanneling versus depth under catastrophic dechanneling
Non-planar ABJ theory and parity
International Nuclear Information System (INIS)
Caputa, Pawel; Kristjansen, Charlotte; Zoubos, Konstantinos
2009-01-01
While the ABJ Chern-Simons-matter theory and its string theory dual manifestly lack parity invariance, no sign of parity violation has so far been observed on the weak coupling spin chain side. In particular, the planar two-loop dilatation generator of ABJ theory is parity invariant. In this Letter we derive the non-planar part of the two-loop dilatation generator of ABJ theory in its SU(2)xSU(2) sub-sector. Applying the dilatation generator to short operators, we explicitly demonstrate that, for operators carrying excitations on both spin chains, the non-planar part breaks parity invariance. For operators with only one type of excitation, however, parity remains conserved at the non-planar level. We furthermore observe that, as for ABJM theory, the degeneracy between planar parity pairs is lifted when non-planar corrections are taken into account.
Modeling the planar configuration of extraordinary magnetoresistance
International Nuclear Information System (INIS)
El-Ahmar, S; Pozniak, A A
2015-01-01
Recently the planar version of the extraordinary magnetoresistance (EMR) magnetic field sensor has been constructed and verified in practice. Planar configuration of the EMR device gives many technological advantages, it is simpler than the classic and allows one to build the sensor using electric materials of the new type (such as graphene or topological insulators) much easier. In this work the planar configuration of the EMR sensor is investigated by performing computational simulations using the finite element method (FEM). The computational comparison of the planar and classic configurations of EMR is presented using three-dimensional models. Various variants of the geometry of EMR sensor components are pondered and compared in the planar and classic version. Size of the metal overlap is considered for sensor optimization as well as various semiconductor-metal contact resistance dependences of the EMR signal. Based on computational simulations, a method for optimal placement of electric terminals in a planar EMR device is proposed. (paper)
Non-planar ABJ Theory and Parity
DEFF Research Database (Denmark)
Caputa, Pawel; Kristjansen, Charlotte; Zoubos, Konstantinos
2009-01-01
we derive the non-planar part of the two-loop dilatation generator of ABJ theory in its SU(2)xSU(2) sub-sector. Applying the dilatation generator to short operators, we explicitly demonstrate that, for operators carrying excitations on both spin chains, the non-planar part breaks parity invariance......While the ABJ Chern-Simons-matter theory and its string theory dual manifestly lack parity invariance, no sign of parity violation has so far been observed on the weak coupling spin chain side. In particular, the planar two-loop dilatation generator of ABJ theory is parity invariant. In this letter....... For operators with only one type of excitation, however, parity remains conserved at the non-planar level. We furthermore observe that, as for ABJM theory, the degeneracy between planar parity pairs is lifted when non-planar corrections are taken into account....
Atomic and molecular manipulation
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...
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
Stainless steel decontamination manipulators
International Nuclear Information System (INIS)
Sullivan, R.J.
1986-01-01
Three, large-volume coverage manipulator systems were designed and built for the Defense Water Processing Facility at the Savannah River Laboratory. These stainless steel systems will be used for high-pressure spray decontamination of waste containers and large process equipment modules. Each system has a manipulator arm, folding boom, and vertical drive and guide structure. Handling capacity is 45 kg, horizontal reach is 4.6 m with a 180-deg swing motion, and the vertical travel is 6 m. The system is remotely removable and replaceable in modules using an overhead crane and an impact wrench. The manipulator arm has seven motions: Shoulder rotation and pivot, elbow pivot, wrist pivot and rotation, and grip open-close. All motions are variable speed and are slip-clutch protected to prevent overloading from external forces (collisions)
A general approach for optimal kinematic design of 6-DOF parallel ...
Indian Academy of Sciences (India)
Optimal kinematic design of parallel manipulators is a challenging problem. In this work, an attempt has been made to present a generalized approach of kinematic design for a 6-legged parallel manipulator, by considering only the minimally required design parameters. The same approach has been used to design a ...
Buzzi, Jacopo; Ferrigno, Giancarlo; Jansma, Joost M; De Momi, Elena
2017-01-01
Teleoperated robotic systems are widely spreading in multiple different fields, from hazardous environments exploration to surgery. In teleoperation, users directly manipulate a master device to achieve task execution at the slave robot side; this interaction is fundamental to guarantee both system stability and task execution performance. In this work, we propose a non-disruptive method to study the arm endpoint stiffness. We evaluate how users exploit the kinetic redundancy of the arm to achieve stability and precision during the execution of different tasks with different master devices. Four users were asked to perform two planar trajectories following virtual tasks using both a serial and a parallel link master device. Users' arm kinematics and muscular activation were acquired and combined with a user-specific musculoskeletal model to estimate the joint stiffness. Using the arm kinematic Jacobian, the arm end-point stiffness was derived. The proposed non-disruptive method is capable of estimating the arm endpoint stiffness during the execution of virtual teleoperated tasks. The obtained results are in accordance with the existing literature in human motor control and show, throughout the tested trajectory, a modulation of the arm endpoint stiffness that is affected by task characteristics and hand speed and acceleration.
Directory of Open Access Journals (Sweden)
Jacopo Buzzi
2017-09-01
Full Text Available Teleoperated robotic systems are widely spreading in multiple different fields, from hazardous environments exploration to surgery. In teleoperation, users directly manipulate a master device to achieve task execution at the slave robot side; this interaction is fundamental to guarantee both system stability and task execution performance. In this work, we propose a non-disruptive method to study the arm endpoint stiffness. We evaluate how users exploit the kinetic redundancy of the arm to achieve stability and precision during the execution of different tasks with different master devices. Four users were asked to perform two planar trajectories following virtual tasks using both a serial and a parallel link master device. Users' arm kinematics and muscular activation were acquired and combined with a user-specific musculoskeletal model to estimate the joint stiffness. Using the arm kinematic Jacobian, the arm end-point stiffness was derived. The proposed non-disruptive method is capable of estimating the arm endpoint stiffness during the execution of virtual teleoperated tasks. The obtained results are in accordance with the existing literature in human motor control and show, throughout the tested trajectory, a modulation of the arm endpoint stiffness that is affected by task characteristics and hand speed and acceleration.
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.
Detailed solution to a complex kinematics chain manipulator
International Nuclear Information System (INIS)
March-Leuba, S.; Jansen, J.F.; Kress, R.L.; Babcock, S.M.
1992-01-01
This paper presents a relatively simple method based on planar geometry to analyze the inverse kinematics for closed kinematics chain (CKC) mechanisms. Although the general problem and method of approach are well defined, the study of the inverse kinematics of a closed-chain mechanism is a very complicated one. The current methodology allows closed-form solutions to be found, if a solution exists, for the displacements and velocities of all manipulator joints. Critical design parameters can be identified and optimized by using symbolic models. This paper will focus on planar closed-chain structures extended with a rotational base. However, with open and CKC mechanisms combined in different planes, the extension to the case is straightforward. Further, real-time algorithms are developed that can be handled by existing microprocessor technology. To clarify the methodology, the Soldier Robot Interface Project (SRIP) manipulator is analyzed, and a graphic simulation is presented as a verification of the results. This manipulator has 17 links, 24 one-degree-of-freedom (DOF) joints, and 7 CKC loops working in a plane and a rotational base, which determine its 3 DOFs. The SRIP manipulator allows a decoupled linear motion along the vertical or horizontal directions using only one of its linear actuators. The symbolic solution for the inverse kinematics allows optimization to be performed to further decouple the Cartesian motions by changing link lengths of the manipulator. The conclusion achieved by the optimization is that only two link lengths need to be changed to tune the manipulator for a perfect decoupling at each area of the workspace
Geodesic distance in planar graphs
International Nuclear Information System (INIS)
Bouttier, J.; Di Francesco, P.; Guitter, E.
2003-01-01
We derive the exact generating function for planar maps (genus zero fatgraphs) with vertices of arbitrary even valence and with two marked points at a fixed geodesic distance. This is done in a purely combinatorial way based on a bijection with decorated trees, leading to a recursion relation on the geodesic distance. The latter is solved exactly in terms of discrete soliton-like expressions, suggesting an underlying integrable structure. We extract from this solution the fractal dimensions at the various (multi)-critical points, as well as the precise scaling forms of the continuum two-point functions and the probability distributions for the geodesic distance in (multi)-critical random surfaces. The two-point functions are shown to obey differential equations involving the residues of the KdV hierarchy
Planar Hall effect bridge magnetic field sensors
DEFF Research Database (Denmark)
Henriksen, A.D.; Dalslet, Bjarke Thomas; Skieller, D.H.
2010-01-01
Until now, the planar Hall effect has been studied in samples with cross-shaped Hall geometry. We demonstrate theoretically and experimentally that the planar Hall effect can be observed for an exchange-biased ferromagnetic material in a Wheatstone bridge topology and that the sensor signal can...... Hall effect bridge sensors....
Attractive planar panelization using dynamic relaxation principles
Gauss, Florian; Teuffel, Patrick
2015-01-01
In the presented paper a new method is proposed to approximate a given NURBS surface with a PQ (Planar Quad) mesh. The desired mesh layout will be generated in then attracted to the target surface. The process iteratively pulls the mesh vertices towards the target surface and then planarizes the
Orientifold Planar Equivalence: The Chiral Condensate
DEFF Research Database (Denmark)
Armoni, Adi; Lucini, Biagio; Patella, Agostino
2008-01-01
The recently introduced orientifold planar equivalence is a promising tool for solving non-perturbative problems in QCD. One of the predictions of orientifold planar equivalence is that the chiral condensates of a theory with $N_f$ flavours of Dirac fermions in the symmetric (or antisymmetric...
Planar Algebra of the Subgroup-Subfactor
Indian Academy of Sciences (India)
The crucial step in this identification is an exhibition of a model for the basic construction tower, and thereafter of the standard invariant of R ⋊ H ⊂ R ⋊ G in terms of operator matrices. We also obtain an identification between the planar algebra of the fixed algebra subfactor R G ⊂ R H and the -invariant planar subalgebra ...
DEFF Research Database (Denmark)
Gravesen, Jens
2005-01-01
t is shown that a closed polygon with an odd number of vertices is the median of exactly one piecewise planar cylinder and one piecewise planar Möbius band, intersecting each other orthogonally. A closed polygon with an even number of vertices is in the generic case neither the median...
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.
Gaze, Eric C.
2005-01-01
We introduce a cooperative learning, group lab for a Calculus III course to facilitate comprehension of the gradient vector and directional derivative concepts. The lab is a hands-on experience allowing students to manipulate a tangent plane and empirically measure the effect of partial derivatives on the direction of optimal ascent. (Contains 7…
Microrobots to Manipulate Cells
DEFF Research Database (Denmark)
Glückstad, Jesper
At DTU Fotonik we developed and harnessed the new and emerging research area of so-called Light Robotics including the 3D-printed micro-tools coined Wave-guided Optical Waveguides that can be real-time laser-manipulated in a 3D-volume with six-degrees-of-freedom. To be exploring the full potentia...
Automated visual attention manipulation
Bosse, T.; Lambalgen, R. van; Maanen, P.P. van; Treur, J.
2009-01-01
In this paper a system for visual attention manipulation is introduced and formally described. This system is part of the design of a software agent that supports naval crew in her task to compile a tactical picture of the situation in the field. A case study is described in hich the system is used
Abedin, Jaynal
2015-01-01
This book is for all those who wish to learn about data manipulation from scratch and excel at aggregating data effectively. It is expected that you have basic knowledge of R and have previously done some basic administration work with R.
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 Combinatorial Structures.
Labelle, Gilbert
This set of transparencies shows how the manipulation of combinatorial structures in the context of modern combinatorics can easily lead to interesting teaching and learning activities at every level of education from elementary school to university. The transparencies describe: (1) the importance and relations of combinatorics to science and…
The Planar Sandwich and Other 1D Planar Heat Flow Test Problems in ExactPack
Energy Technology Data Exchange (ETDEWEB)
Singleton, Jr., Robert [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)
2017-01-24
This report documents the implementation of several related 1D heat flow problems in the verification package ExactPack [1]. In particular, the planar sandwich class defined in Ref. [2], as well as the classes PlanarSandwichHot, PlanarSandwichHalf, and other generalizations of the planar sandwich problem, are defined and documented here. A rather general treatment of 1D heat flow is presented, whose main results have been implemented in the class Rod1D. All planar sandwich classes are derived from the parent class Rod1D.
International Nuclear Information System (INIS)
Rossleigh, M.A.; Christian, C.L.; Craig, J.C.; Howman-Giles, R.B.; Grunewald, S.
2004-01-01
Purpose: To determine whether the provision of DMSA images obtained by pinhole collimation reduces inter-observer variability of reporting compared with planar DMSA images alone. Methods: One hundred consecutive DMSA images were independently interpreted three times (pinhole alone, planar alone, pinhole and planar) by four participating nuclear medicine specialists from different departments and in random order. The presence or absence of renal parenchymal abnormality was classified using the modified four level grading system of Goldraich with mean values for the 6 comparisons reported. Results: The proportion of DMSA images interpreted as abnormal was 31% for planar, 34% for pinhole and 33% for planar with pinhole. Agreement was 89% for planar alone, 89% for pinhole alone and 90% for planar with pinhole, with kappa values 0.74, 0.75 and 0.80 respectively for the normal-abnormal scan classification of individual children. These results did not vary appreciably whether interpretation of patients, kidneys or kidney zones was compared. Reasons for disagreement in reporting included different interpretations of 'abnormalities' as normal anatomical variations (splenic impression, fetal lobulation, duplex collecting systems, column of Bertin) or true parenchymal abnormalities, different adjustments in thresholds for reporting abnormality when images were technically suboptimal, different weighting given to pinhole and planar images when both were provided, and error. Conclusion: Four experienced nuclear medicine physicians showed substantial agreement in the interpretation of planar alone, pinhole alone and planar with pinhole DMSA images, but the provision of both sets of images, planar and pinhole, did not reduce variability. (authors)
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)
Acoustic Resonator Optimisation for Airborne Particle Manipulation
Devendran, Citsabehsan; Billson, Duncan R.; Hutchins, David A.; Alan, Tuncay; Neild, Adrian
Advances in micro-electromechanical systems (MEMS) technology and biomedical research necessitate micro-machined manipulators to capture, handle and position delicate micron-sized particles. To this end, a parallel plate acoustic resonator system has been investigated for the purposes of manipulation and entrapment of micron sized particles in air. Numerical and finite element modelling was performed to optimise the design of the layered acoustic resonator. To obtain an optimised resonator design, careful considerations of the effect of thickness and material properties are required. Furthermore, the effect of acoustic attenuation which is dependent on frequency is also considered within this study, leading to an optimum operational frequency range. Finally, experimental results demonstrated good particle levitation and capture of various particle properties and sizes ranging to as small as 14.8 μm.
Parallel Programming with Intel Parallel Studio XE
Blair-Chappell , Stephen
2012-01-01
Optimize code for multi-core processors with Intel's Parallel Studio Parallel programming is rapidly becoming a "must-know" skill for developers. Yet, where to start? This teach-yourself tutorial is an ideal starting point for developers who already know Windows C and C++ and are eager to add parallelism to their code. With a focus on applying tools, techniques, and language extensions to implement parallelism, this essential resource teaches you how to write programs for multicore and leverage the power of multicore in your programs. Sharing hands-on case studies and real-world examples, the
A sensitivity analysis approach to control of manipulators with unknown load
International Nuclear Information System (INIS)
Tzes, A.; Yurkovich, S.
1987-01-01
This paper presents a straightforward control strategy applied to an N-link manipulator holding an unknown load and driving its end effector along a prespecified trajectory. The control is constituted into two primary components. The non-adaptive component is derived from the inverse problem technique while the adaptive component is computed via the application of sensitivity analysis applied to the complete, centralized dynamic model of the manipulator. The result is a robust adaptive controller which tunes its parameters at specified time instants and can withstand all expected variations of the payload. The control synthesis is illustrated by simulations in a 2-link planar manipulator holding an unknown load
Cache-Oblivious Planar Orthogonal Range Searching and Counting
DEFF Research Database (Denmark)
Arge, Lars; Brodal, Gerth Stølting; Fagerberg, Rolf
2005-01-01
present the first cache-oblivious data structure for planar orthogonal range counting, and improve on previous results for cache-oblivious planar orthogonal range searching. Our range counting structure uses O(Nlog2 N) space and answers queries using O(logB N) memory transfers, where B is the block...... size of any memory level in a multilevel memory hierarchy. Using bit manipulation techniques, the space can be further reduced to O(N). The structure can also be modified to support more general semigroup range sum queries in O(logB N) memory transfers, using O(Nlog2 N) space for three-sided queries...... and O(Nlog22 N/log2log2 N) space for four-sided queries. Based on the O(Nlog N) space range counting structure, we develop a data structure that uses O(Nlog2 N) space and answers three-sided range queries in O(logB N+T/B) memory transfers, where T is the number of reported points. Based...
Directory of Open Access Journals (Sweden)
Guan-xi Zhang
2015-01-01
Full Text Available A wideband dual-polarized antenna for WLAN, WiMAX, and LTE base station applications is presented in this paper. The proposed antenna consists of two pairs of orthogonal planar quasi-open-sleeve dipoles along the centerlines, a balanced feeding structure and a square ground plane. The planar quasi-open-sleeve dipole comprises a pair of bowtie-shaped planar dipoles with two parallel curve parasitic elements. The introduced parallel curve parasitic elements change the path of the current of the original bowtie-shaped planar dipoles at high frequencies and hence wideband characteristic is achieved. Two pairs of the planar quasi-open-sleeve dipoles placed orthogonally further broaden the bandwidth of the antenna with dual-polarization characteristics. The proposed antenna achieves a 10-dB return loss bandwidth from 2.32 to 4.03 GHz (53.9% bandwidth using the planar quasi-open-sleeve dipole structures. The isolation between the two ports remains more than 32 dB in the whole bandwidth. Measured results show that the proposed antenna keeps the cross-polarization under −33 dB and the front-to-back ratio better than 15 dB in the operating band. The antenna has an area of 0.3λ × 0.3λ at 2.32 GHz making it easy to be extended to an array element.
A universal microscope manipulator
Directory of Open Access Journals (Sweden)
Peter S. Boyadzhiev
2012-03-01
Full Text Available A modified and improved model of a mechanical manipulator for observation of pinned and mounted insects is described. This device allows movement of the observed object around three perpendicular axes in the field of vision at all magnifications of stereomicroscopes. The main improvement of this new model is positioning of the guiding knobs for rotating around two of the axes next to each other, allowing faster and easier manipulation of the studied object. Thus, one of the main advantages of this device is the possibility to rotate the specimen without the need to refocus. The device enables easily reaching a precession deviation in the intersection point of axes up to 0.5 mm in the process of assembling.
Manipulation of quantum evolution
Cabera, David Jose Fernandez; Mielnik, Bogdan
1994-01-01
The free evolution of a non-relativistic charged particle is manipulated using time-dependent magnetic fields. It is shown that the application of a programmed sequence of magnetic pulses can invert the free evolution process, forcing an arbitrary wave packet to 'go back in time' to recover its past shape. The possibility of more general operations upon the Schrodinger wave packet is discussed.
Manipulating atoms with photons
International Nuclear Information System (INIS)
Cohen-Tannoudji, C.N.
1998-01-01
The article is a translation of the lecture delivered on the occasion of the 1997 Nobel Prize awarding ceremony. The physical mechanisms which allow manipulating of neutral atoms with laser photons are described. A remark is also made concerning several possible applications of ultra-cool atoms and streams of future research. The article is completed by Prof. Cohen-Tannoudji's autobiography. (Z.J.)
Efficient dynamic modeling of manipulators containing closed kinematic loops
Ferretti, Gianni; Rocco, Paolo
An approach to efficiently solve the forward dynamics problem for manipulators containing closed chains is proposed. The two main distinctive features of this approach are: the dynamics of the equivalent open loop tree structures (any closed loop can be in general modeled by imposing some additional kinematic constraints to a suitable tree structure) is computed through an efficient Newton Euler formulation; the constraint equations relative to the most commonly adopted closed chains in industrial manipulators are explicitly solved, thus, overcoming the redundancy of Lagrange's multipliers method while avoiding the inefficiency due to a numerical solution of the implicit constraint equations. The constraint equations considered for an explicit solution are those imposed by articulated gear mechanisms and planar closed chains (pantograph type structures). Articulated gear mechanisms are actually used in all industrial robots to transmit motion from actuators to links, while planar closed chains are usefully employed to increase the stiffness of the manipulators and their load capacity, as well to reduce the kinematic coupling of joint axes. The accuracy and the efficiency of the proposed approach are shown through a simulation test.
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.
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.
Trajectory generation to suppress oscillations in under-constrained cable-driven parallel robots
Energy Technology Data Exchange (ETDEWEB)
Hwang, Sung Wook; Bak, Jeong Hyeon; Yoon, Jong Hyun; Park, Jong Hyeon [Dept. of Mechanical Engineering, Hanyang University, Seoul (Korea, Republic of); Park, Jong Oh [School of Mechanical Engineering, Chonnam National University, Gwangju (Korea, Republic of)
2016-12-15
Cable-driven parallel robots (CDPRs) have many advantages over conventional link-based robot manipulators in terms of acceleration due to their low inertia. This paper concerns about under-constrained CDPRs, which have a less number of cables than six, often used favorably due to their simpler structures. Since a smaller number of cables than 6 are employed, however, their payloads have extra degrees of motion freedom and exhibit swaying motions or oscillation. In this paper, a scheme to suppress unwanted oscillatory motions of the payload of a 4-cable-driven CDPR based on a Zero-vibration (ZV) input-shaping scheme is proposed. In this method, a motion in the 3-dimensional space is projected onto the independent motions on two vertical planes perpendicular to each other. On each of the vertical plane, the natural frequency of the CDPR is computed based on a 2-cable-driven planar CDPR model. The precise dynamic model of a planar CDPR is obtained in order to find the natural frequency, which depends on the payload position. The advantage of the proposed scheme is that it is possible to generate an oscillation-free trajectory based on a ZV input-shaping scheme despite the complexity in the dynamics of the CDPR and the difficulty in computing the natural frequencies of the CDPR, which is required in any ZV input-shaping scheme. To verify the effectiveness of the proposed method, a series of computer simulations and experiments were conducted for 3- dimensional motions with a 4-cable-driven CDPR. Their results showed that the motions of the CDPR with the proposed method exhibited a significant reduction in oscillations of the payload. However, when the payload moves near the edges of its workspace, the improvement in oscillation reduction diminished as expected due to the errors in model projection.
Planar impact experiments for EOS measurements
International Nuclear Information System (INIS)
Furnish, M.D.
1993-01-01
The community concerned with the numerical modeling of groundshock produced by underground nuclear tests must have access to materials data to benchmark models of rock behavior. Historically the primary source of these data has been planar impact experiments. These experiments have involved gun, explosive and electrical launchers. Other methods of introducing planar shocks include shock driving by in-contact explosives or laser bursts. This paper briefly describes gun launcher-based planar impact methods used to characterize geological materials at Sandia National Laboratories
Piezo Voltage Controlled Planar Hall Effect Devices.
Zhang, Bao; Meng, Kang-Kang; Yang, Mei-Yin; Edmonds, K W; Zhang, Hao; Cai, Kai-Ming; Sheng, Yu; Zhang, Nan; Ji, Yang; Zhao, Jian-Hua; Zheng, Hou-Zhi; Wang, Kai-You
2016-06-22
The electrical control of the magnetization switching in ferromagnets is highly desired for future spintronic applications. Here we report on hybrid piezoelectric (PZT)/ferromagnetic (Co2FeAl) devices in which the planar Hall voltage in the ferromagnetic layer is tuned solely by piezo voltages. The change of planar Hall voltage is associated with magnetization switching through 90° in the plane under piezo voltages. Room temperature magnetic NOT and NOR gates are demonstrated based on the piezo voltage controlled Co2FeAl planar Hall effect devices without the external magnetic field. Our demonstration may lead to the realization of both information storage and processing using ferromagnetic materials.
Dynamic Planar Range Maxima Queries
DEFF Research Database (Denmark)
Brodal, Gerth Stølting; Tsakalidis, Konstantinos
2011-01-01
We consider the dynamic two-dimensional maxima query problem. Let P be a set of n points in the plane. A point is maximal if it is not dominated by any other point in P. We describe two data structures that support the reporting of the t maximal points that dominate a given query point, and allow...... for insertions and deletions of points in P. In the pointer machine model we present a linear space data structure with O(logn + t) worst case query time and O(logn) worst case update time. This is the first dynamic data structure for the planar maxima dominance query problem that achieves these bounds...... are integers in the range U = {0, …,2 w − 1 }. We present a linear space data structure that supports 3-sided range maxima queries in O(logn/loglogn+t) worst case time and updates in O(logn/loglogn) worst case time. These are the first sublogarithmic worst case bounds for all operations in the RAM model....
Interface colloidal robotic manipulator
Aronson, Igor; Snezhko, Oleksiy
2015-08-04
A magnetic colloidal system confined at the interface between two immiscible liquids and energized by an alternating magnetic field dynamically self-assembles into localized asters and arrays of asters. The colloidal system exhibits locomotion and shape change. By controlling a small external magnetic field applied parallel to the interface, structures can capture, transport, and position target particles.
Electrostatic Transport and Manipulation of Lunar Soil and Dust
International Nuclear Information System (INIS)
Kawamoto, Hiroyuki
2008-01-01
Transport and manipulation technologies of lunar soil and dust are under development utilizing the electrostatic force. Transport of particles is realized by an electrostatic conveyer consisting of parallel electrodes. Four-phase traveling electrostatic wave was applied to the electrodes to transport particles upon the conveyer and it was demonstrated that particles were efficiently transported under conditions of low frequency, high voltage, and the application of rectangular wave. Not only linear but also curved and closed transport was demonstrated. Numerical investigation was carried out with a three-dimensional hard-sphere model of the Distinct Element Method to clarify the mechanism of the transport and to predict performances in the lunar environment. This technology is expected to be utilized not only for the transport of bulk soil but also for the cleaning of a solar panel and an optical lens. Another technology is an electrostatic manipulation system to manipulate single particle. A manipulator consisted of two parallel pin electrodes. When voltage was applied between the electrodes, electrophoresis force generated in non-uniform electrostatic field was applied to the particle near the tip of the electrode. The particle was captured by the application of the voltage and released from the manipulator by turning off the voltage. It was possible to manipulate not only insulative but also conductive particles. Three-dimensional electrostatic field calculation was conducted to calculate the electrophoresis force and the Coulomb force
Using Manipulatives in Math Instruction.
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.…
Morse, H Stephen
1994-01-01
Practical Parallel Computing provides information pertinent to the fundamental aspects of high-performance parallel processing. This book discusses the development of parallel applications on a variety of equipment.Organized into three parts encompassing 12 chapters, this book begins with an overview of the technology trends that converge to favor massively parallel hardware over traditional mainframes and vector machines. This text then gives a tutorial introduction to parallel hardware architectures. Other chapters provide worked-out examples of programs using several parallel languages. Thi
Akl, Selim G
1985-01-01
Parallel Sorting Algorithms explains how to use parallel algorithms to sort a sequence of items on a variety of parallel computers. The book reviews the sorting problem, the parallel models of computation, parallel algorithms, and the lower bounds on the parallel sorting problems. The text also presents twenty different algorithms, such as linear arrays, mesh-connected computers, cube-connected computers. Another example where algorithm can be applied is on the shared-memory SIMD (single instruction stream multiple data stream) computers in which the whole sequence to be sorted can fit in the
Modified planar functions and their components
DEFF Research Database (Denmark)
Anbar Meidl, Nurdagül; Meidl, Wilfried Meidl
2017-01-01
functions in odd characteristic as a vectorial bent function. We finally point out that though these components behave somewhat different than the multivariate bent4 functions, they are bent or semibent functions shifted by a certain quadratic term, a property which they share with their multivariate......Zhou ([20]) introduced modified planar functions in order to describe (2n; 2n; 2n; 1) relative difference sets R as a graph of a function on the finite field F2n, and pointed out that projections of R are difference sets that can be described by negabent or bent4 functions, which are Boolean...... functions given in multivariate form. One of the objectives of this paper is to contribute to the understanding of these component functions of modified planar functions. Moreover, we obtain a description of modified planar functions by their components which is similar to that of the classical planar...
Planar Elongation Measurements on Soft Elastomers
DEFF Research Database (Denmark)
Jensen, Mette Krog; Skov, Anne Ladegaard; Rasmussen, Henrik K.
2009-01-01
A new fixture to the filament stretch rheometer (FSR) has been developed to measure planar elongation of soft polymeric networks. To validate this new technique, soft polymeric networks of poly(propyleneoxide) (PPO) were investigated during deformation.......A new fixture to the filament stretch rheometer (FSR) has been developed to measure planar elongation of soft polymeric networks. To validate this new technique, soft polymeric networks of poly(propyleneoxide) (PPO) were investigated during deformation....
Generators for finite depth subfactor planar algebras
Indian Academy of Sciences (India)
The main result of Kodiyalam and Tupurani [3] shows that a subfactor planar algebra of finite depth is singly generated with a finite presentation. If P is a subfactor planar algebra of depth k, it is shown there that a single 2k-box generates P. It is natural to ask what the smallest s is such that a single s-box generates P. While ...
Planar half-cell shaped precursor body
DEFF Research Database (Denmark)
2015-01-01
The invention relates to a half-cell shaped precursor body of either anode type or cathode type, the half-cell shaped precursor body being prepared to be free sintered to form a sintered or pre-sintered half-cell being adapted to be stacked in a solid oxide fuel cell stack. The obtained half......-cell has an improved planar shape, which remains planar also after a sintering process and during temperature fluctuations....
Burkholderia thailandensis: Genetic Manipulation.
Garcia, Erin C
2017-05-16
Burkholderia thailandensis is a Gram-negative bacterium endemic to Southeast Asian and northern Australian soils. It is non-pathogenic; therefore, it is commonly used as a model organism for the related human pathogens Burkholderia mallei and Burkholderia pseudomallei. B. thailandensis is relatively easily genetically manipulated and a variety of robust genetic tools can be used in this organism. This unit describes protocols for conjugation, natural transformation, mini-Tn7 insertion, and allelic exchange in B. thailandensis. © 2017 by John Wiley & Sons, Inc. Copyright © 2017 John Wiley & Sons, Inc.
Spatial manipulation with microfluidics
Directory of Open Access Journals (Sweden)
Benjamin eLin
2015-04-01
Full Text Available Biochemical gradients convey information through space, time, and concentration, and are ultimately capable of spatially resolving distinct cellular phenotypes, such as differentiation, proliferation, and migration. How these gradients develop, evolve, and function during development, homeostasis, and various disease states is a subject of intense interest across a variety of disciplines. Microfluidic technologies have become essential tools for investigating gradient sensing in vitro due to their ability to precisely manipulate fluids on demand in well controlled environments at cellular length scales. This minireview will highlight their utility for studying gradient sensing along with relevant applications to biology.
Flux-redistribution in the focal region of a planar Fresnel ring mirror
Energy Technology Data Exchange (ETDEWEB)
Sastroamidjojo, M.S.A. (Gadjah Mada Univ., Indonesia); Lubis, W.
1979-01-01
The results of an investigation of flux redistribution at the focal region of a planar Fresnel ring mirror are reported. A parabolic mirror of large aperture was used to provide a parallel beam of light which was directed at the Fresnel test object. A cotton thread grid was used as a mapping aid to provide a 25 x 25 matrix of spatial data points. (SPH)
An integrated open-cavity system for magnetic bead manipulation.
Abu-Nimeh, F T; Salem, F M
2013-02-01
Superparamagnetic beads are increasingly used in biomedical assays to manipulate, transport, and maneuver biomaterials. We present a low-cost integrated system designed in bulk CMOS to manipulate and separate biomedical magnetic beads. The system consists of 8 × 8 coil-arrays suitable for single bead manipulation, or collaborative multi-bead manipulation, using pseudo-parallel executions. We demonstrate the flexibility of the design in terms of different coil sizes, DC current levels, and layout techniques. In one array module example, the size of a single coil is 30 μm × 30 μm and the full array occupies an area of 248 μm × 248 μm in 0.5 μm CMOS technology. The programmable DC current source supports 8 discrete levels up to 1.5 mA. The total power consumption of the entire module is 9 mW when running at full power.
Vlasov treatment of coherent synchrotron radiation from arbitrary planar orbits
International Nuclear Information System (INIS)
Warnock, R.; Bassi, G.; Ellison, J.A.
2006-01-01
We study the influence of coherent synchrotron radiation (CSR) on particle bunches traveling on arbitrary planar orbits between parallel conducting plates which represent the vacuum chamber. Our goal is to follow the time evolution of the phase space distribution by solving the Vlasov-Maxwell equations in the time domain. This should provide simulations with lower numerical noise than the macro-particle method, and allow one to study such issues as emittance degradation and microbunching due to CSR in bunch compressors. The fields excited by the bunch are computed in the laboratory frame from a new formula that leads to much simpler computations than usual methods. The nonlinear Vlasov equation, formulated in the interaction picture, is integrated in the beam frame by approximating the Perron-Frobenius operator. For application to a chicane bunch compressor we take steps to deal with energy chirp
Introduction to parallel programming
Brawer, Steven
1989-01-01
Introduction to Parallel Programming focuses on the techniques, processes, methodologies, and approaches involved in parallel programming. The book first offers information on Fortran, hardware and operating system models, and processes, shared memory, and simple parallel programs. Discussions focus on processes and processors, joining processes, shared memory, time-sharing with multiple processors, hardware, loops, passing arguments in function/subroutine calls, program structure, and arithmetic expressions. The text then elaborates on basic parallel programming techniques, barriers and race
Fox, Geoffrey C; Messina, Guiseppe C
2014-01-01
A clear illustration of how parallel computers can be successfully appliedto large-scale scientific computations. This book demonstrates how avariety of applications in physics, biology, mathematics and other scienceswere implemented on real parallel computers to produce new scientificresults. It investigates issues of fine-grained parallelism relevant forfuture supercomputers with particular emphasis on hypercube architecture. The authors describe how they used an experimental approach to configuredifferent massively parallel machines, design and implement basic systemsoftware, and develop
Comparison of rectangular and dual-planar positron emission mammography scanners
International Nuclear Information System (INIS)
Qi, Jinyi; Kuo, Chaincy; Huesman, Ronald H.; Klein, Gregory J.; Moses, William W.; Reutter, Bryan W.
2002-01-01
Breast imaging using dedicated positron emission tomography (PEM) has gained much interest in the medical imaging field. In this paper, we compare the performance between a rectangular geometry and a parallel dual-planar geometry. Both geometries are studied with depth of interaction (DOI) detectors and non- DOI detectors. We compare the Fisher-information matrix, lesion detection, and quantitation of the four systems. The lesion detectability is measured by the signal-to-noise ratio (SNR) of a prewhitening numerical observer for detecting a known hot spot on a uniform background. Results show that the rectangular system with DOI has the highest SNR for the detection task and the lowest bias at any given noise level for the quantitation task. They also show that for small simulated lesions the parallel dual-planar system with DOI detectors outperforms the rectangular system with non-DOI detectors, while the rectangular system with non-DOI detectors can outperform the parallel dual-planar system with DOI detectors for large simulated lesions
Energy Technology Data Exchange (ETDEWEB)
Sugawara, T
1970-02-28
A prior-art remote control manipulator comprises a horizontal suspension section, a master arm and a slave arm which are coupled to ends of the suspension section in a manner to pivotally move relative to the suspension section, and a connecting device which includes a tape and which joins both the arms. When the connecting device malfunctions, the slave arm can neither be extended nor contracted. Means to keep the tension of the tape is required which restricts the extension length of the slave arm. Further, the slave arm can be moved only in the axial direction. The invention described provides an improved remote control manipulator of the specified type. A moving device which moves the slave arm relative to the master arm without the intervention of the connecting device is mounted on a movable part of the slave arm, while pulleys which maintain the joining relationship of the connecting device are mounted on the movable part and fixed part of the slave arm. Owing to this construction, movement of the slave arm is assured despite troubles which may arise in the connecting device. In addition, no slack arises in the tape. By applying a similar construction to the horizontal suspension section, the suspension section can be stretched, and hence, the slave arm can be moved in a direction orthogonal to its axis.
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.
Parallel Atomistic Simulations
Energy Technology Data Exchange (ETDEWEB)
HEFFELFINGER,GRANT S.
2000-01-18
Algorithms developed to enable the use of atomistic molecular simulation methods with parallel computers are reviewed. Methods appropriate for bonded as well as non-bonded (and charged) interactions are included. While strategies for obtaining parallel molecular simulations have been developed for the full variety of atomistic simulation methods, molecular dynamics and Monte Carlo have received the most attention. Three main types of parallel molecular dynamics simulations have been developed, the replicated data decomposition, the spatial decomposition, and the force decomposition. For Monte Carlo simulations, parallel algorithms have been developed which can be divided into two categories, those which require a modified Markov chain and those which do not. Parallel algorithms developed for other simulation methods such as Gibbs ensemble Monte Carlo, grand canonical molecular dynamics, and Monte Carlo methods for protein structure determination are also reviewed and issues such as how to measure parallel efficiency, especially in the case of parallel Monte Carlo algorithms with modified Markov chains are discussed.
A MongoDB-Based Management of Planar Spatial Data with a Flattened R-Tree
Directory of Open Access Journals (Sweden)
Longgang Xiang
2016-07-01
Full Text Available This paper addresses how to manage planar spatial data using MongoDB, a popular NoSQL database characterized as a document-oriented, rich query language and high availability. The core idea is to flatten a hierarchical R-tree structure into a tabular MongoDB collection, during which R-tree nodes are represented as collection documents and R-tree pointers are expressed as document identifiers. By following this strategy, a storage schema to support R-tree-based create, read, update, and delete (CRUD operations is designed and a module to manage planar spatial data by consuming and maintaining flattened R-tree structure is developed. The R-tree module is then seamlessly integrated into MongoDB, so that users could manipulate planar spatial data with existing command interfaces oriented to geodetic spatial data. The experimental evaluation, using real-world datasets with diverse coverage, types, and sizes, shows that planar spatial data can be effectively managed by MongoDB with our flattened R-tree and, therefore, the application extent of MongoDB will be greatly enlarged. Our work resulted in a MongoDB branch with R-tree support, which has been released on GitHub for open access.
[Language Manipulation, Surrogacy, Altruism].
Serrano Ruiz-Calderón, José Miguel
2017-01-01
The Newspeak propitiates a change of the sense of the words and next to the double thinking forms the picture of totalitarianism described by Orwell in 1984. The purpose of the Newspeak is to make all other forms of thought impossible. In bioethics the Newspeak is applied, not because Bioethics is a new science but by the manipulative intention. The twentieth-century political language has, according to Orwell, the intention to remove the ″mental image ″ of what really happens. This is clear in the terms ″surrogacy ″. On the one hand, the mother is deprived of her child. On the other, there is no legal subrogation. As has been said the technique reduces a woman to the condition of a vessel. The excuse of gratuity does not change the exploitative relationship, since gratuitousness in the provision of women is not the altruism of all those involved in surrogacy.
Directory of Open Access Journals (Sweden)
Kovačević Braco
2013-01-01
Full Text Available The role and importance of the media are huge, both in everyday life and in cultural, spiritual and political life of modern man. Their power in the sense of political shaping of people and shaping of public opinion is very distinctive. In the process of propaganda to influence public opinion, they use various manipulative procedures in order to accomplish certain interests and objectives. Through the media, politics realizes its economic, ideological, political and even military activities. The war in the former Yugoslavia and former Bosnia and Herzegovina was also waged through the media. This media war still is spreading the hate speech, thus still causing conflicts and disintegration processes in the Balkans.
Interactive protein manipulation
Energy Technology Data Exchange (ETDEWEB)
SNCrivelli@lbl.gov
2003-07-01
We describe an interactive visualization and modeling program for the creation of protein structures ''from scratch''. The input to our program is an amino acid sequence -decoded from a gene- and a sequence of predicted secondary structure types for each amino acid-provided by external structure prediction programs. Our program can be used in the set-up phase of a protein structure prediction process; the structures created with it serve as input for a subsequent global internal energy minimization, or another method of protein structure prediction. Our program supports basic visualization methods for protein structures, interactive manipulation based on inverse kinematics, and visualization guides to aid a user in creating ''good'' initial structures.
Interactive protein manipulation
International Nuclear Information System (INIS)
2003-01-01
We describe an interactive visualization and modeling program for the creation of protein structures ''from scratch''. The input to our program is an amino acid sequence -decoded from a gene- and a sequence of predicted secondary structure types for each amino acid-provided by external structure prediction programs. Our program can be used in the set-up phase of a protein structure prediction process; the structures created with it serve as input for a subsequent global internal energy minimization, or another method of protein structure prediction. Our program supports basic visualization methods for protein structures, interactive manipulation based on inverse kinematics, and visualization guides to aid a user in creating ''good'' initial structures
Characteristics of manipulative in mathematics laboratory
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.
Adaptive control of robotic manipulators
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.
Image manipulation as research misconduct.
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.
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.
Relaxation of axially confined 400 GeV/c protons to planar channeling in a bent crystal
International Nuclear Information System (INIS)
Bandiera, L.; Mazzolari, A.; Bagli, E.; Germogli, G.; Guidi, V.; Sytov, A.; Kirillin, I.V.; Shul'ga, N.F.; Berra, A.; Lietti, D.; Prest, M.; De Salvador, D.; Vallazza, E.
2016-01-01
An investigation on the mechanism of relaxation of axially confined 400 GeV/c protons to planar channeling in a bent crystal was carried out at the extracted line H8 from CERN Super Proton Synchrotron. The experimental results were critically compared to computer simulations, showing a good agreement. We identified a necessary condition for the exploitation of axial confinement or its relaxation for particle beam manipulation in high-energy accelerators. We introduce the idea of using a short bent crystal, aligned with one of its main axis to the beam direction, as a beam steerer or a beam splitter with adjustable intensity in the field of particle accelerators. In particular, in the latter case, a complete relaxation from axial confinement to planar channeling takes place, resulting in beam splitting into the two strongest skew planar channels. (orig.)
Relaxation of axially confined 400 GeV/c protons to planar channeling in a bent crystal
Energy Technology Data Exchange (ETDEWEB)
Bandiera, L.; Mazzolari, A.; Bagli, E.; Germogli, G.; Guidi, V. [Universita di Ferrara, Dipartimento di Fisica, Ferrara (Italy); INFN, Ferrara (Italy); Sytov, A. [Universita di Ferrara, Dipartimento di Fisica, Ferrara (Italy); Belarusian State University, Research Institute for Nuclear Problems, Minsk (Belarus); INFN, Ferrara (Italy); Kirillin, I.V. [National Science Center ' ' Kharkov Institute of Physics and Technology' ' , Akhiezer Institute for Theoretical Physics, Kharkov (Ukraine); Shul' ga, N.F. [National Science Center ' ' Kharkov Institute of Physics and Technology' ' , Akhiezer Institute for Theoretical Physics, Kharkov (Ukraine); V.N. Karazin Kharkov National University, Kharkov (Ukraine); Berra, A.; Lietti, D.; Prest, M. [Universita dell' Insubria, Como (Italy); INFN Sezione di Milano Bicocca, Milan (Italy); De Salvador, D. [INFN Laboratori Nazionali di Legnaro, Legnaro (Italy); Universita di Padova, Dipartimento di Fisica, Padua (Italy); Vallazza, E. [INFN Sezione di Trieste, Trieste (Italy)
2016-02-15
An investigation on the mechanism of relaxation of axially confined 400 GeV/c protons to planar channeling in a bent crystal was carried out at the extracted line H8 from CERN Super Proton Synchrotron. The experimental results were critically compared to computer simulations, showing a good agreement. We identified a necessary condition for the exploitation of axial confinement or its relaxation for particle beam manipulation in high-energy accelerators. We introduce the idea of using a short bent crystal, aligned with one of its main axis to the beam direction, as a beam steerer or a beam splitter with adjustable intensity in the field of particle accelerators. In particular, in the latter case, a complete relaxation from axial confinement to planar channeling takes place, resulting in beam splitting into the two strongest skew planar channels. (orig.)
Evanescent field refractometry in planar optical fiber.
Holmes, Christopher; Jantzen, Alexander; Gray, Alan C; Gow, Paul C; Carpenter, Lewis G; Bannerman, Rex H S; Gates, James C; Smith, Peter G R
2018-02-15
This Letter demonstrates a refractometer in integrated optical fiber, a new optical platform that planarizes fiber using flame hydrolysis deposition (FHD). The unique advantage of the technology is survivability in harsh environments. The platform is mechanically robust, and can survive elevated temperatures approaching 1000°C and exposure to common solvents, including acetone, gasoline, and methanol. For the demonstrated refractometer, fabrication was achieved through wet etching an SMF-28 fiber to a diameter of 8 μm before FHD planarization. An external refractive index was monitored using fiber Bragg gratings (FBGs), written into the core of the planarized fiber. A direct comparison to alternative FBG refractometers is made, for which the developed platform is shown to have comparable sensitivity, with the added advantage of survivability in harsh environments.
Technical errors in planar bone scanning.
Naddaf, Sleiman Y; Collier, B David; Elgazzar, Abdelhamid H; Khalil, Magdy M
2004-09-01
Optimal technique for planar bone scanning improves image quality, which in turn improves diagnostic efficacy. Because planar bone scanning is one of the most frequently performed nuclear medicine examinations, maintaining high standards for this examination is a daily concern for most nuclear medicine departments. Although some problems such as patient motion are frequently encountered, the degraded images produced by many other deviations from optimal technique are rarely seen in clinical practice and therefore may be difficult to recognize. The objectives of this article are to list optimal techniques for 3-phase and whole-body bone scanning, to describe and illustrate a selection of deviations from these optimal techniques for planar bone scanning, and to explain how to minimize or avoid such technical errors.
Planar quantum squeezing and atom interferometry
Energy Technology Data Exchange (ETDEWEB)
He, Q. Y.; Drummond, P. D.; Reid, M. D. [ARC Centre of Excellence for Quantum-Atom Optics, Centre for Atom Optics and Ultrafast Spectroscopy, Swinburne University of Technology, Melbourne 3122 (Australia); Peng Shiguo [Department of Physics, Tsinghua University, Beijing 100084 (China)
2011-08-15
We obtain a lower bound on the sum of two orthogonal spin component variances in a plane. This gives a planar uncertainty relation which holds even when the Heisenberg relation is not useful. We investigate the asymptotic, large-J limit and derive the properties of the planar quantum squeezed states that saturate this uncertainty relation. These states extend the concept of spin squeezing to any two conjugate spin directions. We show that planar quantum squeezing can be achieved experimentally as the ground state of a Bose-Einstein condensate in two coupled potential wells with a critical attractive interaction. These states reduce interferometric phase noise at all phase angles simultaneously. This is useful for one-shot interferometric phase measurements where the measured phase is completely unknown. Our results can also be used to derive entanglement criteria for multiple spins J at separated sites, with applications in quantum information.
CERN. Geneva
2016-01-01
The traditionally used and well established parallel programming models OpenMP and MPI are both targeting lower level parallelism and are meant to be as language agnostic as possible. For a long time, those models were the only widely available portable options for developing parallel C++ applications beyond using plain threads. This has strongly limited the optimization capabilities of compilers, has inhibited extensibility and genericity, and has restricted the use of those models together with other, modern higher level abstractions introduced by the C++11 and C++14 standards. The recent revival of interest in the industry and wider community for the C++ language has also spurred a remarkable amount of standardization proposals and technical specifications being developed. Those efforts however have so far failed to build a vision on how to seamlessly integrate various types of parallelism, such as iterative parallel execution, task-based parallelism, asynchronous many-task execution flows, continuation s...
Parallelism in matrix computations
Gallopoulos, Efstratios; Sameh, Ahmed H
2016-01-01
This book is primarily intended as a research monograph that could also be used in graduate courses for the design of parallel algorithms in matrix computations. It assumes general but not extensive knowledge of numerical linear algebra, parallel architectures, and parallel programming paradigms. The book consists of four parts: (I) Basics; (II) Dense and Special Matrix Computations; (III) Sparse Matrix Computations; and (IV) Matrix functions and characteristics. Part I deals with parallel programming paradigms and fundamental kernels, including reordering schemes for sparse matrices. Part II is devoted to dense matrix computations such as parallel algorithms for solving linear systems, linear least squares, the symmetric algebraic eigenvalue problem, and the singular-value decomposition. It also deals with the development of parallel algorithms for special linear systems such as banded ,Vandermonde ,Toeplitz ,and block Toeplitz systems. Part III addresses sparse matrix computations: (a) the development of pa...
Inkjet-based adaptive planarization (Conference Presentation)
Singhal, Shrawan; Grigas, Michelle M.; Khusnatdinov, Niyaz; Sreenivasan, Srinivasan V.
2017-03-01
Planarization is a critical unit step in the lithography process because it enables patterning of surfaces with versatile pattern density without compromising on the stringent planarity and depth-of-focus requirements. In addition to nanoscale pattern density variation, parasitics such as pre-existing wafer topography, can corrupt the desired process output after planarization. The topography of any surface can be classified in three broad categories, depending upon the amplitude and spatial wavelength of the same [1], [2]: (i) nominal shape, (ii) nanotopography and (iii) roughness. The nominal shape is given by the largest spatial wavelengths, typically back is one technique used for micron scale device manufacturing [3]. As the name implies, a glass dielectric is spin-coated on the substrate followed by etching in a chemistry that ensures equal etching rates for both the sacrificial glass and the underlying film or substrate material. Photoresists may also be used instead of glass. However, the global planarity that can be achieved by this technique is limited. Also, planarization over a large isolated topographical feature has been studied for the reverse-tone Jet-and-Flash Imprint Lithography process, also known as JFIL-R [4]. This relies on surface tension and capillary effects to smoothen a spin-coated Si containing film that can be etched to obtain a smooth profile. To meet the stringent requirement of planarity in submicron device technologies Chemical Mechanical Planarization (CMP) is the most widely used planarization technology [5], [6]. It uses a combination of abrasive laden chemical slurry and a mechanical pad for achieving planar profiles. The biggest concern with CMP is the dependence of material removal rate on the pattern density of material, leading to the formation of a step between the high density and low-density. The step shows up as a long-range thickness variation in the planarized film, similar in scale to pre-existing substrate topography
Nishina, K.; Takenaka, C.; Ishizuka, S.; Hashimoto, S.; Yagai, Y.
2012-12-01
Some forest operations such as thinning and harvesting management could cause changes in N cycling and N2O emission from soils, since thinning and harvesting managements are accompanied with changes in aboveground environments such as an increase of slash falling and solar radiation on the forest floor. However, a considerable uncertainty exists in effects of thinning and harvesting on N2O fluxes regarding changes in belowground environments by cutting trees. To focus on the effect of changes in belowground environments on the N2O emissions from soils, we conducted a tree manipulation experiment in Japanese cedar (Cryptomeria japonica) stand without soil compaction and slash falling near the chambers and measured N2O flux at 50 cm and 150 cm distances from the tree trunk (stump) before and after cutting. We targeted 5 trees for the manipulation and established the measurement chambers to the 4 directions around each targeted tree relative to upper slope (upper, left, right, lower positions). We evaluated the effect of logging on the emission by using hierarchical Bayesian model. HB model can evaluate the variability in observed data and their uncertainties in the estimation with various probability distributions. Moreover, the HB model can easily accommodate the non-linear relationship among the N2O emissions and the environmental factors, and explicitly take non-independent data (nested structure of data) for the estimation into account by using random effects in the model. Our results showed tree cutting stimulated N2O emission from soils, and also that the increase of N2O flux depended on the distance from the trunk (stump): the increase of N2O flux at 50 cm from the trunk (stump) was greater than that of 150 cm from the trunk. The posterior simulation of the HB model indicated that the stimulation of N2O emission by tree cut- ting could reach up to 200 cm in our experimental plot. By tree cutting, the estimated N2O emission at 0-40 cm from the trunk doubled
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)
Planar dynamical systems selected classical problems
Liu, Yirong; Huang, Wentao
2014-01-01
This book presents in an elementary way the recent significant developments in the qualitative theory of planar dynamical systems. The subjects are covered as follows: the studies of center and isochronous center problems, multiple Hopf bifurcations and local and global bifurcations of the equivariant planar vector fields which concern with Hilbert's 16th problem. This book is intended for graduate students, post-doctors and researchers in the area of theories and applications of dynamical systems. For all engineers who are interested the theory of dynamical systems, it is also a reasona
Simulation Exploration through Immersive Parallel Planes: Preprint
Energy Technology Data Exchange (ETDEWEB)
Brunhart-Lupo, Nicholas; Bush, Brian W.; Gruchalla, Kenny; Smith, Steve
2016-03-01
We present a visualization-driven simulation system that tightly couples systems dynamics simulations with an immersive virtual environment to allow analysts to rapidly develop and test hypotheses in a high-dimensional parameter space. To accomplish this, we generalize the two-dimensional parallel-coordinates statistical graphic as an immersive 'parallel-planes' visualization for multivariate time series emitted by simulations running in parallel with the visualization. In contrast to traditional parallel coordinate's mapping the multivariate dimensions onto coordinate axes represented by a series of parallel lines, we map pairs of the multivariate dimensions onto a series of parallel rectangles. As in the case of parallel coordinates, each individual observation in the dataset is mapped to a polyline whose vertices coincide with its coordinate values. Regions of the rectangles can be 'brushed' to highlight and select observations of interest: a 'slider' control allows the user to filter the observations by their time coordinate. In an immersive virtual environment, users interact with the parallel planes using a joystick that can select regions on the planes, manipulate selection, and filter time. The brushing and selection actions are used to both explore existing data as well as to launch additional simulations corresponding to the visually selected portions of the input parameter space. As soon as the new simulations complete, their resulting observations are displayed in the virtual environment. This tight feedback loop between simulation and immersive analytics accelerates users' realization of insights about the simulation and its output.
Simulation Exploration through Immersive Parallel Planes
Energy Technology Data Exchange (ETDEWEB)
Brunhart-Lupo, Nicholas J [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Bush, Brian W [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Gruchalla, Kenny M [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Smith, Steve [Los Alamos Visualization Associates
2017-05-25
We present a visualization-driven simulation system that tightly couples systems dynamics simulations with an immersive virtual environment to allow analysts to rapidly develop and test hypotheses in a high-dimensional parameter space. To accomplish this, we generalize the two-dimensional parallel-coordinates statistical graphic as an immersive 'parallel-planes' visualization for multivariate time series emitted by simulations running in parallel with the visualization. In contrast to traditional parallel coordinate's mapping the multivariate dimensions onto coordinate axes represented by a series of parallel lines, we map pairs of the multivariate dimensions onto a series of parallel rectangles. As in the case of parallel coordinates, each individual observation in the dataset is mapped to a polyline whose vertices coincide with its coordinate values. Regions of the rectangles can be 'brushed' to highlight and select observations of interest: a 'slider' control allows the user to filter the observations by their time coordinate. In an immersive virtual environment, users interact with the parallel planes using a joystick that can select regions on the planes, manipulate selection, and filter time. The brushing and selection actions are used to both explore existing data as well as to launch additional simulations corresponding to the visually selected portions of the input parameter space. As soon as the new simulations complete, their resulting observations are displayed in the virtual environment. This tight feedback loop between simulation and immersive analytics accelerates users' realization of insights about the simulation and its output.
DEFF Research Database (Denmark)
Sitchinava, Nodar; Zeh, Norbert
2012-01-01
We present the parallel buffer tree, a parallel external memory (PEM) data structure for batched search problems. This data structure is a non-trivial extension of Arge's sequential buffer tree to a private-cache multiprocessor environment and reduces the number of I/O operations by the number of...... in the optimal OhOf(psortN + K/PB) parallel I/O complexity, where K is the size of the output reported in the process and psortN is the parallel I/O complexity of sorting N elements using P processors....
Deshmane, Anagha; Gulani, Vikas; Griswold, Mark A; Seiberlich, Nicole
2012-07-01
Parallel imaging is a robust method for accelerating the acquisition of magnetic resonance imaging (MRI) data, and has made possible many new applications of MR imaging. Parallel imaging works by acquiring a reduced amount of k-space data with an array of receiver coils. These undersampled data can be acquired more quickly, but the undersampling leads to aliased images. One of several parallel imaging algorithms can then be used to reconstruct artifact-free images from either the aliased images (SENSE-type reconstruction) or from the undersampled data (GRAPPA-type reconstruction). The advantages of parallel imaging in a clinical setting include faster image acquisition, which can be used, for instance, to shorten breath-hold times resulting in fewer motion-corrupted examinations. In this article the basic concepts behind parallel imaging are introduced. The relationship between undersampling and aliasing is discussed and two commonly used parallel imaging methods, SENSE and GRAPPA, are explained in detail. Examples of artifacts arising from parallel imaging are shown and ways to detect and mitigate these artifacts are described. Finally, several current applications of parallel imaging are presented and recent advancements and promising research in parallel imaging are briefly reviewed. Copyright © 2012 Wiley Periodicals, Inc.
Parallel Algorithms and Patterns
Energy Technology Data Exchange (ETDEWEB)
Robey, Robert W. [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)
2016-06-16
This is a powerpoint presentation on parallel algorithms and patterns. A parallel algorithm is a well-defined, step-by-step computational procedure that emphasizes concurrency to solve a problem. Examples of problems include: Sorting, searching, optimization, matrix operations. A parallel pattern is a computational step in a sequence of independent, potentially concurrent operations that occurs in diverse scenarios with some frequency. Examples are: Reductions, prefix scans, ghost cell updates. We only touch on parallel patterns in this presentation. It really deserves its own detailed discussion which Gabe Rockefeller would like to develop.
Application Portable Parallel Library
Cole, Gary L.; Blech, Richard A.; Quealy, Angela; Townsend, Scott
1995-01-01
Application Portable Parallel Library (APPL) computer program is subroutine-based message-passing software library intended to provide consistent interface to variety of multiprocessor computers on market today. Minimizes effort needed to move application program from one computer to another. User develops application program once and then easily moves application program from parallel computer on which created to another parallel computer. ("Parallel computer" also include heterogeneous collection of networked computers). Written in C language with one FORTRAN 77 subroutine for UNIX-based computers and callable from application programs written in C language or FORTRAN 77.
Stereoscopically Observing Manipulative Actions.
Ferri, S; Pauwels, K; Rizzolatti, G; Orban, G A
2016-08-01
The purpose of this study was to investigate the contribution of stereopsis to the processing of observed manipulative actions. To this end, we first combined the factors "stimulus type" (action, static control, and dynamic control), "stereopsis" (present, absent) and "viewpoint" (frontal, lateral) into a single design. Four sites in premotor, retro-insular (2) and parietal cortex operated specifically when actions were viewed stereoscopically and frontally. A second experiment clarified that the stereo-action-specific regions were driven by actions moving out of the frontoparallel plane, an effect amplified by frontal viewing in premotor cortex. Analysis of single voxels and their discriminatory power showed that the representation of action in the stereo-action-specific areas was more accurate when stereopsis was active. Further analyses showed that the 4 stereo-action-specific sites form a closed network converging onto the premotor node, which connects to parietal and occipitotemporal regions outside the network. Several of the specific sites are known to process vestibular signals, suggesting that the network combines observed actions in peripersonal space with gravitational signals. These findings have wider implications for the function of premotor cortex and the role of stereopsis in human behavior. © The Author 2016. Published by Oxford University Press.
ADVERTISING AND LANGUAGE MANIPULATION
Directory of Open Access Journals (Sweden)
Cristina-Maria PRELIPCEANU
2013-11-01
Full Text Available Research has revealed that much of what happens in our minds as a result of language use is still hidden from our conscious awareness. Advertisers know this phenomenon better. They use the manipulation of language to suggest something about their products without directly claiming it to be true. Although the advertisers use colours, symbols, and imagery in advertisements, “the most direct way to study ads is through an analysis of the language employed” as all the other aspects are meant to reinforce the language message. Ads are designed to have an effect on consumers while being laughed at, belittle and all but ignored. Some modern advertisements appear to be almost dissuading consumers from the product – but this is just a modern technique. This paper is going to analyze a series of language techniques used by advertisers to arrest our attention, to arouse our interest, to stimulate desire for a product and ultimately to motivate us to buy it. Once we become familiar with the language strategies used in advertising messages we will be more able to make our own buying decisions.
International Nuclear Information System (INIS)
Bunyan, T.W.
1980-01-01
A device for inserting and removing studs from bores in a workpiece, for example a nuclear reactor vessel, comprises manipulating devices for operating on individual studs, each capable of tensioning a stud slackening a working nut on the stud, and subsequently removing the stud from the bore. A ring has dogs which can engage working nut recesses to interlock with the nut against relative rotation. Motors coupled to the ring rotate the working nut. A top nut is coupled to the motors to rotate the nut and screw it onto the stud. The top nut with other device parts can be raised and lowered on a tube by a hydraulic actuator. A hydraulic load cell between the top nut and a stool on the workpiece is pressurised to tension the stud by means of the top nut and thus facilitate rotation of the working nut when tightening or slackening. A dog clutch mechanism engages a stud end fitting against relative axial and rotational movement. The mechanism is raised and lowered on a guide member by an actuator. The mechanism has a tubular member and the drive coupling for the motors to the top nut includes a tubular member. Tubular members carry teeth which are engaged when the top nut is raised and the clutch mechanism is lowered, to provide a coupling between the motors and the mechanism for rotating the stud. (U.K.)
Manipulation Robustness of Collaborative Filtering
Benjamin Van Roy; Xiang Yan
2010-01-01
A collaborative filtering system recommends to users products that similar users like. Collaborative filtering systems influence purchase decisions and hence have become targets of manipulation by unscrupulous vendors. We demonstrate that nearest neighbors algorithms, which are widely used in commercial systems, are highly susceptible to manipulation and introduce new collaborative filtering algorithms that are relatively robust.
Analysis of a closed-kinematic chain robot manipulator
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.
Balancing of linkages and robot manipulators advanced methods with illustrative examples
Arakelian, Vigen
2015-01-01
In this book advanced balancing methods for planar and spatial linkages, hand operated and automatic robot manipulators are presented. It is organized into three main parts and eight chapters. The main parts are the introduction to balancing, the balancing of linkages and the balancing of robot manipulators. The review of state-of-the-art literature including more than 500 references discloses particularities of shaking force/moment balancing and gravity compensation methods. Then new methods for balancing of linkages are considered. Methods provided in the second part of the book deal with the partial and complete shaking force/moment balancing of various linkages. A new field for balancing methods applications is the design of mechanical systems for fast manipulation. Special attention is given to the shaking force/moment balancing of robot manipulators. Gravity balancing methods are also discussed. The suggested balancing methods are illustrated by numerous examples.
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)
Directory of Open Access Journals (Sweden)
Thi Rein Myo
2008-11-01
Full Text Available Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study. The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so that the end-effector can track the prescribed trajectory accurately. An algorithm combining Genetic Algorithm and Pattern Search as a Generalized Pattern Search GPS is introduced to design the optimal trajectory. To verify the proposed algorithm, simulations for a 3-D-O-F planar manipulator with different end-effector trajectories have been carried out. A comparison between the Genetic Algorithm and the Generalized Pattern Search shows that The GPS gives excellent tracking performance.
Iteration schemes for parallelizing models of superconductivity
Energy Technology Data Exchange (ETDEWEB)
Gray, P.A. [Michigan State Univ., East Lansing, MI (United States)
1996-12-31
The time dependent Lawrence-Doniach model, valid for high fields and high values of the Ginzburg-Landau parameter, is often used for studying vortex dynamics in layered high-T{sub c} superconductors. When solving these equations numerically, the added degrees of complexity due to the coupling and nonlinearity of the model often warrant the use of high-performance computers for their solution. However, the interdependence between the layers can be manipulated so as to allow parallelization of the computations at an individual layer level. The reduced parallel tasks may then be solved independently using a heterogeneous cluster of networked workstations connected together with Parallel Virtual Machine (PVM) software. Here, this parallelization of the model is discussed and several computational implementations of varying degrees of parallelism are presented. Computational results are also given which contrast properties of convergence speed, stability, and consistency of these implementations. Included in these results are models involving the motion of vortices due to an applied current and pinning effects due to various material properties.
Parallel discrete event simulation
Overeinder, B.J.; Hertzberger, L.O.; Sloot, P.M.A.; Withagen, W.J.
1991-01-01
In simulating applications for execution on specific computing systems, the simulation performance figures must be known in a short period of time. One basic approach to the problem of reducing the required simulation time is the exploitation of parallelism. However, in parallelizing the simulation
Parallel reservoir simulator computations
International Nuclear Information System (INIS)
Hemanth-Kumar, K.; Young, L.C.
1995-01-01
The adaptation of a reservoir simulator for parallel computations is described. The simulator was originally designed for vector processors. It performs approximately 99% of its calculations in vector/parallel mode and relative to scalar calculations it achieves speedups of 65 and 81 for black oil and EOS simulations, respectively on the CRAY C-90
Numerical Study of Planar GPR Antenna Measurements
DEFF Research Database (Denmark)
Meincke, Peter; Hansen, Thorkild
2004-01-01
The formulation of planar near-field measurements of GPR antennas determines the plane-wave spectra of the GPR antenna in terms of measurements obtained with a buried probe as the GPR antenna moves over a scan plane on the ground. A numerical study investigates how the formulation is affected by (1...
Fundamental losses in planar Bragg waveguides
Vinogradov, A. V.; Mitrofanov, A. N.; Popov, A. V.; Fedin, M. A.
2007-01-01
This paper considers a planar Bragg waveguide. The guided modes and their dissipation due to the fundamental absorption are described. In the interacting-wave approximation, an analytical relation between the characteristics of the modes and parameters of the Bragg-waveguide geometry was
Development of planar detectors with active edge
International Nuclear Information System (INIS)
Povoli, M.; Bagolini, A.; Boscardin, M.; Dalla Betta, G.-F.; Giacomini, G.; Vianello, E.; Zorzi, N.
2011-01-01
We report on the first batch of planar active edge sensors fabricated at Fondazione Bruno Kessler (Trento, Italy) on the way to the development of full 3D detectors with active edges. The main design and technological aspects are reported, along with selected results from the electrical characterization of detectors and test structures.
Development of planar detectors with active edge
Energy Technology Data Exchange (ETDEWEB)
Povoli, M., E-mail: povoli@disi.unitn.it [Dipartimento di Ingegneria e Scienza dell' Informazione, Universita di Trento, Via Sommarive, 14, I-38123 Povo di Trento (Italy); INFN, Sezione di Padova (Gruppo Collegato di Trento) (Italy); Bagolini, A.; Boscardin, M. [Fondazione Bruno Kessler, Centro per i Materiali e i Microsistemi (FBK-CMM), Via Sommarive, 18, I-38123 Povo di Trento (Italy); Dalla Betta, G.-F. [Dipartimento di Ingegneria e Scienza dell' Informazione, Universita di Trento, Via Sommarive, 14, I-38123 Povo di Trento (Italy); INFN, Sezione di Padova (Gruppo Collegato di Trento) (Italy); Giacomini, G.; Vianello, E.; Zorzi, N. [Fondazione Bruno Kessler, Centro per i Materiali e i Microsistemi (FBK-CMM), Via Sommarive, 18, I-38123 Povo di Trento (Italy)
2011-12-01
We report on the first batch of planar active edge sensors fabricated at Fondazione Bruno Kessler (Trento, Italy) on the way to the development of full 3D detectors with active edges. The main design and technological aspects are reported, along with selected results from the electrical characterization of detectors and test structures.
Planar quark diagrams and binary spin processes
International Nuclear Information System (INIS)
Grigoryan, A.A.; Ivanov, N.Ya.
1986-01-01
Contributions of planar diagrams to the binary scattering processes are analyzed. The analysis is based on the predictions of quark-gluon picture of strong interactions for the coupling of reggeons with quarks as well as on the SU(6)-classification of hadrons. The dependence of contributions of nonplanar corrections on spins and quark composition of interacting particles is discussed
Image Alignment by Piecewise Planar Region Matching
Lou, Z.; Gevers, T.
2014-01-01
Robust image registration is a challenging problem, especially when dealing with severe changes in illumination and viewpoint. Previous methods assume a global geometric model (e.g., homography) and, hence, are only able to align images under predefined constraints (e.g., planar scenes and
Constant Width Planar Computation Characterizes ACC0
DEFF Research Database (Denmark)
Hansen, Kristoffer Arnsfelt
2006-01-01
We obtain a characterization of ACC0 in terms of a natural class of constant width circuits, namely in terms of constant width polynomial size planar circuits. This is shown via a characterization of the class of acyclic digraphs which can be embedded on a cylinder surface in such a way that all...
Alliances and Bisection Width for Planar Graphs
DEFF Research Database (Denmark)
Olsen, Martin; Revsbæk, Morten
2013-01-01
An alliance in a graph is a set of vertices (allies) such that each vertex in the alliance has at least as many allies (counting the vertex itself) as non-allies in its neighborhood of the graph. We show that any planar graph with minimum degree at least 4 can be split into two alliances in polyn...
A planar calculus for infinite index subfactors
Penneys, David
2011-01-01
We develop an analog of Jones' planar calculus for II_1-factor bimodules with arbitrary left and right von Neumann dimension. We generalize to bimodules Burns' results on rotations and extremality for infinite index subfactors. These results are obtained without Jones' basic construction and the resulting Jones projections.
A Planar Calculus for Infinite Index Subfactors
Penneys, David
2013-05-01
We develop an analog of Jones' planar calculus for II 1-factor bimodules with arbitrary left and right von Neumann dimension. We generalize to bimodules Burns' results on rotations and extremality for infinite index subfactors. These results are obtained without Jones' basic construction and the resulting Jones projections.
Connected feedback vertex set in planar graphs
Grigoriev, Alexander; Sitters, René
2010-01-01
We study the problem of finding a minimum tree spanning the faces of a given planar graph. We show that a constant factor approximation follows from the unconnected version if the minimum degree is 3. Moreover, we present a polynomial time approximation scheme for both the connected and unconnected
Are ghosts necessary in planar gauges?
International Nuclear Information System (INIS)
Kummer, W.
1988-01-01
The introduction of Faddeev-Popov ghosts in axial gauges and especially in the ones of the planar type is not a technical necessity for the general proof of renormalization and gauge independence. It is shown that all necessary identities for Green's functions and for one-particle-irreducible vertices arise in a completely ghost-free formulation as well
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
Totally parallel multilevel algorithms
Frederickson, Paul O.
1988-01-01
Four totally parallel algorithms for the solution of a sparse linear system have common characteristics which become quite apparent when they are implemented on a highly parallel hypercube such as the CM2. These four algorithms are Parallel Superconvergent Multigrid (PSMG) of Frederickson and McBryan, Robust Multigrid (RMG) of Hackbusch, the FFT based Spectral Algorithm, and Parallel Cyclic Reduction. In fact, all four can be formulated as particular cases of the same totally parallel multilevel algorithm, which are referred to as TPMA. In certain cases the spectral radius of TPMA is zero, and it is recognized to be a direct algorithm. In many other cases the spectral radius, although not zero, is small enough that a single iteration per timestep keeps the local error within the required tolerance.
Energy Technology Data Exchange (ETDEWEB)
1991-10-23
An account of the Caltech Concurrent Computation Program (C{sup 3}P), a five year project that focused on answering the question: Can parallel computers be used to do large-scale scientific computations '' As the title indicates, the question is answered in the affirmative, by implementing numerous scientific applications on real parallel computers and doing computations that produced new scientific results. In the process of doing so, C{sup 3}P helped design and build several new computers, designed and implemented basic system software, developed algorithms for frequently used mathematical computations on massively parallel machines, devised performance models and measured the performance of many computers, and created a high performance computing facility based exclusively on parallel computers. While the initial focus of C{sup 3}P was the hypercube architecture developed by C. Seitz, many of the methods developed and lessons learned have been applied successfully on other massively parallel architectures.
Massively parallel mathematical sieves
Energy Technology Data Exchange (ETDEWEB)
Montry, G.R.
1989-01-01
The Sieve of Eratosthenes is a well-known algorithm for finding all prime numbers in a given subset of integers. A parallel version of the Sieve is described that produces computational speedups over 800 on a hypercube with 1,024 processing elements for problems of fixed size. Computational speedups as high as 980 are achieved when the problem size per processor is fixed. The method of parallelization generalizes to other sieves and will be efficient on any ensemble architecture. We investigate two highly parallel sieves using scattered decomposition and compare their performance on a hypercube multiprocessor. A comparison of different parallelization techniques for the sieve illustrates the trade-offs necessary in the design and implementation of massively parallel algorithms for large ensemble computers.
Searching for planar signatures in WMAP
International Nuclear Information System (INIS)
Abramo, L. Raul; Bernui, Armando; Pereira, Thiago S.
2009-01-01
We search for planar deviations of statistical isotropy in the Wilkinson Microwave Anisotropy Probe (WMAP) data by applying a recently introduced angular-planar statistics both to full-sky and to masked temperature maps, including in our analysis the effect of the residual foreground contamination and systematics in the foreground removing process as sources of error. We confirm earlier findings that full-sky maps exhibit anomalies at the planar (l) and angular (l) scales (l,l) = (2,5),(4,7), and (6,8), which seem to be due to unremoved foregrounds since this features are present in the full-sky map but not in the masked maps. On the other hand, our test detects slightly anomalous results at the scales (l,l) = (10,8) and (2,9) in the masked maps but not in the full-sky one, indicating that the foreground cleaning procedure (used to generate the full-sky map) could not only be creating false anomalies but also hiding existing ones. We also find a significant trace of an anomaly in the full-sky map at the scale (l,l) = (10,5), which is still present when we consider galactic cuts of 18.3% and 28.4%. As regards the quadrupole (l = 2), we find a coherent over-modulation over the whole celestial sphere, for all full-sky and cut-sky maps. Overall, our results seem to indicate that current CMB maps derived from WMAP data do not show significant signs of anisotropies, as measured by our angular-planar estimator. However, we have detected a curious coherence of planar modulations at angular scales of the order of the galaxy's plane, which may be an indication of residual contaminations in the full- and cut-sky maps
A review of magnetic resonance imaging compatible manipulators in surgery.
Elhawary, H; Zivanovic, A; Davies, B; Lampérth, M
2006-04-01
Developments in magnetic resonance imaging (MRI), coupled with parallel progress in the field of computer-assisted surgery, mean that an ideal environment has been created for the development of MRI-compatible robotic systems and manipulators, capable of enhancing many types of surgical procedure. However, MRI does impose severe restrictions on mechatronic devices to be used in or around the scanners. In this article a review of the developments in the field of MRI-compatible surgical manipulators over the last decade is presented. The manipulators developed make use of different methods of actuation, but they can be reduced to four main groups: actuation transmitted through hydraulics, pneumatic actuators, ultrasonic motors based on the piezoceramic principle and remote manual actuation. Progress has been made concerning material selection, position sensing, and different actuation techniques, and design strategies have been implemented to overcome the multiple restrictions imposed by the MRI environment. Most systems lack the clinical validation needed to continue on to commercial products.
Direct Manipulation in Virtual Reality
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.
International Nuclear Information System (INIS)
Yang, JianShu; Jie, Deng; Chandrasekhar, N; Joachim, C
2007-01-01
We demonstrate manipulation of metallic islands containing nearly a million atoms with a precision of one lattice spacing on a MoS 2 surface, one at a time. Optimizing the growth conditions yields triangular shape metallic nano-islands 40 nm in lateral size and 12 nm in height on the MoS2 surface. The manipulation of these nano-islands is done one at a time using the scanning tunneling microscope, and a fully planar 4 pad nanostructure is demonstrated, where one apex of each triangular nano-island is pointing towards a central working MoS 2 area of 12 nm x 24 nm in which atomic cleanliness is preserved. The feedback loop conditions to achieve this manipulation are discussed. This fully planar 4 pads nano-structure is ready to be interconnected by a multi-tip system
Acoustic manipulation of bacteria cells suspensions
GutiéRrez-Ramos, Salomé; Hoyos, Mauricio; Aider, Jean Luc; Ruiz, Carlos; Acoustofluidics Team Team; Soft; Bio Group Collaboration
An acoustic contacless manipulation gives advantages in the exploration of the complex dynamics enviroment that active matter exhibits. Our works reports the control confinement and dispersion of Escherichia coliRP437-pZA3R-YFP suspensions (M9Glu-Ca) via acoustic levitation.The manipulation of the bacteria bath in a parallel plate resonator is achieved using the acoustic radiation force and the secondary radiation force. The primary radiation force generates levitation of the bacteria cells at the nodal plane of the ultrasonic standing wave generated inside the resonator. On the other side, secondary forces leads to the consolidation of stable aggregates. All the experiments were performed in the acoustic trap described, where we excite the emission plate with a continuous sinusoidal signal at a frequency in the order of MHz and a quartz slide as the reflector plate. In a typical experiment we observed that, before the input of the signal, the bacteria cells exhibit their typical run and tumble behavior and after the sound is turned on all of them displace towards the nodal plane, and instantaneously the aggregation begins in this region. CNRS French National Space Studies, CONACYT Mexico.
Manipulating early pig embryos.
Niemann, H; Reichelt, B
1993-01-01
On the basis of established surgical procedures for embryo recovery and transfer, the early pig embryo can be subjected to various manipulations aimed at a long-term preservation of genetic material, the generation of identical multiplets, the early determination of sex or the alteration of the genetic make-up. Most of these procedures are still at an experimental stage and despite recent considerable progress are far from practical application. Normal piglets have been obtained after cryopreservation of pig blastocysts hatched in vitro, whereas all attempts to freeze embryos with intact zona pellucida have been unsuccessful. Pig embryos at the morula and blastocyst stage can be bisected microsurgically and the resulting demi-embryos possess a high developmental potential in vitro, whereas their development in vivo is impaired. Pregnancy rates are similar (80%) but litter size is reduced compared with intact embryos and twinning rate is approximately 2%. Pig blastomeres isolated from embryos up to the 16-cell stage can be grown in culture and result in normal blastocysts. Normal piglets have been born upon transfer of blastocysts derived from isolated eight-cell blastomeres, clearly underlining the totipotency of this developmental stage. Upon nuclear transfer the developmental capacity of reconstituted pig embryos is low and culture. Sex determination can be achieved either by separation of X and Y chromosome bearing spermatozoa by flow cytometry or by analysing the expression of the HY antigen in pig embryos from the eight-cell to morula stage. Microinjection of foreign DNA has been successfully used to alter growth and development of transgenic pigs, and to produce foreign proteins in the mammary gland or in the bloodstream, indicating that pigs can be used as donors for valuable human pharmaceutical proteins. Another promising area of gene transfer is the increase of disease resistance in transgenic lines of pigs. Approximately 30% of pig spermatozoa bind
A planar conducting microstructure to guide and confine magnetic beads to a sensing zone
Gooneratne, Chinthaka Pasan
2011-08-01
A novel planar conducting microstructure is proposed to transport and confine magnetic micro/nano beads to a sensing zone. Manipulation and concentration of magnetic beads are achieved by employing square-shaped conducting micro-loops, with a few hundred nano-meters in thickness, arranged in a unique fashion. These microstructures are designed to produce high magnetic field gradients which are directly proportional to the force applied to manipulate the magnetic beads. Furthermore, the size of the microstructures allows greater maneuverability and control of magnetic beads than what could be achieved by permanent magnets. The aim of the microstructures is to guide magnetic beads from a large area and confine them to a smaller area where for example quantification would take place. Experiments were performed with different concentrations of 2 μm diameter magnetic beads. Experimental results showed that magnetic beads could be successfully guided and confined to the sensing zone. © 2011 Elsevier B.V. All rights reserved.
Modeling manipulation in medical education.
Dailey, Jason I
2010-05-01
As residents and medical students progress through their medical training, they are presented with multiple instances in which they feel they must manipulate the healthcare system and deceive others in order to efficiently treat their patients. This, however, creates a culture of manipulation resulting in untoward effects on trainees' ethical and professional development. Yet manipulation need not be a skill necessary to practice medicine, and steps should be taken by both individuals and institutions to combat the view that the way medicine must be practiced "in the real world" is somehow different from what one's affective moral sense implores.
Equations of Motion of Free-Floating Spacecraft-Manipulator Systems: An Engineer's Tutorial
Directory of Open Access Journals (Sweden)
Markus Wilde
2018-04-01
Full Text Available The paper provides a step-by-step tutorial on the Generalized Jacobian Matrix (GJM approach for modeling and simulation of spacecraft-manipulator systems. The General Jacobian Matrix approach describes the motion of the end-effector of an underactuated manipulator system solely by the manipulator joint rotations, with the attitude and position of the base-spacecraft resulting from the manipulator motion. The coupling of the manipulator motion with the base-spacecraft are thus expressed in a generalized inertia matrix and a GJM. The focus of the paper lies on the complete analytic derivation of the generalized equations of motion of a free-floating spacecraft-manipulator system. This includes symbolic analytic expressions for all inertia property matrices of the system, including their time derivatives and joint-angle derivatives, as well as an expression for the generalized Jacobian of a generic point on any link of the spacecraft-manipulator system. The kinematics structure of the spacecraft-manipulator system is described both in terms of direction-cosine matrices and unit quaternions. An additional important contribution of this paper is to propose a new and more detailed definition for the modes of maneuvering of a spacecraft-manipulator. In particular, the two commonly used categories free-flying and free-floating are expanded by the introduction of five categories, namely floating, rotation-floating, rotation-flying, translation-flying, and flying. A fully-symbolic and a partially-symbolic option for the implementation of a numerical simulation model based on the proposed analytic approach are introduced and exemplary simulation results for a planar four-link spacecraft-manipulator system and a spatial six-link spacecraft manipulator system are presented.
Output Error Analysis of Planar 2-DOF Five-bar Mechanism
Niu, Kejia; Wang, Jun; Ting, Kwun-Lon; Tao, Fen; Cheng, Qunchao; Wang, Quan; Zhang, Kaiyang
2018-03-01
Aiming at the mechanism error caused by clearance of planar 2-DOF Five-bar motion pair, the method of equivalent joint clearance of kinematic pair to virtual link is applied. The structural error model of revolute joint clearance is established based on the N-bar rotation laws and the concept of joint rotation space, The influence of the clearance of the moving pair is studied on the output error of the mechanis. and the calculation method and basis of the maximum error are given. The error rotation space of the mechanism under the influence of joint clearance is obtained. The results show that this method can accurately calculate the joint space error rotation space, which provides a new way to analyze the planar parallel mechanism error caused by joint space.
ytterbium- & erbium-doped silica for planar waveguide lasers & amplifiers
DEFF Research Database (Denmark)
Dyndgaard, Morten Glarborg
2001-01-01
The purpose of this work was to demonstrate ytterbium doped planar components and investigate the possibilities of making erbium/ytterbium codoped planar waveguides in germano-silica glass. Furthermore, tools for modelling lasers and erbium/ytterbium doped amplifiers. The planar waveguides were...
International Nuclear Information System (INIS)
Tsuji, Masataka; Meshii, Toshiyuki
2011-01-01
Highlights: → A limit moment equation applicable to planar/non-planar flaw of 0 ≤ θ ≤ π found in wall thinned straight pipes was proposed. → An idea to rationally classify planar/non-planar flaw in wall thinned pipes was proposed. → The equation based on the experimental observation focused on the fracture mode. - Abstract: In this paper, a limit bending moment equation applicable to all types of planar and non-planar flaws in wall-thinned straight pipes under bending was proposed. A system to rationally classify the planar/non-planar flaws in wall-thinned pipes was suggested based on experimental observations focused on the fracture mode. The results demonstrate the importance of distinguishing between axial and circumferential long flaws in wall-thinned pipes.
Transport properties in monolayer-bilayer-monolayer graphene planar junctions
Institute of Scientific and Technical Information of China (English)
Kai-Long Chu; Zi-Bo Wang; Jiao-Jiao Zhou; Hua Jiang
2017-01-01
The transport study of graphene based junctions has become one of the focuses in graphene research.There are two stacking configurations for monolayer-bilayer-monolayer graphene planar junctions.One is the two monolayer graphene contacting the same side of the bilayer graphene,and the other is the two-monolayer graphene contacting the different layers of the bilayer graphene.In this paper,according to the Landauer-Büttiker formula,we study the transport properties of these two configurations.The influences of the local gate potential in each part,the bias potential in bilayer graphene,the disorder and external magnetic field on conductance are obtained.We find the conductances of the two configurations can be manipulated by all of these effects.Especially,one can distinguish the two stacking configurations by introducing the bias potential into the bilayer graphene.The strong disorder and the external magnetic field will make the two stacking configurations indistinguishable in the transport experiment.
Planar millimeter wave radar frontend for automotive applications
Directory of Open Access Journals (Sweden)
J. Grubert
2003-01-01
Full Text Available A fully integrated planar sensor for 77 GHz automotive applications is presented. The frontend consists of a transceiver multichip module and an electronically steerable microstrip patch array. The antenna feed network is based on a modified Rotman-lens and connected to the array in a multilayer approach offering higher integration. Furthermore, the frontend comprises a phase lock loop to allow proper frequency-modulated continuous wave (FMCW radar operation. The latest experimental results verify the functionality of this advanced frontend design featuring automatic cruise control, precrash sensing and cut-in detection. These promising radar measurements give reason to a detailed theoretical investigation of system performance. Employing commercially available MMIC various circuit topologies are compared based on signal-tonoise considerations. Different scenarios for both sequential and parallel lobing hint to more advanced sensor designs and better performance. These improvements strongly depend on the availability of suitable MMIC and reliable packaging technologies. Within our present approach possible future MMIC developments are already considered and, thus, can be easily adapted by the flexible frontend design. Es wird ein integrierter planarer Sensor für 77 GHz Radaranwendungen vorgestellt. Das Frontend besteht aus einem Sende- und Empfangs-Multi-Chip-Modul und einer elektronisch schwenkbaren Antenne. Das Speisenetzwerk der Antenne basiert auf einer modifizierten Rotman- Linse. Für eine kompakte Bauweise sind Antenne und Speisenetzwerk mehrlagig integriert. Weiterhin umfasst das Frontend eine Phasenregelschleife für eine präzise Steuerung des frequenzmodulierten Dauerstrichradars. Die aktuellen Messergebnisse bestätigen die Funktionalit¨at dieses neuartigen Frontend-Designs, das automatische Geschwindigkeitsregelung, Kollisionswarnung sowie Nahbereichsüberwachung ermöglicht. Die Qualität der Messergebnisse hat weiterf
Algorithms for parallel computers
International Nuclear Information System (INIS)
Churchhouse, R.F.
1985-01-01
Until relatively recently almost all the algorithms for use on computers had been designed on the (usually unstated) assumption that they were to be run on single processor, serial machines. With the introduction of vector processors, array processors and interconnected systems of mainframes, minis and micros, however, various forms of parallelism have become available. The advantage of parallelism is that it offers increased overall processing speed but it also raises some fundamental questions, including: (i) which, if any, of the existing 'serial' algorithms can be adapted for use in the parallel mode. (ii) How close to optimal can such adapted algorithms be and, where relevant, what are the convergence criteria. (iii) How can we design new algorithms specifically for parallel systems. (iv) For multi-processor systems how can we handle the software aspects of the interprocessor communications. Aspects of these questions illustrated by examples are considered in these lectures. (orig.)
Parallelism and array processing
International Nuclear Information System (INIS)
Zacharov, V.
1983-01-01
Modern computing, as well as the historical development of computing, has been dominated by sequential monoprocessing. Yet there is the alternative of parallelism, where several processes may be in concurrent execution. This alternative is discussed in a series of lectures, in which the main developments involving parallelism are considered, both from the standpoint of computing systems and that of applications that can exploit such systems. The lectures seek to discuss parallelism in a historical context, and to identify all the main aspects of concurrency in computation right up to the present time. Included will be consideration of the important question as to what use parallelism might be in the field of data processing. (orig.)
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
Can earnings manipulation create value?
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...
Planar strain analysis of liver undergoing microwave thermal ablation using x-ray CT.
Weiss, Noam; Goldberg, S Nahum; Nissenbaum, Yitzhak; Sosna, Jacob; Azhari, Haim
2015-01-01
To study the planar strain effects in liver during microwave (MW) thermal ablation as a means for tracking tissue expansion and contraction as a method for improving ablation monitoring. 1.4 mm circular metallic markers were inserted into 16 ex-vivo bovine fresh liver specimens, that were subsequently ablated (with the markers inside the specimen) by 40 W of microwave energy, for 1, 2, 3, 6, and 10 min. The markers were tracked during the ablation using an x-ray CT scanner. Images were acquired every 5-10 s enabling determination of the markers' coordinates over time. The 2D principal strains were calculated for triangles formed by subgroups of three markers, and their planar strain index, Ω, was plotted vs time. In addition, the radial distance of the markers from the antenna was measured at the end of each ablation. Subsequently, the tissue was sliced parallel to the imaged planes and the ablation zone was traced and digitized. The average ablation radius was then computed and compared to the radial distance. The planar strain, Ω(t), profile demonstrated an ascending pattern until reaching a maximum at about 180 s, with a mean peak value (Ω = 1.31 ± 0.04) indicating tissue expansion. Thereafter, Ω progressively declined over the remaining duration of the ablation treatment, indicating tissue contraction. Furthermore, when plotting the ablation size vs time and the markers' mean radial distance vs time, it was found that the two curves intercepted at a time corresponding to the time of peak planar strain. By detecting the point of maximal planar strain in tissues during MW application, it is possible to noninvasively identify the location of the ablation zone front. The fact that the liver tissue proximal to the ablated zone expands during the first part of the treatment and then contracts when the ablation front reaches it, may serve as an index for monitoring the thermal treatment.
Modelling and Intelligent Control of an Elastic Link Robot Manipulator
Directory of Open Access Journals (Sweden)
Malik Loudini
2013-01-01
Full Text Available In this paper, precise control of the end-point position of a planar single-link elastic manipulator robot is discussed. The Timoshenko beam theory (TBT has been used to characterize the structural link elasticity including important damping mechanisms. A suitable nonlinear model is derived based on the Lagrangian assumed modes method. Elastic link manipulators are classified as systems possessing highly complex dynamics. In addition, the environment in which they operate may have a lot of disturbances. These give rise to special problems that may be solved using intelligent control techniques. The application of two advanced control strategies based on fuzzy set theory is investigated. The first closed-loop control scheme to be applied is the standard Proportional-Derivative (PD type fuzzy logic controller (FLC, also known as PD-type Mamdani's FLC (MPDFLC. Then, a genetic algorithm (GA is used to optimize the MPDFLC parameters with innovative tuning procedures. Both the MPDFLC and the GA optimized FLC (GAOFLC are implemented and tested to achieve a precise control of the manipulator end-point. The performances of the adopted closed-loop intelligent control strategies are examined via simulation experiments.
Regular shock refraction in planar ideal MHD
International Nuclear Information System (INIS)
Delmont, P; Keppens, R
2010-01-01
We study the classical problem of planar shock refraction at an oblique density discontinuity, separating two gases at rest, in planar ideal (magneto)hydrodynamics. In the hydrodynamical case, 3 signals arise and the interface becomes Richtmyer-Meshkov unstable due to vorticity deposition on the shocked contact. In the magnetohydrodynamical case, on the other hand, when the normal component of the magnetic field does not vanish, 5 signals will arise. The interface then typically remains stable, since the Rankine-Hugoniot jump conditions in ideal MHD do not allow for vorticity deposition on a contact discontinuity. We present an exact Riemann solver based solution strategy to describe the initial self similar refraction phase. Using grid-adaptive MHD simulations, we show that after reflection from the top wall, the interface remains stable.
Planar algebra of the subgroup-subfactor
Indian Academy of Sciences (India)
We think of R α G as the II1-factor (R ∪{ug: g ∈ G}) ⊂ L(L2(R)), where ug(ˆx) ..... define a global trace on P, where for 0± the trace for P0± ∼= C is the obvious identity .... function for strings is either a local maximum or a local minimum. ..... In order to understand how the inclusion tangles act on the subgroup-subfactor planar.
Planar graphical models which are easy
Energy Technology Data Exchange (ETDEWEB)
Chertkov, Michael [Los Alamos National Laboratory; Chernyak, Vladimir [WAYNE STATE UNIV
2009-01-01
We describe a rich family of binary variables statistical mechanics models on planar graphs which are equivalent to Gaussian Grassmann Graphical models (free fermions). Calculation of partition function (weighted counting) in the models is easy (of polynomial complexity) as reduced to evaluation of determinants of matrixes linear in the number of variables. In particular, this family of models covers Holographic Algorithms of Valiant and extends on the Gauge Transformations discussed in our previous works.
Wavelet Radiosity on Arbitrary Planar Surfaces
Holzschuch , Nicolas; Cuny , François; Alonso , Laurent
2000-01-01
Colloque avec actes et comité de lecture. internationale.; International audience; Wavelet radiosity is, by its nature, restricted to parallelograms or triangles. This paper presents an innovative technique enabling wavelet radiosity computations on planar surfaces of arbitrary shape, including concave contours or contours with holes. This technique replaces the need for triangulating such complicated shapes, greatly reducing the complexity of the wavelet radiosity algorithm and the computati...
Determinantal spanning forests on planar graphs
Kenyon, Richard
2017-01-01
We generalize the uniform spanning tree to construct a family of determinantal measures on essential spanning forests on periodic planar graphs in which every component tree is bi-infinite. Like the uniform spanning tree, these measures arise naturally from the laplacian on the graph. More generally these results hold for the "massive" laplacian determinant which counts rooted spanning forests with weight $M$ per finite component. These measures typically have a form of conformal invariance, ...
Hairy planar black holes in higher dimensions
Energy Technology Data Exchange (ETDEWEB)
Aceña, Andrés [Instituto de Ciencias Básicas, Universidad Nacional de Cuyo,Mendoza (Argentina); Anabalón, Andrés [Departamento de Ciencias, Facultad de Artes Liberales y Facultad de Ingeniería y Ciencias,Universidad Adolfo Ibáñez, Viña del Mar (Chile); Université de Lyon, Laboratoire de Physique,UMR 5672, CNRS, École Normale Supérieure de Lyon,46 allé d’Italie, F-69364 Lyon Cedex 07 (France); Astefanesei, Dumitru [Instituto de Física, Pontificia Universidad Católica de Valparaíso,Casilla 4059, Valparaíso (Chile); Mann, Robert [Department of Physics and Astronomy, University of Waterloo,Waterloo, Ontario, N2L 3G1 (Canada); Perimeter Institute,31 Caroline Street North Waterloo, Ontario N2L 2Y5 (Canada)
2014-01-28
We construct exact hairy planar black holes in D-dimensional AdS gravity. These solutions are regular except at the singularity and have stress-energy that satisfies the null energy condition. We present a detailed analysis of their thermodynamical properties and show that the first law is satisfied. We also discuss these solutions in the context of AdS/CFT duality and construct the associated c-function.
Planar Quantum Mechanics: an Intriguing Supersymmetric Example
Veneziano, Gabriele
2006-01-01
After setting up a Hamiltonian formulation of planar (matrix) quantum mechanics, we illustrate its effectiveness in a non-trivial supersymmetric example. The numerical and analytical study of two sectors of the model, as a function of 't Hooft's coupling $\\lambda$, reveals both a phase transition at $\\lambda=1$ (disappearence of the mass gap and discontinuous jump in Witten's index) and a new form of strong-weak duality for $\\lambda \\to 1/\\lambda$.
Rybus, Tomasz; Seweryn, Karol
2016-03-01
All devices designed to be used in space must be thoroughly tested in relevant conditions. For several classes of devices the reduced gravity conditions are the key factor. In early stages of development and later due to financial reasons, the tests need to be done on Earth. However, in Earth conditions it is impossible to obtain a different gravity field independent on all linear and rotational spatial coordinates. Therefore, various test-bed systems are used, with their design driven by the device's specific needs. One of such test-beds are planar air-bearing microgravity simulators. In such an approach, the tested objects (e.g., manipulators intended for on-orbit operations or vehicles simulating satellites in a close formation flight) are mounted on planar air-bearings that allow almost frictionless motion on a flat surface, thus simulating microgravity conditions in two dimensions. In this paper we present a comprehensive review of research activities related to planar air-bearing microgravity simulators, demonstrating achievements of the most active research groups and describing newest trends and ideas, such as tests of landing gears for low-g bodies. Major design parameters of air-bearing test-beds are also reviewed and a list of notable existing test-beds is presented.
Miniaturized Air-Driven Planar Magnetic Generators
Directory of Open Access Journals (Sweden)
Jingjing Zhao
2015-10-01
Full Text Available This paper presents the design, analysis, fabrication and testing of two miniaturized air-driven planar magnetic generators. In order to reduce the magnetic resistance torque, Generator 1 establishes a static magnetic field by consisting a multilayer planar coil as the stator and two multi-pole permanent-magnet (PM rotors on both sides of the coil. To further decrease the starting torque and save more space, Generator 2 adopts the multilayer planar coil as the rotor and the multi-pole PMs as the stator, eliminating the casing without compromising the magnetic structure or output performance. The prototypes were tested gathering energy from wind which can work at a low wind speed of 1~2 m/s. Prototype of Generator 1 is with a volume of 2.61 cm3 and its normalized voltage reaches 485 mV/krpm. Prototype of Generator 2 has a volume of 0.92 cm3 and a normalized voltage as high as 538 mV/krpm. Additionally, output voltage can be estimated at better than 96% accuracy by the theoretical model developed in this paper. The two micro generators are capable of producing substantial electricity with little volume to serve as compact power conversion devices.
Turbulent conductivity in parallel with iso-velocities in a planar established flow
International Nuclear Information System (INIS)
Jullien, F.
1968-02-01
In this thesis are presented the experimental results obtained during the study of the turbulent diffusion of heat using a wire source in a flat air flow. The Taylor statistical theory laws are well respected in the domain studied. The experiments have made it possible to evaluate the influence of the Reynolds number and of the distance from the wall on the quadratic values of velocity fluctuations and on the Lagrange turbulence scales. In particular, the author has found a correlation between the Lagrange scales and the friction coefficient when the Reynolds number varies. A diffusion law is derived from the Taylor theory; it makes it possible to explain more clearly the idea of turbulent conductivity. (author) [fr
A high efficient integrated planar transformer for primary-parallel isolated boost converters
DEFF Research Database (Denmark)
Sen, Gökhan; Ouyang, Ziwei; Thomsen, Ole Cornelius
2010-01-01
for a fuel cell fed battery charger application with 50–110 V input and 65–105 V output. Input inductors are coupled for current sharing, eliminating the use of current sharing transformers. An efficiency of 94% is achieved during nominal operating condition where the input is 70-V and the output is 84-V....
The STAPL Parallel Graph Library
Harshvardhan,; Fidel, Adam; Amato, Nancy M.; Rauchwerger, Lawrence
2013-01-01
This paper describes the stapl Parallel Graph Library, a high-level framework that abstracts the user from data-distribution and parallelism details and allows them to concentrate on parallel graph algorithm development. It includes a customizable
Kinematics/statics analysis of a novel serial-parallel robotic arm with hand
International Nuclear Information System (INIS)
Lu, Yi; Dai, Zhuohong; Ye, Nijia; Wang, Peng
2015-01-01
A robotic arm with fingered hand generally has multi-functions to complete various complicated operations. A novel serial-parallel robotic arm with a hand is proposed and its kinematics and statics are studied systematically. A 3D prototype of the serial-parallel robotic arm with a hand is constructed and analyzed by simulation. The serial-parallel robotic arm with a hand is composed of an upper 3RPS parallel manipulator, a lower 3SPR parallel manipulator and a hand with three finger mechanisms. Its kinematics formulae for solving the displacement, velocity, acceleration of are derived. Its statics formula for solving the active/constrained forces is derived. Its reachable workspace and orientation workspace are constructed and analyzed. Finally, an analytic example is given for solving the kinematics and statics of the serial-parallel robotic arm with a hand and the analytic solutions are verified by a simulation mechanism.
Kinematics/statics analysis of a novel serial-parallel robotic arm with hand
Energy Technology Data Exchange (ETDEWEB)
Lu, Yi; Dai, Zhuohong; Ye, Nijia; Wang, Peng [Yanshan University, Hebei (China)
2015-10-15
A robotic arm with fingered hand generally has multi-functions to complete various complicated operations. A novel serial-parallel robotic arm with a hand is proposed and its kinematics and statics are studied systematically. A 3D prototype of the serial-parallel robotic arm with a hand is constructed and analyzed by simulation. The serial-parallel robotic arm with a hand is composed of an upper 3RPS parallel manipulator, a lower 3SPR parallel manipulator and a hand with three finger mechanisms. Its kinematics formulae for solving the displacement, velocity, acceleration of are derived. Its statics formula for solving the active/constrained forces is derived. Its reachable workspace and orientation workspace are constructed and analyzed. Finally, an analytic example is given for solving the kinematics and statics of the serial-parallel robotic arm with a hand and the analytic solutions are verified by a simulation mechanism.
A planar beam splitter for millimetre and sub-millimetre heterodyne mixer array
Tan, BK; Yassin, G
2017-01-01
We present the design of a four-port planar circuit beam splitter comprising a microstrip and a coplanar waveguide (CPW) crossing each other. The CPW is fabricated in the ground plane (bottom layer) and the microstrip is deposited on top of the dielectric layer. A small section of the microstrip line is bent and aligned parallel to the central conductor of the bottom CPW, allowing the level of power coupling to be easily controlled by changing the length of the aligned section. The simple lay...
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.
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
Vlasov Treatment of Coherent Synchrotron Radiation from Arbitrary Planar Orbits
International Nuclear Information System (INIS)
Warnock, R
2004-01-01
We study the influence of coherent synchrotron radiation (CSR) on particle bunches traveling on arbitrary planar orbits between parallel conducting plates. The plates represent shielding due to the vacuum chamber. The vertical distribution of charge is an arbitrary fixed function. Our goal is to follow the time evolution of the phase space distribution by solving the Vlasov-Maxwell equations in the time domain. This provides simulations with lower numerical noise than the macroparticle method, and allows one to study such issues as emittance degradation and microbunching due to CSR in bunch compressors. The fields excited by the bunch are computed in the laboratory frame from a new formula that leads to much simpler computations than the usual retarded potentials or Lienard-Wiechert potentials. The nonlinear Vlasov equation, formulated in the interaction picture, is integrated in the beam frame by approximating the Perron-Frobenius operator. The distribution function is represented by B-splines, in a scheme preserving positivity and normalization of the distribution. For application to a chicane bunch compressor we take steps to deal with energy chirp, an initial near-perfect correlation of energy with position in the bunch
A Parallel Modular Biomimetic Cilia Sorting Platform
Directory of Open Access Journals (Sweden)
James G. H. Whiting
2018-03-01
Full Text Available The aquatic unicellular organism Paramecium caudatum uses cilia to swim around its environment and to graze on food particles and bacteria. Paramecia use waves of ciliary beating for locomotion, intake of food particles and sensing. There is some evidence that Paramecia pre-sort food particles by discarding larger particles, but intake the particles matching their mouth cavity. Most prior attempts to mimic cilia-based manipulation merely mimicked the overall action rather than the beating of cilia. The majority of massive-parallel actuators are controlled by a central computer; however, a distributed control would be far more true-to-life. We propose and test a distributed parallel cilia platform where each actuating unit is autonomous, yet exchanging information with its closest neighboring units. The units are arranged in a hexagonal array. Each unit is a tileable circuit board, with a microprocessor, color-based object sensor and servo-actuated biomimetic cilia actuator. Localized synchronous communication between cilia allowed for the emergence of coordinated action, moving different colored objects together. The coordinated beating action was capable of moving objects up to 4 cm/s at its highest beating frequency; however, objects were moved at a speed proportional to the beat frequency. Using the local communication, we were able to detect the shape of objects and rotating an object using edge detection was performed; however, lateral manipulation using shape information was unsuccessful.
Massively parallel multicanonical simulations
Gross, Jonathan; Zierenberg, Johannes; Weigel, Martin; Janke, Wolfhard
2018-03-01
Generalized-ensemble Monte Carlo simulations such as the multicanonical method and similar techniques are among the most efficient approaches for simulations of systems undergoing discontinuous phase transitions or with rugged free-energy landscapes. As Markov chain methods, they are inherently serial computationally. It was demonstrated recently, however, that a combination of independent simulations that communicate weight updates at variable intervals allows for the efficient utilization of parallel computational resources for multicanonical simulations. Implementing this approach for the many-thread architecture provided by current generations of graphics processing units (GPUs), we show how it can be efficiently employed with of the order of 104 parallel walkers and beyond, thus constituting a versatile tool for Monte Carlo simulations in the era of massively parallel computing. We provide the fully documented source code for the approach applied to the paradigmatic example of the two-dimensional Ising model as starting point and reference for practitioners in the field.
Optical particle trapping and dynamic manipulation using spatial light modulation
DEFF Research Database (Denmark)
Eriksen, René Lynge
suitable for optical trapping. A phaseonly spatial light modulator (SLM) is used for the phase encoding of the laser beam. The SLM is controlled directly from a standard computer where phase information is represented as gray-scale image information. Experimentally, both linear and angular movements......This thesis deals with the spatial phase-control of light and its application for optical trapping and manipulation of micron-scale objects. Utilizing the radiation pressure, light exerts on dielectric micron-scale particles, functionality of optical tweezers can be obtained. Multiple intensity...... compression factors of two, which is not achievable with binary phase encoding, have been successfully demonstrated. In addition, the GPC method has been miniaturized and implemented in a planar optical platform and shown to work acceptably, with relatively high visibility. Furthermore, the GPC method has...
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...
Planar Poincare chart - A planar graphic representation of the state of light polarization
Tedjojuwono, Ken K.; Hunter, William W., Jr.; Ocheltree, Stewart L.
1989-01-01
The planar Poincare chart, which represents the complete planar equivalence of the Poincare sphere, is proposed. The four sets of basic lines are drawn on two separate charts for the generalization and convenience of reading the scale. The chart indicates the rotation of the principal axes of linear birefringent material. The relationships between parameters of the two charts are given as 2xi-2phi (orientation angle of the major axis-ellipticity angle) pair and 2alpha-delta (angle of amplitude ratio-phase difference angle) pair. The results are useful for designing and analyzing polarization properties of optical components with birefringent properties.
SPINning parallel systems software
International Nuclear Information System (INIS)
Matlin, O.S.; Lusk, E.; McCune, W.
2002-01-01
We describe our experiences in using Spin to verify parts of the Multi Purpose Daemon (MPD) parallel process management system. MPD is a distributed collection of processes connected by Unix network sockets. MPD is dynamic processes and connections among them are created and destroyed as MPD is initialized, runs user processes, recovers from faults, and terminates. This dynamic nature is easily expressible in the Spin/Promela framework but poses performance and scalability challenges. We present here the results of expressing some of the parallel algorithms of MPD and executing both simulation and verification runs with Spin
Parallel programming with Python
Palach, Jan
2014-01-01
A fast, easy-to-follow and clear tutorial to help you develop Parallel computing systems using Python. Along with explaining the fundamentals, the book will also introduce you to slightly advanced concepts and will help you in implementing these techniques in the real world. If you are an experienced Python programmer and are willing to utilize the available computing resources by parallelizing applications in a simple way, then this book is for you. You are required to have a basic knowledge of Python development to get the most of this book.
Design of Optimal Hybrid Position/Force Controller for a Robot Manipulator Using Neural Networks
Directory of Open Access Journals (Sweden)
Vikas Panwar
2007-01-01
Full Text Available The application of quadratic optimization and sliding-mode approach is considered for hybrid position and force control of a robot manipulator. The dynamic model of the manipulator is transformed into a state-space model to contain two sets of state variables, where one describes the constrained motion and the other describes the unconstrained motion. The optimal feedback control law is derived solving matrix differential Riccati equation, which is obtained using Hamilton Jacobi Bellman optimization. The optimal feedback control law is shown to be globally exponentially stable using Lyapunov function approach. The dynamic model uncertainties are compensated with a feedforward neural network. The neural network requires no preliminary offline training and is trained with online weight tuning algorithms that guarantee small errors and bounded control signals. The application of the derived control law is demonstrated through simulation with a 4-DOF robot manipulator to track an elliptical planar constrained surface while applying the desired force on the surface.
Integrated Task And Data Parallel Programming: Language Design
Grimshaw, Andrew S.; West, Emily A.
1998-01-01
his research investigates the combination of task and data parallel language constructs within a single programming language. There are an number of applications that exhibit properties which would be well served by such an integrated language. Examples include global climate models, aircraft design problems, and multidisciplinary design optimization problems. Our approach incorporates data parallel language constructs into an existing, object oriented, task parallel language. The language will support creation and manipulation of parallel classes and objects of both types (task parallel and data parallel). Ultimately, the language will allow data parallel and task parallel classes to be used either as building blocks or managers of parallel objects of either type, thus allowing the development of single and multi-paradigm parallel applications. 1995 Research Accomplishments In February I presented a paper at Frontiers '95 describing the design of the data parallel language subset. During the spring I wrote and defended my dissertation proposal. Since that time I have developed a runtime model for the language subset. I have begun implementing the model and hand-coding simple examples which demonstrate the language subset. I have identified an astrophysical fluid flow application which will validate the data parallel language subset. 1996 Research Agenda Milestones for the coming year include implementing a significant portion of the data parallel language subset over the Legion system. Using simple hand-coded methods, I plan to demonstrate (1) concurrent task and data parallel objects and (2) task parallel objects managing both task and data parallel objects. My next steps will focus on constructing a compiler and implementing the fluid flow application with the language. Concurrently, I will conduct a search for a real-world application exhibiting both task and data parallelism within the same program m. Additional 1995 Activities During the fall I collaborated
Understanding pharmaceutical research manipulation in the context of accounting manipulation.
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.
Parallel asynchronous systems and image processing algorithms
Coon, D. D.; Perera, A. G. U.
1989-01-01
A new hardware approach to implementation of image processing algorithms is described. The approach is based on silicon devices which would permit an independent analog processing channel to be dedicated to evey pixel. A laminar architecture consisting of a stack of planar arrays of the device would form a two-dimensional array processor with a 2-D array of inputs located directly behind a focal plane detector array. A 2-D image data stream would propagate in neuronlike asynchronous pulse coded form through the laminar processor. Such systems would integrate image acquisition and image processing. Acquisition and processing would be performed concurrently as in natural vision systems. The research is aimed at implementation of algorithms, such as the intensity dependent summation algorithm and pyramid processing structures, which are motivated by the operation of natural vision systems. Implementation of natural vision algorithms would benefit from the use of neuronlike information coding and the laminar, 2-D parallel, vision system type architecture. Besides providing a neural network framework for implementation of natural vision algorithms, a 2-D parallel approach could eliminate the serial bottleneck of conventional processing systems. Conversion to serial format would occur only after raw intensity data has been substantially processed. An interesting challenge arises from the fact that the mathematical formulation of natural vision algorithms does not specify the means of implementation, so that hardware implementation poses intriguing questions involving vision science.
Learning Area and Perimeter with Virtual Manipulatives
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…
A six degrees of freedom mems manipulator
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
Manipulator vehicles and loading shovels
International Nuclear Information System (INIS)
Brudermueller, G.; Krueger, W.
1992-01-01
Kerntechnische Hilfsdienst GmbH (KHG) is an institution jointly founded by electricity utilities, fuel cycle industries, and national research centers to provide specialist equipment for removing the consequences of accidents inside plants and recognizing damage in the immediate vicinity of such plants, maintain such equipment in an operational condition, and provide personnel instructed in work of this kind. The specialized technical equipment developed includes carriages, carrier vehicles for manipulators, grabs, TV cameras or measuring gear. In addition to manipulator vehicles, especially loading shovels are used. Radio-controlled vehicles are used where cable operation is either not reliable enough or has failed. (orig.) [de
Adaptive integrand decomposition in parallel and orthogonal space
International Nuclear Information System (INIS)
Mastrolia, Pierpaolo; Peraro, Tiziano; Primo, Amedeo
2016-01-01
We present the integrand decomposition of multiloop scattering amplitudes in parallel and orthogonal space-time dimensions, d=d ∥ +d ⊥ , being d ∥ the dimension of the parallel space spanned by the legs of the diagrams. When the number n of external legs is n≤4, the corresponding representation of multiloop integrals exposes a subset of integration variables which can be easily integrated away by means of Gegenbauer polynomials orthogonality condition. By decomposing the integration momenta along parallel and orthogonal directions, the polynomial division algorithm is drastically simplified. Moreover, the orthogonality conditions of Gegenbauer polynomials can be suitably applied to integrate the decomposed integrand, yielding the systematic annihilation of spurious terms. Consequently, multiloop amplitudes are expressed in terms of integrals corresponding to irreducible scalar products of loop momenta and external ones. We revisit the one-loop decomposition, which turns out to be controlled by the maximum-cut theorem in different dimensions, and we discuss the integrand reduction of two-loop planar and non-planar integrals up to n=8 legs, for arbitrary external and internal kinematics. The proposed algorithm extends to all orders in perturbation theory.
Adaptive integrand decomposition in parallel and orthogonal space
Energy Technology Data Exchange (ETDEWEB)
Mastrolia, Pierpaolo [Dipartimento di Fisica ed Astronomia, Università di Padova,Via Marzolo 8, 35131 Padova (Italy); INFN, Sezione di Padova,Via Marzolo 8, 35131 Padova (Italy); Peraro, Tiziano [Higgs Centre for Theoretical Physics, School of Physics and Astronomy,The University of Edinburgh,James Clerk Maxwell Building,Peter Guthrie Tait Road, Edinburgh EH9 3FD, Scotland (United Kingdom); Primo, Amedeo [Dipartimento di Fisica ed Astronomia, Università di Padova,Via Marzolo 8, 35131 Padova (Italy); INFN, Sezione di Padova,Via Marzolo 8, 35131 Padova (Italy)
2016-08-29
We present the integrand decomposition of multiloop scattering amplitudes in parallel and orthogonal space-time dimensions, d=d{sub ∥}+d{sub ⊥}, being d{sub ∥} the dimension of the parallel space spanned by the legs of the diagrams. When the number n of external legs is n≤4, the corresponding representation of multiloop integrals exposes a subset of integration variables which can be easily integrated away by means of Gegenbauer polynomials orthogonality condition. By decomposing the integration momenta along parallel and orthogonal directions, the polynomial division algorithm is drastically simplified. Moreover, the orthogonality conditions of Gegenbauer polynomials can be suitably applied to integrate the decomposed integrand, yielding the systematic annihilation of spurious terms. Consequently, multiloop amplitudes are expressed in terms of integrals corresponding to irreducible scalar products of loop momenta and external ones. We revisit the one-loop decomposition, which turns out to be controlled by the maximum-cut theorem in different dimensions, and we discuss the integrand reduction of two-loop planar and non-planar integrals up to n=8 legs, for arbitrary external and internal kinematics. The proposed algorithm extends to all orders in perturbation theory.
Kinematics of a Hybrid Manipulator by Means of Screw Theory
International Nuclear Information System (INIS)
Gallardo-Alvarado, J
2005-01-01
In this work the kinematics of a hybrid manipulator, namely a fully parallel-serial manipulator, with a particular topology is approached by means of the theory of screws. Given the length of the six independent limbs, the forward position analysis of the mechanism under study, indeed the computation of the resulting pose, position and orientation, of the end-platform with respect to the fixed platform, is carried out in closed-form solution. Therefore conveniently this initial analysis avoids the use of a numerical technique such as the Newton-Raphson method. Writing in screw form the reduced acceleration state of the translational platform, with respect to the fixed platform, a simple expression for the computation of the acceleration of the translational platform is derived by taking advantage of the properties of reciprocal screws, via the Klein form, a bilinear symmetric form of the Lie algebra e(3). Following a similar procedure, a simple expression for the computation of the angular acceleration of the end-platform, with respect to the translational platform, is easily derived. Naturally, as an intermediate step, this contribution also provides the forward and inverse velocity analyses of the chosen parallel-serial manipulator. Finally, in order to prove the versatility of the expressions obtained via screw theory for solving the kinematics, up to the acceleration analysis, of the proposed spatial mechanism, a numerical example is solved with the help of commercial computer codes
High Current Planar Transformer for Very High Efficiency Isolated Boost DC-DC Converters
DEFF Research Database (Denmark)
Pittini, Riccardo; Zhang, Zhe; Andersen, Michael A. E.
2014-01-01
This paper presents a design and optimization of a high current planar transformer for very high efficiency dc-dc isolated boost converters. The analysis considers different winding arrangements, including very high copper thickness windings. The analysis is focused on the winding ac-resistance a......This paper presents a design and optimization of a high current planar transformer for very high efficiency dc-dc isolated boost converters. The analysis considers different winding arrangements, including very high copper thickness windings. The analysis is focused on the winding ac......-resistance and transformer leakage inductance. Design and optimization procedures are validated based on an experimental prototype of a 6 kW dcdc isolated full bridge boost converter developed on fully planar magnetics. The prototype is rated at 30-80 V 0-80 A on the low voltage side and 700-800 V on the high voltage side...... with a peak efficiency of 97.8% at 80 V 3.5 kW. Results highlights that thick copper windings can provide good performance at low switching frequencies due to the high transformer filling factor. PCB windings can also provide very high efficiency if stacked in parallel utilizing the transformer winding window...
Expressing Parallelism with ROOT
Energy Technology Data Exchange (ETDEWEB)
Piparo, D. [CERN; Tejedor, E. [CERN; Guiraud, E. [CERN; Ganis, G. [CERN; Mato, P. [CERN; Moneta, L. [CERN; Valls Pla, X. [CERN; Canal, P. [Fermilab
2017-11-22
The need for processing the ever-increasing amount of data generated by the LHC experiments in a more efficient way has motivated ROOT to further develop its support for parallelism. Such support is being tackled both for shared-memory and distributed-memory environments. The incarnations of the aforementioned parallelism are multi-threading, multi-processing and cluster-wide executions. In the area of multi-threading, we discuss the new implicit parallelism and related interfaces, as well as the new building blocks to safely operate with ROOT objects in a multi-threaded environment. Regarding multi-processing, we review the new MultiProc framework, comparing it with similar tools (e.g. multiprocessing module in Python). Finally, as an alternative to PROOF for cluster-wide executions, we introduce the efforts on integrating ROOT with state-of-the-art distributed data processing technologies like Spark, both in terms of programming model and runtime design (with EOS as one of the main components). For all the levels of parallelism, we discuss, based on real-life examples and measurements, how our proposals can increase the productivity of scientists.
Expressing Parallelism with ROOT
Piparo, D.; Tejedor, E.; Guiraud, E.; Ganis, G.; Mato, P.; Moneta, L.; Valls Pla, X.; Canal, P.
2017-10-01
The need for processing the ever-increasing amount of data generated by the LHC experiments in a more efficient way has motivated ROOT to further develop its support for parallelism. Such support is being tackled both for shared-memory and distributed-memory environments. The incarnations of the aforementioned parallelism are multi-threading, multi-processing and cluster-wide executions. In the area of multi-threading, we discuss the new implicit parallelism and related interfaces, as well as the new building blocks to safely operate with ROOT objects in a multi-threaded environment. Regarding multi-processing, we review the new MultiProc framework, comparing it with similar tools (e.g. multiprocessing module in Python). Finally, as an alternative to PROOF for cluster-wide executions, we introduce the efforts on integrating ROOT with state-of-the-art distributed data processing technologies like Spark, both in terms of programming model and runtime design (with EOS as one of the main components). For all the levels of parallelism, we discuss, based on real-life examples and measurements, how our proposals can increase the productivity of scientists.
Parallel Fast Legendre Transform
Alves de Inda, M.; Bisseling, R.H.; Maslen, D.K.
1998-01-01
We discuss a parallel implementation of a fast algorithm for the discrete polynomial Legendre transform We give an introduction to the DriscollHealy algorithm using polynomial arithmetic and present experimental results on the eciency and accuracy of our implementation The algorithms were
Practical parallel programming
Bauer, Barr E
2014-01-01
This is the book that will teach programmers to write faster, more efficient code for parallel processors. The reader is introduced to a vast array of procedures and paradigms on which actual coding may be based. Examples and real-life simulations using these devices are presented in C and FORTRAN.
Parallel hierarchical radiosity rendering
Energy Technology Data Exchange (ETDEWEB)
Carter, Michael [Iowa State Univ., Ames, IA (United States)
1993-07-01
In this dissertation, the step-by-step development of a scalable parallel hierarchical radiosity renderer is documented. First, a new look is taken at the traditional radiosity equation, and a new form is presented in which the matrix of linear system coefficients is transformed into a symmetric matrix, thereby simplifying the problem and enabling a new solution technique to be applied. Next, the state-of-the-art hierarchical radiosity methods are examined for their suitability to parallel implementation, and scalability. Significant enhancements are also discovered which both improve their theoretical foundations and improve the images they generate. The resultant hierarchical radiosity algorithm is then examined for sources of parallelism, and for an architectural mapping. Several architectural mappings are discussed. A few key algorithmic changes are suggested during the process of making the algorithm parallel. Next, the performance, efficiency, and scalability of the algorithm are analyzed. The dissertation closes with a discussion of several ideas which have the potential to further enhance the hierarchical radiosity method, or provide an entirely new forum for the application of hierarchical methods.
Parallel universes beguile science
2007-01-01
A staple of mind-bending science fiction, the possibility of multiple universes has long intrigued hard-nosed physicists, mathematicians and cosmologists too. We may not be able -- as least not yet -- to prove they exist, many serious scientists say, but there are plenty of reasons to think that parallel dimensions are more than figments of eggheaded imagination.
Energy Technology Data Exchange (ETDEWEB)
2017-04-04
A parallelization of the k-means++ seed selection algorithm on three distinct hardware platforms: GPU, multicore CPU, and multithreaded architecture. K-means++ was developed by David Arthur and Sergei Vassilvitskii in 2007 as an extension of the k-means data clustering technique. These algorithms allow people to cluster multidimensional data, by attempting to minimize the mean distance of data points within a cluster. K-means++ improved upon traditional k-means by using a more intelligent approach to selecting the initial seeds for the clustering process. While k-means++ has become a popular alternative to traditional k-means clustering, little work has been done to parallelize this technique. We have developed original C++ code for parallelizing the algorithm on three unique hardware architectures: GPU using NVidia's CUDA/Thrust framework, multicore CPU using OpenMP, and the Cray XMT multithreaded architecture. By parallelizing the process for these platforms, we are able to perform k-means++ clustering much more quickly than it could be done before.
International Nuclear Information System (INIS)
Gardes, D.; Volkov, P.
1981-01-01
A 5x3cm 2 (timing only) and a 15x5cm 2 (timing and position) parallel plate avalanche counters (PPAC) are considered. The theory of operation and timing resolution is given. The measurement set-up and the curves of experimental results illustrate the possibilities of the two counters [fr
Parallel hierarchical global illumination
Energy Technology Data Exchange (ETDEWEB)
Snell, Quinn O. [Iowa State Univ., Ames, IA (United States)
1997-10-08
Solving the global illumination problem is equivalent to determining the intensity of every wavelength of light in all directions at every point in a given scene. The complexity of the problem has led researchers to use approximation methods for solving the problem on serial computers. Rather than using an approximation method, such as backward ray tracing or radiosity, the authors have chosen to solve the Rendering Equation by direct simulation of light transport from the light sources. This paper presents an algorithm that solves the Rendering Equation to any desired accuracy, and can be run in parallel on distributed memory or shared memory computer systems with excellent scaling properties. It appears superior in both speed and physical correctness to recent published methods involving bidirectional ray tracing or hybrid treatments of diffuse and specular surfaces. Like progressive radiosity methods, it dynamically refines the geometry decomposition where required, but does so without the excessive storage requirements for ray histories. The algorithm, called Photon, produces a scene which converges to the global illumination solution. This amounts to a huge task for a 1997-vintage serial computer, but using the power of a parallel supercomputer significantly reduces the time required to generate a solution. Currently, Photon can be run on most parallel environments from a shared memory multiprocessor to a parallel supercomputer, as well as on clusters of heterogeneous workstations.
High-power planar dielectric waveguide lasers
International Nuclear Information System (INIS)
Shepherd, D.P.; Hettrick, S.J.; Li, C.; Mackenzie, J.I.; Beach, R.J.; Mitchell, S.C.; Meissner, H.E.
2001-01-01
The advantages and potential hazards of using a planar waveguide as the host in a high-power diode-pumped laser system are described. The techniques discussed include the use of proximity-coupled diodes, double-clad waveguides, unstable resonators, tapers, and integrated passive Q switches. Laser devices are described based on Yb 3+ -, Nd 3+ -, and Tm 3+ -doped YAG, and monolithic and highly compact waveguide lasers with outputs greater than 10 W are demonstrated. The prospects for scaling to the 100 W level and for further integration of devices for added functionality in a monolithic laser system are discussed. (author)
Planar permanent magnet multipoles: Measurements and configurations
International Nuclear Information System (INIS)
Cremer, T.; Tatchyn, R.
1995-05-01
Biplanar arrays of N rectangular permanent magnet (PM) blocks can be used to generate high quality N-pole fields in close proximity to the array axis. In applications featuring small-diameter charged particle beams, N-poles of adequate quality can be realized at relatively low cost using small volumes of PM material. In this paper we report on recent measurements performed on planar PM multipoles, and discuss techniques for improving the field quality of such devices at distances appreciably far away from the axis. Applications to hybrid/PM insertion device designs for linac-driven Free Electron Laser (FEL) operation in the x-ray range are described
Development of planar waveguides in zinc telluride
International Nuclear Information System (INIS)
Valette, Serge
1977-02-01
Zinc telluride (ZnTe) is one of the most attractive semi-conductors for monolithic integrated optics. In this study, the general characteristics of the planar optical waveguides achieved by implantation of light ions in ZnTe are investigated. Different aspects of prism-coupling and coherent light guiding have been taken up theoretically and experimentally. Some assumptions about the physical origin of these structures are discussed in order to explain all these results and the weak losses which have been measured. [fr
Leadership Manipulation and Ethics in Storytelling
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...
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.
3D printed soft parallel actuator
Zolfagharian, Ali; Kouzani, Abbas Z.; Khoo, Sui Yang; Noshadi, Amin; Kaynak, Akif
2018-04-01
This paper presents a 3-dimensional (3D) printed soft parallel contactless actuator for the first time. The actuator involves an electro-responsive parallel mechanism made of two segments namely active chain and passive chain both 3D printed. The active chain is attached to the ground from one end and constitutes two actuator links made of responsive hydrogel. The passive chain, on the other hand, is attached to the active chain from one end and consists of two rigid links made of polymer. The actuator links are printed using an extrusion-based 3D-Bioplotter with polyelectrolyte hydrogel as printer ink. The rigid links are also printed by a 3D fused deposition modelling (FDM) printer with acrylonitrile butadiene styrene (ABS) as print material. The kinematics model of the soft parallel actuator is derived via transformation matrices notations to simulate and determine the workspace of the actuator. The printed soft parallel actuator is then immersed into NaOH solution with specific voltage applied to it via two contactless electrodes. The experimental data is then collected and used to develop a parametric model to estimate the end-effector position and regulate kinematics model in response to specific input voltage over time. It is observed that the electroactive actuator demonstrates expected behaviour according to the simulation of its kinematics model. The use of 3D printing for the fabrication of parallel soft actuators opens a new chapter in manufacturing sophisticated soft actuators with high dexterity and mechanical robustness for biomedical applications such as cell manipulation and drug release.
Effects of parallel planning on agreement production.
Veenstra, Alma; Meyer, Antje S; Acheson, Daniel J
2015-11-01
An important issue in current psycholinguistics is how the time course of utterance planning affects the generation of grammatical structures. The current study investigated the influence of parallel activation of the components of complex noun phrases on the generation of subject-verb agreement. Specifically, the lexical interference account (Gillespie & Pearlmutter, 2011b; Solomon & Pearlmutter, 2004) predicts more agreement errors (i.e., attraction) for subject phrases in which the head and local noun mismatch in number (e.g., the apple next to the pears) when nouns are planned in parallel than when they are planned in sequence. We used a speeded picture description task that yielded sentences such as the apple next to the pears is red. The objects mentioned in the noun phrase were either semantically related or unrelated. To induce agreement errors, pictures sometimes mismatched in number. In order to manipulate the likelihood of parallel processing of the objects and to test the hypothesized relationship between parallel processing and the rate of agreement errors, the pictures were either placed close together or far apart. Analyses of the participants' eye movements and speech onset latencies indicated slower processing of the first object and stronger interference from the related (compared to the unrelated) second object in the close than in the far condition. Analyses of the agreement errors yielded an attraction effect, with more errors in mismatching than in matching conditions. However, the magnitude of the attraction effect did not differ across the close and far conditions. Thus, spatial proximity encouraged parallel processing of the pictures, which led to interference of the associated conceptual and/or lexical representation, but, contrary to the prediction, it did not lead to more attraction errors. Copyright © 2015 Elsevier B.V. All rights reserved.
Manipulations to regenerate aspen ecosystems
Wayne D. Shepperd
2001-01-01
Vegetative regeneration of aspen can be initiated through manipulations that provide hormonal stimulation, proper growth environment, and sucker protection - the three elements of the aspen regeneration triangle. The correct course of action depends upon a careful evaluation of the size, vigor, age, and successional status of the existing clone. Soils and site...
Adaptive Control Of Remote Manipulator
Seraji, Homayoun
1989-01-01
Robotic control system causes remote manipulator to follow closely reference trajectory in Cartesian reference frame in work space, without resort to computationally intensive mathematical model of robot dynamics and without knowledge of robot and load parameters. System, derived from linear multivariable theory, uses relatively simple feedforward and feedback controllers with model-reference adaptive control.
Indicial tensor manipulation on MACSYMA
International Nuclear Information System (INIS)
Bogen, R.A.; Pavelle, R.
1977-01-01
A new computational tool for physical calculations is described. It is the first computer system capable of performing indicial tensor calculus (as opposed to component tensor calculus). It is now operational on the symbolic manipulation system MACSYMA. The authors outline the capabilities of the system and describe some of the physical problems considered as well as others being examined at this time. (Auth.)
Manipulations of Totalitarian Nazi Architecture
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.
Mapping and Manipulating Facial Expression
Theobald, Barry-John; Matthews, Iain; Mangini, Michael; Spies, Jeffrey R.; Brick, Timothy R.; Cohn, Jeffrey F.; Boker, Steven M.
2009-01-01
Nonverbal visual cues accompany speech to supplement the meaning of spoken words, signify emotional state, indicate position in discourse, and provide back-channel feedback. This visual information includes head movements, facial expressions and body gestures. In this article we describe techniques for manipulating both verbal and nonverbal facial…
Pneumatic artificial muscle actuators for compliant robotic manipulators
Robinson, Ryan Michael
Robotic systems are increasingly being utilized in applications that require interaction with humans. In order to enable safe physical human-robot interaction, light weight and compliant manipulation are desirable. These requirements are problematic for many conventional actuation systems, which are often heavy, and typically use high stiffness to achieve high performance, leading to large impact forces upon collision. However, pneumatic artificial muscles (PAMs) are actuators that can satisfy these safety requirements while offering power-to-weight ratios comparable to those of conventional actuators. PAMs are extremely lightweight actuators that produce force in response to pressurization. These muscles demonstrate natural compliance, but have a nonlinear force-contraction profile that complicates modeling and control. This body of research presents solutions to the challenges associated with the implementation of PAMs as actuators in robotic manipulators, particularly with regard to modeling, design, and control. An existing PAM force balance model was modified to incorporate elliptic end geometry and a hyper-elastic constitutive relationship, dramatically improving predictions of PAM behavior at high contraction. Utilizing this improved model, two proof-of-concept PAM-driven manipulators were designed and constructed; design features included parallel placement of actuators and a tendon-link joint design. Genetic algorithm search heuristics were employed to determine an optimal joint geometry; allowing a manipulator to achieve a desired torque profile while minimizing the required PAM pressure. Performance of the manipulators was evaluated in both simulation and experiment employing various linear and nonlinear control strategies. These included output feedback techniques, such as proportional-integral-derivative (PID) and fuzzy logic, a model-based control for computed torque, and more advanced controllers, such as sliding mode, adaptive sliding mode, and
Some remarks on non-planar Feynman diagrams
International Nuclear Information System (INIS)
Bielas, Krzysztof; Dubovyk, Ievgen; Gluza, Janusz
2013-12-01
Two criteria for planarity of a Feynman diagram upon its propagators (momentum ows) are presented. Instructive Mathematica programs that solve the problem and examples are provided. A simple geometric argument is used to show that while one can planarize non-planar graphs by embedding them on higher-genus surfaces (in the example it is a torus), there is still a problem with defining appropriate dual variables since the corresponding faces of the graph are absorbed by torus generators.
Some remarks on non-planar Feynman diagrams
Energy Technology Data Exchange (ETDEWEB)
Bielas, Krzysztof; Dubovyk, Ievgen; Gluza, Janusz [Silesia Univ., Katowice (Poland). Inst. of Physics; Riemann, Tord [Deutsches Elektronen-Synchrotron (DESY), Zeuthen (Germany)
2013-12-15
Two criteria for planarity of a Feynman diagram upon its propagators (momentum ows) are presented. Instructive Mathematica programs that solve the problem and examples are provided. A simple geometric argument is used to show that while one can planarize non-planar graphs by embedding them on higher-genus surfaces (in the example it is a torus), there is still a problem with defining appropriate dual variables since the corresponding faces of the graph are absorbed by torus generators.
Robust Visual Control of Parallel Robots under Uncertain Camera Orientation
Directory of Open Access Journals (Sweden)
Miguel A. Trujano
2012-10-01
Full Text Available This work presents a stability analysis and experimental assessment of a visual control algorithm applied to a redundant planar parallel robot under uncertainty in relation to camera orientation. The key feature of the analysis is a strict Lyapunov function that allows the conclusion of asymptotic stability without invoking the Barbashin-Krassovsky-LaSalle invariance theorem. The controller does not rely on velocity measurements and has a structure similar to a classic Proportional Derivative control algorithm. Experiments in a laboratory prototype show that uncertainty in camera orientation does not significantly degrade closed-loop performance.
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.
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
Multistability in planar liquid crystal wells
Luo, Chong; Majumdar, Apala; Erban, Radek
2012-01-01
A planar bistable liquid crystal device, reported in Tsakonas, is modeled within the Landau-de Gennes theory for nematic liquid crystals. This planar device consists of an array of square micrometer-sized wells. We obtain six different classes of equilibrium profiles and these profiles are classified as diagonal or rotated solutions. In the strong anchoring case, we propose a Dirichlet boundary condition that mimics the experimentally imposed tangent boundary conditions. In the weak anchoring case, we present a suitable surface energy and study the multiplicity of solutions as a function of the anchoring strength. We find that diagonal solutions exist for all values of the anchoring strength W≥0, while rotated solutions only exist for W≥W c>0, where W c is a critical anchoring strength that has been computed numerically. We propose a dynamic model for the switching mechanisms based on only dielectric effects. For sufficiently strong external electric fields, we numerically demonstrate diagonal-to-rotated and rotated-to-diagonal switching by allowing for variable anchoring strength across the domain boundary. © 2012 American Physical Society.
Multistability in planar liquid crystal wells
Luo, Chong
2012-06-08
A planar bistable liquid crystal device, reported in Tsakonas, is modeled within the Landau-de Gennes theory for nematic liquid crystals. This planar device consists of an array of square micrometer-sized wells. We obtain six different classes of equilibrium profiles and these profiles are classified as diagonal or rotated solutions. In the strong anchoring case, we propose a Dirichlet boundary condition that mimics the experimentally imposed tangent boundary conditions. In the weak anchoring case, we present a suitable surface energy and study the multiplicity of solutions as a function of the anchoring strength. We find that diagonal solutions exist for all values of the anchoring strength W≥0, while rotated solutions only exist for W≥W c>0, where W c is a critical anchoring strength that has been computed numerically. We propose a dynamic model for the switching mechanisms based on only dielectric effects. For sufficiently strong external electric fields, we numerically demonstrate diagonal-to-rotated and rotated-to-diagonal switching by allowing for variable anchoring strength across the domain boundary. © 2012 American Physical Society.
Motion video analysis using planar parallax
Sawhney, Harpreet S.
1994-04-01
Motion and structure analysis in video sequences can lead to efficient descriptions of objects and their motions. Interesting events in videos can be detected using such an analysis--for instance independent object motion when the camera itself is moving, figure-ground segregation based on the saliency of a structure compared to its surroundings. In this paper we present a method for 3D motion and structure analysis that uses a planar surface in the environment as a reference coordinate system to describe a video sequence. The motion in the video sequence is described as the motion of the reference plane, and the parallax motion of all the non-planar components of the scene. It is shown how this method simplifies the otherwise hard general 3D motion analysis problem. In addition, a natural coordinate system in the environment is used to describe the scene which can simplify motion based segmentation. This work is a part of an ongoing effort in our group towards video annotation and analysis for indexing and retrieval. Results from a demonstration system being developed are presented.
Planar patch clamp: advances in electrophysiology.
Brüggemann, Andrea; Farre, Cecilia; Haarmann, Claudia; Haythornthwaite, Ali; Kreir, Mohamed; Stoelzle, Sonja; George, Michael; Fertig, Niels
2008-01-01
Ion channels have gained increased interest as therapeutic targets over recent years, since a growing number of human and animal diseases have been attributed to defects in ion channel function. Potassium channels are the largest and most diverse family of ion channels. Pharmaceutical agents such as Glibenclamide, an inhibitor of K(ATP) channel activity which promotes insulin release, have been successfully sold on the market for many years. So far, only a small group of the known ion channels have been addressed as potential drug targets. The functional testing of drugs on these ion channels has always been the bottleneck in the development of these types of pharmaceutical compounds.New generations of automated patch clamp screening platforms allow a higher throughput for drug testing and widen this bottleneck. Due to their planar chip design not only is a higher throughput achieved, but new applications have also become possible. One of the advantages of planar patch clamp is the possibility of perfusing the intracellular side of the membrane during a patch clamp experiment in the whole-cell configuration. Furthermore, the extracellular membrane remains accessible for compound application during the experiment.Internal perfusion can be used not only for patch clamp experiments with cell membranes, but also for those with artificial lipid bilayers. In this chapter we describe how internal perfusion can be applied to potassium channels expressed in Jurkat cells, and to Gramicidin channels reconstituted in a lipid bilayer.
Optical magnetism in planar metamaterial heterostructures.
Papadakis, Georgia T; Fleischman, Dagny; Davoyan, Artur; Yeh, Pochi; Atwater, Harry A
2018-01-18
Harnessing artificial optical magnetism has previously required complex two- and three-dimensional structures, such as nanoparticle arrays and split-ring metamaterials. By contrast, planar structures, and in particular dielectric/metal multilayer metamaterials, have been generally considered non-magnetic. Although the hyperbolic and plasmonic properties of these systems have been extensively investigated, their assumed non-magnetic response limits their performance to transverse magnetic (TM) polarization. We propose and experimentally validate a mechanism for artificial magnetism in planar multilayer metamaterials. We also demonstrate that the magnetic properties of high-index dielectric/metal hyperbolic metamaterials can be anisotropic, leading to magnetic hyperbolic dispersion in certain frequency regimes. We show that such systems can support transverse electric polarized interface-bound waves, analogous to their TM counterparts, surface plasmon polaritons. Our results open a route for tailoring optical artificial magnetism in lithography-free layered systems and enable us to generalize the plasmonic and hyperbolic properties to encompass both linear polarizations.
Overview of Planar Magnetic Technology — Fundamental Properties
DEFF Research Database (Denmark)
Ouyang, Ziwei; Andersen, Michael A. E.
2014-01-01
The momentum towards high efficiency, high frequency, and high power density in power supplies limits wide use of conventional wire-wound magnetic components. This article gives an overview of planar magnetic technologies with respect to the development of modern power electronics. The major...... advantages and disadvantages in the use of planar magnetics for high frequency power converters are covered, and publications on planar magnetics are reviewed. A detailed survey of winding conduction loss, leakage inductance and winding capacitance for planar magnetics is presented so power electronics...
Guidelines for optimization of planar HDR implants
International Nuclear Information System (INIS)
Zwicker, R.D.; Schmidt-Ullrich, R.
1996-01-01
Purpose: Conventional low dose rate (LDR) planar Ir-192 implants are typically carried out using at most a few different source strengths. Remote afterloading offers a much higher degree of flexibility with individually programmable dwell times. Dedicated software is available to generate individual dwell times producing isodose surfaces which contour as closely as possible the target volume. The success of these algorithms in enclosing the target volume while sparing normal tissues is dependent on the positioning of the source guides which constrain the dwell points. In this work we provide source placement guidelines for optimal coverage and dose uniformity in planar high dose rate (HDR) implants. The resulting distributions are compared with LDR treatments in terms of dose uniformity and early and late tissue effects. Materials and methods: Computer studies were undertaken to determine source positions and dwell times for optimal dose uniformity in planar HDR implants, and the results were compared to those obtained using corresponding LDR implant geometries. The improvements in the dose distributions achieved with the remote after loader are expected to help offset the increased late tissue effects which can occur when LDR irradiation is replaced with a few large HDR fractions. Equivalent differential volume-dose (DVD) curves for early and late effects were calculated for different numbers of HDR fractions using a linear-quadratic model and compared to the corresponding curves for the LDR regime. Results: Tables of source placement parameters were generated as guidelines for achieving highly homogeneous planar HDR dose distributions. Differential volume-dose data generated inside the target volume provide a quantitative measure of the improvement in real dose homogeneity obtained with remote afterloading. The net result is a shift of the peak in the DVD curve toward lower doses relative to the LDR implant. The equivalent DVD curves for late effects obtained
Mathematical Abstraction: Constructing Concept of Parallel Coordinates
Nurhasanah, F.; Kusumah, Y. S.; Sabandar, J.; Suryadi, D.
2017-09-01
Mathematical abstraction is an important process in teaching and learning mathematics so pre-service mathematics teachers need to understand and experience this process. One of the theoretical-methodological frameworks for studying this process is Abstraction in Context (AiC). Based on this framework, abstraction process comprises of observable epistemic actions, Recognition, Building-With, Construction, and Consolidation called as RBC + C model. This study investigates and analyzes how pre-service mathematics teachers constructed and consolidated concept of Parallel Coordinates in a group discussion. It uses AiC framework for analyzing mathematical abstraction of a group of pre-service teachers consisted of four students in learning Parallel Coordinates concepts. The data were collected through video recording, students’ worksheet, test, and field notes. The result shows that the students’ prior knowledge related to concept of the Cartesian coordinate has significant role in the process of constructing Parallel Coordinates concept as a new knowledge. The consolidation process is influenced by the social interaction between group members. The abstraction process taken place in this group were dominated by empirical abstraction that emphasizes on the aspect of identifying characteristic of manipulated or imagined object during the process of recognizing and building-with.
Intelligent spatial ecosystem modeling using parallel processors
International Nuclear Information System (INIS)
Maxwell, T.; Costanza, R.
1993-01-01
Spatial modeling of ecosystems is essential if one's modeling goals include developing a relatively realistic description of past behavior and predictions of the impacts of alternative management policies on future ecosystem behavior. Development of these models has been limited in the past by the large amount of input data required and the difficulty of even large mainframe serial computers in dealing with large spatial arrays. These two limitations have begun to erode with the increasing availability of remote sensing data and GIS systems to manipulate it, and the development of parallel computer systems which allow computation of large, complex, spatial arrays. Although many forms of dynamic spatial modeling are highly amenable to parallel processing, the primary focus in this project is on process-based landscape models. These models simulate spatial structure by first compartmentalizing the landscape into some geometric design and then describing flows within compartments and spatial processes between compartments according to location-specific algorithms. The authors are currently building and running parallel spatial models at the regional scale for the Patuxent River region in Maryland, the Everglades in Florida, and Barataria Basin in Louisiana. The authors are also planning a project to construct a series of spatially explicit linked ecological and economic simulation models aimed at assessing the long-term potential impacts of global climate change
Open-Source-Based 3D Printing of Thin Silica Gel Layers in Planar Chromatography.
Fichou, Dimitri; Morlock, Gertrud E
2017-02-07
On the basis of open-source packages, 3D printing of thin silica gel layers is demonstrated as proof-of-principle for use in planar chromatography. A slurry doser was designed to replace the plastic extruder of an open-source Prusa i3 printer. The optimal parameters for 3D printing of layers were studied, and the planar chromatographic separations on these printed layers were successfully demonstrated with a mixture of dyes. The layer printing process was fast. For printing a 0.2 mm layer on a 10 cm × 10 cm format, it took less than 5 min. It was affordable, i.e., the running costs for producing such a plate were less than 0.25 Euro and the investment costs for the modified hardware were 630 Euro. This approach demonstrated not only the potential of the 3D printing environment in planar chromatography but also opened new avenues and new perspectives for tailor-made plates, not only with regard to layer materials and their combinations (gradient plates) but also with regard to different layer shapes and patterns. As such an example, separations on a printed plane layer were compared with those obtained from a printed channeled layer. For the latter, 40 channels were printed in parallel on a 10 cm × 10 cm format for the separation of 40 samples. For producing such a channeled plate, the running costs were below 0.04 Euro and the printing process took only 2 min. All modifications of the device and software were released open-source to encourage reuse and improvements and to stimulate the users to contribute to this technology. By this proof-of-principle, another asset was demonstrated to be integrated into the Office Chromatography concept, in which all relevant steps for online miniaturized planar chromatography are performed by a single device.
International Nuclear Information System (INIS)
Papet, I.; Lune, P.; Pellerin, O.; Sapoval, M.; Brisse, H.; Clement, J.P.; Ribeiro, A.; Gomes, H.; Marcus, C.; Rehel, J.L.
2005-01-01
These two articles bring notions relative to the safety of procedures, specially in term of irradiation, they give information on different methods in order to reduce the radiation doses delivered to the patients, especially when the examinations concern children or young patients. (N.C.)
Wald, Ingo; Ize, Santiago
2015-07-28
Parallel population of a grid with a plurality of objects using a plurality of processors. One example embodiment is a method for parallel population of a grid with a plurality of objects using a plurality of processors. The method includes a first act of dividing a grid into n distinct grid portions, where n is the number of processors available for populating the grid. The method also includes acts of dividing a plurality of objects into n distinct sets of objects, assigning a distinct set of objects to each processor such that each processor determines by which distinct grid portion(s) each object in its distinct set of objects is at least partially bounded, and assigning a distinct grid portion to each processor such that each processor populates its distinct grid portion with any objects that were previously determined to be at least partially bounded by its distinct grid portion.
Ultrascalable petaflop parallel supercomputer
Blumrich, Matthias A [Ridgefield, CT; Chen, Dong [Croton On Hudson, NY; Chiu, George [Cross River, NY; Cipolla, Thomas M [Katonah, NY; Coteus, Paul W [Yorktown Heights, NY; Gara, Alan G [Mount Kisco, NY; Giampapa, Mark E [Irvington, NY; Hall, Shawn [Pleasantville, NY; Haring, Rudolf A [Cortlandt Manor, NY; Heidelberger, Philip [Cortlandt Manor, NY; Kopcsay, Gerard V [Yorktown Heights, NY; Ohmacht, Martin [Yorktown Heights, NY; Salapura, Valentina [Chappaqua, NY; Sugavanam, Krishnan [Mahopac, NY; Takken, Todd [Brewster, NY
2010-07-20
A massively parallel supercomputer of petaOPS-scale includes node architectures based upon System-On-a-Chip technology, where each processing node comprises a single Application Specific Integrated Circuit (ASIC) having up to four processing elements. The ASIC nodes are interconnected by multiple independent networks that optimally maximize the throughput of packet communications between nodes with minimal latency. The multiple networks may include three high-speed networks for parallel algorithm message passing including a Torus, collective network, and a Global Asynchronous network that provides global barrier and notification functions. These multiple independent networks may be collaboratively or independently utilized according to the needs or phases of an algorithm for optimizing algorithm processing performance. The use of a DMA engine is provided to facilitate message passing among the nodes without the expenditure of processing resources at the node.
DEFF Research Database (Denmark)
Gregersen, Frans; Josephson, Olle; Kristoffersen, Gjert
of departure that English may be used in parallel with the various local, in this case Nordic, languages. As such, the book integrates the challenge of internationalization faced by any university with the wish to improve quality in research, education and administration based on the local language......Abstract [en] More parallel, please is the result of the work of an Inter-Nordic group of experts on language policy financed by the Nordic Council of Ministers 2014-17. The book presents all that is needed to plan, practice and revise a university language policy which takes as its point......(s). There are three layers in the text: First, you may read the extremely brief version of the in total 11 recommendations for best practice. Second, you may acquaint yourself with the extended version of the recommendations and finally, you may study the reasoning behind each of them. At the end of the text, we give...
PARALLEL MOVING MECHANICAL SYSTEMS
Directory of Open Access Journals (Sweden)
Florian Ion Tiberius Petrescu
2014-09-01
Full Text Available Normal 0 false false false EN-US X-NONE X-NONE MicrosoftInternetExplorer4 Moving mechanical systems parallel structures are solid, fast, and accurate. Between parallel systems it is to be noticed Stewart platforms, as the oldest systems, fast, solid and precise. The work outlines a few main elements of Stewart platforms. Begin with the geometry platform, kinematic elements of it, and presented then and a few items of dynamics. Dynamic primary element on it means the determination mechanism kinetic energy of the entire Stewart platforms. It is then in a record tail cinematic mobile by a method dot matrix of rotation. If a structural mottoelement consists of two moving elements which translates relative, drive train and especially dynamic it is more convenient to represent the mottoelement as a single moving components. We have thus seven moving parts (the six motoelements or feet to which is added mobile platform 7 and one fixed.
Kinematics and dynamics analysis of a novel serial-parallel dynamic simulator
Energy Technology Data Exchange (ETDEWEB)
Hu, Bo; Zhang, Lian Dong; Yu, Jingjing [Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei (China)
2016-11-15
A serial-parallel dynamics simulator based on serial-parallel manipulator is proposed. According to the dynamics simulator motion requirement, the proposed serial-parallel dynamics simulator formed by 3-RRS (active revolute joint-revolute joint-spherical joint) and 3-SPR (Spherical joint-active prismatic joint-revolute joint) PMs adopts the outer and inner layout. By integrating the kinematics, constraint and coupling information of the 3-RRS and 3-SPR PMs into the serial-parallel manipulator, the inverse Jacobian matrix, velocity, and acceleration of the serial-parallel dynamics simulator are studied. Based on the principle of virtual work and the kinematics model, the inverse dynamic model is established. Finally, the workspace of the (3-RRS)+(3-SPR) dynamics simulator is constructed.
Kinematics and dynamics analysis of a novel serial-parallel dynamic simulator
International Nuclear Information System (INIS)
Hu, Bo; Zhang, Lian Dong; Yu, Jingjing
2016-01-01
A serial-parallel dynamics simulator based on serial-parallel manipulator is proposed. According to the dynamics simulator motion requirement, the proposed serial-parallel dynamics simulator formed by 3-RRS (active revolute joint-revolute joint-spherical joint) and 3-SPR (Spherical joint-active prismatic joint-revolute joint) PMs adopts the outer and inner layout. By integrating the kinematics, constraint and coupling information of the 3-RRS and 3-SPR PMs into the serial-parallel manipulator, the inverse Jacobian matrix, velocity, and acceleration of the serial-parallel dynamics simulator are studied. Based on the principle of virtual work and the kinematics model, the inverse dynamic model is established. Finally, the workspace of the (3-RRS)+(3-SPR) dynamics simulator is constructed
Xyce parallel electronic simulator.
Energy Technology Data Exchange (ETDEWEB)
Keiter, Eric R; Mei, Ting; Russo, Thomas V.; Rankin, Eric Lamont; Schiek, Richard Louis; Thornquist, Heidi K.; Fixel, Deborah A.; Coffey, Todd S; Pawlowski, Roger P; Santarelli, Keith R.
2010-05-01
This document is a reference guide to the Xyce Parallel Electronic Simulator, and is a companion document to the Xyce Users Guide. The focus of this document is (to the extent possible) exhaustively list device parameters, solver options, parser options, and other usage details of Xyce. This document is not intended to be a tutorial. Users who are new to circuit simulation are better served by the Xyce Users Guide.
Betchov, R
2012-01-01
Stability of Parallel Flows provides information pertinent to hydrodynamical stability. This book explores the stability problems that occur in various fields, including electronics, mechanics, oceanography, administration, economics, as well as naval and aeronautical engineering. Organized into two parts encompassing 10 chapters, this book starts with an overview of the general equations of a two-dimensional incompressible flow. This text then explores the stability of a laminar boundary layer and presents the equation of the inviscid approximation. Other chapters present the general equation
Algorithmically specialized parallel computers
Snyder, Lawrence; Gannon, Dennis B
1985-01-01
Algorithmically Specialized Parallel Computers focuses on the concept and characteristics of an algorithmically specialized computer.This book discusses the algorithmically specialized computers, algorithmic specialization using VLSI, and innovative architectures. The architectures and algorithms for digital signal, speech, and image processing and specialized architectures for numerical computations are also elaborated. Other topics include the model for analyzing generalized inter-processor, pipelined architecture for search tree maintenance, and specialized computer organization for raster
Integrated parallel reception, excitation, and shimming (iPRES).
Han, Hui; Song, Allen W; Truong, Trong-Kha
2013-07-01
To develop a new concept for a hardware platform that enables integrated parallel reception, excitation, and shimming. This concept uses a single coil array rather than separate arrays for parallel excitation/reception and B0 shimming. It relies on a novel design that allows a radiofrequency current (for excitation/reception) and a direct current (for B0 shimming) to coexist independently in the same coil. Proof-of-concept B0 shimming experiments were performed with a two-coil array in a phantom, whereas B0 shimming simulations were performed with a 48-coil array in the human brain. Our experiments show that individually optimized direct currents applied in each coil can reduce the B0 root-mean-square error by 62-81% and minimize distortions in echo-planar images. The simulations show that dynamic shimming with the 48-coil integrated parallel reception, excitation, and shimming array can reduce the B0 root-mean-square error in the prefrontal and temporal regions by 66-79% as compared with static second-order spherical harmonic shimming and by 12-23% as compared with dynamic shimming with a 48-coil conventional shim array. Our results demonstrate the feasibility of the integrated parallel reception, excitation, and shimming concept to perform parallel excitation/reception and B0 shimming with a unified coil system as well as its promise for in vivo applications. Copyright © 2013 Wiley Periodicals, Inc.
Jin, Long; Liao, Bolin; Liu, Mei; Xiao, Lin; Guo, Dongsheng; Yan, Xiaogang
2017-01-01
By incorporating the physical constraints in joint space, a different-level simultaneous minimization scheme, which takes both the robot kinematics and robot dynamics into account, is presented and investigated for fault-tolerant motion planning of redundant manipulator in this paper. The scheme is reformulated as a quadratic program (QP) with equality and bound constraints, which is then solved by a discrete-time recurrent neural network. Simulative verifications based on a six-link planar redundant robot manipulator substantiate the efficacy and accuracy of the presented acceleration fault-tolerant scheme, the resultant QP and the corresponding discrete-time recurrent neural network.
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...
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)
Adaptive hybrid control of manipulators
Seraji, H.
1987-01-01
Simple methods for the design of adaptive force and position controllers for robot manipulators within the hybrid control architecuture is presented. The force controller is composed of an adaptive PID feedback controller, an auxiliary signal and a force feedforward term, and it achieves tracking of desired force setpoints in the constraint directions. The position controller consists of adaptive feedback and feedforward controllers and an auxiliary signal, and it accomplishes tracking of desired position trajectories in the free directions. The controllers are capable of compensating for dynamic cross-couplings that exist between the position and force control loops in the hybrid control architecture. The adaptive controllers do not require knowledge of the complex dynamic model or parameter values of the manipulator or the environment. The proposed control schemes are computationally fast and suitable for implementation in on-line control with high sampling rates.
International Nuclear Information System (INIS)
Haaker, L.W.; Jelatis, D.G.
1979-01-01
Remote control manipulator of the master-slave type for carrying out work on the other side of a shield wall. This appliance allows a Y movement relative displacement, the function of which is to extend the range of the manipulator towards the front and also to facilitate its installation, the lateral rotation or inclination of the slave arm in relation to the master arm, and the Z movement extension through which the length of the slave arm is increased in comparison with that of the master arm. Devices have been developed which transform the linear movements into rotational movements to enable these movements to be transmitted through rotational seal fittings capable of ensuring the safety of the separation between the operator's environment and that in the work area. Particular improvements have been made to the handles, handle seals, pincer mechanisms, etc [fr
Genetic manipulation of Francisella tularensis
Directory of Open Access Journals (Sweden)
Xhavit eZogaj
2011-01-01
Full Text Available Francisella tularensis is a facultative intracellular pathogen that causes the disease tularemia. F. tularensis subsp. tularensis causes the most severe disease in humans and has been classified as a select A agent and potential bioweapon. There is currently no vaccine approved for human use, making genetic manipulation of this organism critical to unraveling the genetic basis of pathogenesis and developing countermeasures against tularemia. The development of genetic techniques applicable to F. tularensis have lagged behind those routinely used for other bacteria, primarily due to lack of research and the restricted nature of the biocontainment required for studying this pathogen. However, in recent years, genetic techniques, such as transposon mutagenesis and targeted gene disruption, have been developed, that have had a dramatic impact on our understanding of the genetic basis of F. tularensis virulence. In this review, we describe some of the methods developed for genetic manipulation of F. tularensis.
Viruses manipulate the marine environment.
Rohwer, Forest; Thurber, Rebecca Vega
2009-05-14
Marine viruses affect Bacteria, Archaea and eukaryotic organisms and are major components of the marine food web. Most studies have focused on their role as predators and parasites, but many of the interactions between marine viruses and their hosts are much more complicated. A series of recent studies has shown that viruses have the ability to manipulate the life histories and evolution of their hosts in remarkable ways, challenging our understanding of this almost invisible world.
Manipulating a stated choice experiment
DEFF Research Database (Denmark)
Fosgerau, Mogens; Borjesson, Maria
2015-01-01
This paper considers the design of a stated choice experiment intended to measure the marginal rate of substitution (MRS) between cost and an attribute such as time using a conventional logit model. Focusing the experimental design on some target MRS will bias estimates towards that value....... The paper shows why this happens. The resulting estimated MRS can then be manipulated by adapting the target MRS in the experimental design. (C) 2015 Elsevier Ltd. All rights reserved....
List manipulation in Turbo Prolog
Directory of Open Access Journals (Sweden)
V.Cotelea
1995-06-01
Full Text Available The present paper is concerned with list processing in Turbo Prolog language. It doesn't claim to be an exhaustive description of operations which can be performed upon lists. Nevertheless adduced programs are most representative, more or less known to specialists in logic programming domain. By means of examples are explained the list manipulation techniques, use of recursion, declarative comparison of predicates, analysis and fixation of acceptable prototypes and some problems of predicates' inconsistency. Index terms. Prolog, list, recursion.
Manipulation of Biofilm Microbial Ecology
Energy Technology Data Exchange (ETDEWEB)
White, D.C.; Palmer, R.J., Jr.; Zinn, M.; Smith, C.A.; Burkhalter, R.; Macnaughton, S.J.; Whitaker, K.W.; Kirkegaard, R.D.
1998-08-15
The biofilm mode of growth provides such significant advantages to the members of the consortium that most organisms in important habitats are found in biofilms. The study of factors that allow manipulation of biofilm microbes in the biofilm growth state requires that reproducible biofilms be generated. The most effective monitoring of biofilm formation, succession and desaturation is with on-line monitoring of microbial biofilms with flowcell for direct observation. The biofilm growth state incorporates a second important factor, the heterogeneity in distribution in time and space of the component members of the biofilm consortium. This heterogeneity is reflected not only in the cellular distribution but in the metabolic activity within a population of cells. Activity and cellular distribution can be mapped in four dimensions with confocal microscopy, and function can be ascertained by genetically manipulated reporter functions for specific genes or by vital stains. The methodology for understanding the microbial ecology of biofilms is now much more readily available and the capacity to manipulate biofilms is becoming an important feature of biotechnology.
Pitsch, Karola; Neumann, Alexander; Schnier, Christian; Hermann, Thomas
2013-01-01
We suggest that an Augmented Reality (AR) system for coupled interaction partners provides a new tool for linguistic research that allows to manipulate the coparticipants’ real-time perception and action. It encompasses novel facilities for recording heterogeneous sensor-rich data sets to be accessed in parallel with qualitative/manual and quantitative/computational methods.
Organic hybrid planar-nanocrystalline bulk heterojunctions
Forrest, Stephen R [Ann Arbor, MI; Yang, Fan [Piscataway, NJ
2011-03-01
A photosensitive optoelectronic device having an improved hybrid planar bulk heterojunction includes a plurality of photoconductive materials disposed between the anode and the cathode. The photoconductive materials include a first continuous layer of donor material and a second continuous layer of acceptor material. A first network of donor material or materials extends from the first continuous layer toward the second continuous layer, providing continuous pathways for conduction of holes to the first continuous layer. A second network of acceptor material or materials extends from the second continuous layer toward the first continuous layer, providing continuous pathways for conduction of electrons to the second continuous layer. The first network and the second network are interlaced with each other. At least one other photoconductive material is interspersed between the interlaced networks. This other photoconductive material or materials has an absorption spectra different from the donor and acceptor materials.
Development of Osaka gas type planar SOFC
Energy Technology Data Exchange (ETDEWEB)
Iha, M.; Shiratori, A.; Chikagawa, O. [Murata Mfg. Co., Ltd., Shiga (Japan)] [and others
1996-12-31
Osaka Gas Co. has been developing a planar type SOFC (OG type SOFC) which has a suitable structure for stacking. Murata Mfg. Co. has begun to develop the OG type SOFC stack through joint program since 1993. Figure 1 shows OG type cell structure. Because each cell is sustained by cell holders acting air manifold, the load of upper cell is not put on the lower cells. Single cell is composed of 3-layered membrane and LaCrO{sub 3} separator. 5 single cells are mounted on the cell holder, connected with Ni felt electrically, and bonded by glassy material sealant. We call the 5-cell stack a unit. Stacking 13 units, we succeeded 870 W generation in 1993. But the power density was low, 0.11 Wcm{sup -2} because of crack in the electrolyte and gas leakage at some cells.
Renormalization of QED with planar binary trees
International Nuclear Information System (INIS)
Brouder, C.
2001-01-01
The Dyson relations between renormalized and bare photon and electron propagators Z 3 anti D(q)=D(q) and Z 2 anti S(q)=S(q) are expanded over planar binary trees. This yields explicit recursive relations for the terms of the expansions. When all the trees corresponding to a given power of the electron charge are summed, recursive relations are obtained for the finite coefficients of the renormalized photon and electron propagators. These relations significantly decrease the number of integrals to carry out, as compared to the standard Feynman diagram technique. In the case of massless quantum electrodynamics (QED), the relation between renormalized and bare coefficients of the perturbative expansion is given in terms of a Hopf algebra structure. (orig.)
Anions, quantum particles in planar systems
International Nuclear Information System (INIS)
Monerat, Germano Amaral
2000-03-01
Our purpose here is to present a general review of the non-relativistic quantum-mechanical description of excitations that do not obey neither the Fermi-Dirac nor the Bose-Einstein statistics; they rather fulfill an intermediate statistics, the we called 'any-statistics'. As we shall see, this is a peculiarity of (1+1) and (1+2) dimensions, due to the fact that, in two space dimensions, the spin is not quantised, once the rotation group is Abelian. The relevance of studying theories in (1+2) dimensions is justified by the evidence that, in condensed matter physics, there are examples of planar systems, for which everything goes as if the third spatial dimension is frozen. (author)
Dielectric response of planar relativistic quantum plasmas
International Nuclear Information System (INIS)
Bardos, D.C.; Frankel, N.E.
1991-01-01
The dielectric response of planar relativistic charged particle-antiparticle plasmas is investigated, treating Fermi and Bose plasmas. The conductivity tensor in each case is derived in the self-consistent Random Phase Approximation. The tensors are then evaluated at zero temperature for the case of no external fields, leading to explicit dispersion relations for the electrodynamic modes of the plasma. The longitudinal and transverse modes are in general coupled for plasma layers. This coupling vanishes, however, in the zero field case, allowing 'effective' longitudinal and transverse dielectric functions to be defined in terms of components of the conductivity tensor. Solutions to the longitudinal mode equations (i.e. plasmon modes) are exhibited, while purely transverse modes are found not to exist. In the case of the Bose plasma the screening of a test charge is investigated in detail. 41 refs., 1 fig
Planar Silicon Optical Waveguide Light Modulators
DEFF Research Database (Denmark)
Leistiko, Otto; Bak, H.
1994-01-01
that values in the nanosecond region should be possible, however, the measured values are high, 20 microseconds, due to the large area of the injector junctions, 1Ã— 10Â¿2 cm2, and the limitations imposed by the detection circuit. The modulating properties of these devices are impressive, measurements......The results of an experimental investigation of a new type of optical waveguide based on planar technology in which the liglht guiding and modulation are achieved by exploiting free carrier effects in silicon are presented. Light is guided between the n+ substrate and two p+ regions, which also...... serve as carrier injectors for controling absorption. Light confinement of single mode devices is good, giving spot sizes of 9 Â¿m FWHM. Insertion loss measurements indicate that the absorption losses for these waveguides are extremely low, less 1 dB/cm. Estimates of the switching speed indicate...
Discrete approach to complex planar geometries
International Nuclear Information System (INIS)
Cupini, E.; De Matteis, A.
1974-01-01
Planar regions in Monte Carlo transport problems have been represented by a finite set of points with a corresponding region index for each. The simulation of particle free-flight reduces then to the simple operations necessary for scanning appropriate grid points to determine whether a region other than the starting one is encountered. When the complexity of the geometry is restricted to only some regions of the assembly examined, a mixed discrete-continuous philosophy may be adopted. By this approach, the lattice of a thermal reactor has been treated, discretizing only the central regions of the cell containing the fuel rods. Excellent agreement with experimental results has been obtained in the computation of cell parameters in the energy range from fission to thermalization through the 238 U resonance region. (U.S.)
Two solvable problems of planar geometrical optics.
Borghero, Francesco; Bozis, George
2006-12-01
In the framework of geometrical optics we consider a two-dimensional transparent inhomogeneous isotropic medium (dispersive or not). We show that (i) for any family belonging to a certain class of planar monoparametric families of monochromatic light rays given in the form f(x,y)=c of any definite color and satisfying a differential condition, all the refractive index profiles n=n(x,y) allowing for the creation of the given family can be found analytically (inverse problem) and that (ii) for any member of a class of two-dimensional refractive index profiles n=n(x,y) satisfying a differential condition, all the compatible families of light rays can be found analytically (direct problem). We present appropriate examples.
Coupling Planar Cell Polarity Signaling to Morphogenesis
Directory of Open Access Journals (Sweden)
Jeffrey D. Axelrod
2002-01-01
Full Text Available Epithelial cells and other groups of cells acquire a polarity orthogonal to their apical–basal axes, referred to as Planar Cell Polarity (PCP. The process by which these cells become polarized requires a signaling pathway using Frizzled as a receptor. Responding cells sense cues from their environment that provide directional information, and they translate this information into cellular asymmetry. Most of what is known about PCP derives from studies in the fruit fly, Drosophila. We review what is known about how cells translate an unknown signal into asymmetric cytoskeletal reorganization. We then discuss how the vertebrate processes of convergent extension and cochlear hair-cell development may relate to Drosophila PCP signaling.
Morphing Planar Graph Drawings with a Polynomial Number of Steps
DEFF Research Database (Denmark)
Alamdari, Soroush; Angelini, Patrizio; Chan, Timothy M.
2013-01-01
In 1944, Cairns proved the following theorem: given any two straight-line planar drawings of a triangulation with the same outer face, there exists a morph (i.e., a continuous transformation) between the two drawings so that the drawing remains straight-line planar at all times. Cairns’s original...
Design and measurements of the double layer planar motor
Rovers, J.M.M.; Jansen, J.W.; Lomonova, E.
2013-01-01
Moving-magnet magnetically levitated planar motors are considered for use as a wafer stage in the semiconductor lithographic industry. This puts high requirements on the accuracy and the dissipated power and cooling performance of such motors. A novel planar motor topology is developed, which
The peeling process of infinite Boltzmann planar maps
DEFF Research Database (Denmark)
Budd, Timothy George
2016-01-01
criterion has a very simple interpretation. The finite random planar maps under consideration were recently proved to possess a well-defined local limit known as the infinite Boltzmann planar map (IBPM). Inspired by recent work of Curien and Le Gall, we show that the peeling process on the IBPM can...
Column Planarity and Partially-Simultaneous Geometric Embedding
Czech Academy of Sciences Publication Activity Database
Barba, L.; Evans, W.; Hoffmann, M.; Kusters, V.; Saumell, Maria; Speckmann, B.
2017-01-01
Roč. 21, č. 6 (2017), s. 983-1002 ISSN 1526-1719 Grant - others:GA MŠk(CZ) LO1506; GA MŠk(CZ) EE2.3.30.0038 Institutional support: RVO:67985807 Keywords : column planarity * unlabeled level planarity * simultaneous geometric embedding Subject RIV: BA - General Mathematics OBOR OECD: Pure mathematics
The Sheath-less Planar Langmuir Probe
Cooke, D. L.
2017-12-01
The Langmuir probe is one of the oldest plasma diagnostics, provided the plasma density and species temperature from analysis of a current-voltage curve as the voltage is swept over a practically chosen range. The analysis depends on a knowledge or theory of the many factors that influence the current-voltage curve including, probe shape, size, nearby perturbations, and the voltage reference. For applications in Low Earth Orbit, the Planar Langmuir Probe, PLP, is an attractive geometry because the ram ion current is very constant over many Volts of a sweep, allowing the ion density and electron temperature to be determined independently with the same instrument, at different points on the sweep. However, when the physical voltage reference is itself small and electrically floating as with a small spacecraft, the spacecraft and probe system become a double probe where the current collection theory depends on the interaction of the spacecraft with the plasma which is generally not as simple as the probe itself. The Sheath-less PLP, SPLP, interlaces on a single ram facing surface, two variably biased probe elements, broken into many small and intertwined segments on a scale smaller than the plasma Debye length. The SPLP is electrically isolated from the rest of the spacecraft. For relative bias potentials of a few volts, the ion current to all segments of each element will be constant, while the electron currents will vary as a function of the element potential and the electron temperature. Because the segments are small, intertwined, and floating, the assembly will always present the same floating potential to the plasma, with minimal growth as a function of voltage, thus sheath-less and still planar. This concept has been modelled with Nascap, and tested with a physical model inserted into a Low Earth Orbit-like chamber plasma. Results will be presented.
Design, analysis and control of cable-suspended parallel robots and its applications
Zi, Bin
2017-01-01
This book provides an essential overview of the authors’ work in the field of cable-suspended parallel robots, focusing on innovative design, mechanics, control, development and applications. It presents and analyzes several typical mechanical architectures of cable-suspended parallel robots in practical applications, including the feed cable-suspended structure for super antennae, hybrid-driven-based cable-suspended parallel robots, and cooperative cable parallel manipulators for multiple mobile cranes. It also addresses the fundamental mechanics of cable-suspended parallel robots on the basis of their typical applications, including the kinematics, dynamics and trajectory tracking control of the feed cable-suspended structure for super antennae. In addition it proposes a novel hybrid-driven-based cable-suspended parallel robot that uses integrated mechanism design methods to improve the performance of traditional cable-suspended parallel robots. A comparative study on error and performance indices of hybr...
Particle Manipulation Methods in Droplet Microfluidics.
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.
Physics Based Vision Systems for Robotic Manipulation
National Aeronautics and Space Administration — With the increase of robotic manipulation tasks (TA4.3), specifically dexterous manipulation tasks (TA4.3.2), more advanced computer vision algorithms will be...
Resistor Combinations for Parallel Circuits.
McTernan, James P.
1978-01-01
To help simplify both teaching and learning of parallel circuits, a high school electricity/electronics teacher presents and illustrates the use of tables of values for parallel resistive circuits in which total resistances are whole numbers. (MF)
SOFTWARE FOR DESIGNING PARALLEL APPLICATIONS
Directory of Open Access Journals (Sweden)
M. K. Bouza
2017-01-01
Full Text Available The object of research is the tools to support the development of parallel programs in C/C ++. The methods and software which automates the process of designing parallel applications are proposed.
Yangian-type symmetries of non-planar leading singularities
Energy Technology Data Exchange (ETDEWEB)
Frassek, Rouven [Department of Mathematical Sciences, Durham University,South Road, Durham DH1 3LE (United Kingdom); Meidinger, David [Institut für Mathematik und Institut für Physik, Humboldt-Universität zu Berlin,Zum Großen Windkanal 6, 12489 Berlin (Germany)
2016-05-18
We take up the study of integrable structures behind non-planar contributions to scattering amplitudes in N = 4 super Yang-Mills theory. Focusing on leading singularities, we derive the action of the Yangian generators on color-ordered subsets of the external states. Each subset corresponds to a single boundary of the non-planar on-shell diagram. While Yangian invariance is broken, we find that higher-level Yangian generators still annihilate the non-planar on-shell diagram. For a given diagram, the number of these generators is governed by the degree of non-planarity. Furthermore, we present additional identities involving integrable transfer matrices. In particular, for diagrams on a cylinder we obtain a conservation rule similar to the Yangian invariance condition of planar on-shell diagrams. To exemplify our results, we consider a five-point MHV on-shell function on a cylinder.
On Longest Cycles in Essentially 4-Connected Planar Graphs
Directory of Open Access Journals (Sweden)
Fabrici Igor
2016-08-01
Full Text Available A planar 3-connected graph G is essentially 4-connected if, for any 3-separator S of G, one component of the graph obtained from G by removing S is a single vertex. Jackson and Wormald proved that an essentially 4-connected planar graph on n vertices contains a cycle C such that . For a cubic essentially 4-connected planar graph G, Grünbaum with Malkevitch, and Zhang showed that G has a cycle on at least ¾ n vertices. In the present paper the result of Jackson and Wormald is improved. Moreover, new lower bounds on the length of a longest cycle of G are presented if G is an essentially 4-connected planar graph of maximum degree 4 or G is an essentially 4-connected maximal planar graph.
Ambient mass spectrometry: From the planar to the non-planar surface analysis
Czech Academy of Sciences Publication Activity Database
Rejšek, Jan; Vrkoslav, Vladimír; Cvačka, Josef
2017-01-01
Roč. 15, č. 1 (2017), s. 31 ISSN 2336-7202. [Mezioborové setkání mladých biologů, biochemiků a chemiků /17./. 30.05.2017-01.06.2017, Milovy] Institutional support: RVO:61388963 Keywords : ambient mass spectrometry * thin layer chromatography * non-planar surface analysis Subject RIV: CB - Analytical Chemistry, Separation
Cusumano, J. P.; Moon, F. C.
1995-01-01
In this two-part paper, the results of an investigation into the non-linear dynamics of a flexible cantilevered rod (the elastica) with a thin rectangular cross-section are presented. An experimental examination of the dynamics of the elastica over a broad parameter range forms the core of Part I. In Part II, the experimental work is related to a theoretical study of the mechanics of the elastica, and the study of a two-degree-of-freedom model obtained by modal projection. The experimental system used in this investigation is a rod with clamped-free boundary conditions, forced by sinusoidally displacing the clamped end. Planar periodic motions of the driven elastica are shown to lose stability at distinct resonant wedges, and the resulting motions are shown in general to be non-planar, chaotic, bending-torsion oscillations. Non-planar motions in all resonances exhibit energy cascading and dynamic two-well phenomena, and a family of asymmetric, bending-torsion non-linear modes is discovered. Correlation dimension calculations are used to estimate the number of active degrees of freedom in the system.
Parallel External Memory Graph Algorithms
DEFF Research Database (Denmark)
Arge, Lars Allan; Goodrich, Michael T.; Sitchinava, Nodari
2010-01-01
In this paper, we study parallel I/O efficient graph algorithms in the Parallel External Memory (PEM) model, one o f the private-cache chip multiprocessor (CMP) models. We study the fundamental problem of list ranking which leads to efficient solutions to problems on trees, such as computing lowest...... an optimal speedup of Â¿(P) in parallel I/O complexity and parallel computation time, compared to the single-processor external memory counterparts....
Parallel inter channel interaction mechanisms
International Nuclear Information System (INIS)
Jovic, V.; Afgan, N.; Jovic, L.
1995-01-01
Parallel channels interactions are examined. For experimental researches of nonstationary regimes flow in three parallel vertical channels results of phenomenon analysis and mechanisms of parallel channel interaction for adiabatic condition of one-phase fluid and two-phase mixture flow are shown. (author)
An evolutionary resolution of manipulation conflict.
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.
Using Manipulatives to Teach Elementary Mathematics
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…
International Nuclear Information System (INIS)
Soltz, R; Vranas, P; Blumrich, M; Chen, D; Gara, A; Giampap, M; Heidelberger, P; Salapura, V; Sexton, J; Bhanot, G
2007-01-01
The theory of the strong nuclear force, Quantum Chromodynamics (QCD), can be numerically simulated from first principles on massively-parallel supercomputers using the method of Lattice Gauge Theory. We describe the special programming requirements of lattice QCD (LQCD) as well as the optimal supercomputer hardware architectures that it suggests. We demonstrate these methods on the BlueGene massively-parallel supercomputer and argue that LQCD and the BlueGene architecture are a natural match. This can be traced to the simple fact that LQCD is a regular lattice discretization of space into lattice sites while the BlueGene supercomputer is a discretization of space into compute nodes, and that both are constrained by requirements of locality. This simple relation is both technologically important and theoretically intriguing. The main result of this paper is the speedup of LQCD using up to 131,072 CPUs on the largest BlueGene/L supercomputer. The speedup is perfect with sustained performance of about 20% of peak. This corresponds to a maximum of 70.5 sustained TFlop/s. At these speeds LQCD and BlueGene are poised to produce the next generation of strong interaction physics theoretical results
A Parallel Butterfly Algorithm
Poulson, Jack; Demanet, Laurent; Maxwell, Nicholas; Ying, Lexing
2014-01-01
The butterfly algorithm is a fast algorithm which approximately evaluates a discrete analogue of the integral transform (Equation Presented.) at large numbers of target points when the kernel, K(x, y), is approximately low-rank when restricted to subdomains satisfying a certain simple geometric condition. In d dimensions with O(Nd) quasi-uniformly distributed source and target points, when each appropriate submatrix of K is approximately rank-r, the running time of the algorithm is at most O(r2Nd logN). A parallelization of the butterfly algorithm is introduced which, assuming a message latency of α and per-process inverse bandwidth of β, executes in at most (Equation Presented.) time using p processes. This parallel algorithm was then instantiated in the form of the open-source DistButterfly library for the special case where K(x, y) = exp(iΦ(x, y)), where Φ(x, y) is a black-box, sufficiently smooth, real-valued phase function. Experiments on Blue Gene/Q demonstrate impressive strong-scaling results for important classes of phase functions. Using quasi-uniform sources, hyperbolic Radon transforms, and an analogue of a three-dimensional generalized Radon transform were, respectively, observed to strong-scale from 1-node/16-cores up to 1024-nodes/16,384-cores with greater than 90% and 82% efficiency, respectively. © 2014 Society for Industrial and Applied Mathematics.
A Parallel Butterfly Algorithm
Poulson, Jack
2014-02-04
The butterfly algorithm is a fast algorithm which approximately evaluates a discrete analogue of the integral transform (Equation Presented.) at large numbers of target points when the kernel, K(x, y), is approximately low-rank when restricted to subdomains satisfying a certain simple geometric condition. In d dimensions with O(Nd) quasi-uniformly distributed source and target points, when each appropriate submatrix of K is approximately rank-r, the running time of the algorithm is at most O(r2Nd logN). A parallelization of the butterfly algorithm is introduced which, assuming a message latency of α and per-process inverse bandwidth of β, executes in at most (Equation Presented.) time using p processes. This parallel algorithm was then instantiated in the form of the open-source DistButterfly library for the special case where K(x, y) = exp(iΦ(x, y)), where Φ(x, y) is a black-box, sufficiently smooth, real-valued phase function. Experiments on Blue Gene/Q demonstrate impressive strong-scaling results for important classes of phase functions. Using quasi-uniform sources, hyperbolic Radon transforms, and an analogue of a three-dimensional generalized Radon transform were, respectively, observed to strong-scale from 1-node/16-cores up to 1024-nodes/16,384-cores with greater than 90% and 82% efficiency, respectively. © 2014 Society for Industrial and Applied Mathematics.
Fast parallel event reconstruction
CERN. Geneva
2010-01-01
On-line processing of large data volumes produced in modern HEP experiments requires using maximum capabilities of modern and future many-core CPU and GPU architectures.One of such powerful feature is a SIMD instruction set, which allows packing several data items in one register and to operate on all of them, thus achievingmore operations per clock cycle. Motivated by the idea of using the SIMD unit ofmodern processors, the KF based track fit has been adapted for parallelism, including memory optimization, numerical analysis, vectorization with inline operator overloading, and optimization using SDKs. The speed of the algorithm has been increased in 120000 times with 0.1 ms/track, running in parallel on 16 SPEs of a Cell Blade computer. Running on a Nehalem CPU with 8 cores it shows the processing speed of 52 ns/track using the Intel Threading Building Blocks. The same KF algorithm running on an Nvidia GTX 280 in the CUDA frameworkprovi...
Procedure for definition of end-effector orientation in planar surfaces robot applications
Directory of Open Access Journals (Sweden)
Vidaković Jelena Z.
2017-01-01
Full Text Available Design of user-friendly and at the same time powerful robot programming methods is the subject of significant efforts undertaken by the international robotics community. For the purpose of facilitating robot programming, with regard to the most common present-day applications in industry, it would be useful to develop programming procedures for frequently used manipulator tasks which could be easily implemented and used as ready-made application software. Important class of industrial robot applications involves end-effector trajectories in planar surfaces. Development of robot programming language procedure intended for determination of object plane normal with respect to frame of interest, as well as programming of end-effector orientation is presented in this paper. This procedure can be used as integral part of task oriented robot programing applications as well as a procedure for explicit programming languages, and it is illustrated in practical example with the robot Lola 15.
A kinematic analysis of the modified flight telerobotic servicer manipulator system
Crane, Carl; Carnahan, Tim; Duffy, Joseph
1992-01-01
A reverse kinematic analysis is presented of a six-DOF subchain of a modified seven-DOF flight telerobotic servicer manipulator system. The six-DOF subchain is designated as a TR-RT chain, which describes the sequence of manipulator joints beginning with the first grounded hook joint (universal joint) T, where the sequence R-R designates a pair of revolute joints with parallel axes. At the outset, it had been thought that the reverse kinematic analysis would be similar to a TTT manipulator previously analyzed, in which the third and fourth joints intersected at a finite point. However, this is shown not the case, and a 16th-degree tan-half-angle polynomial is derived for the TR-RT manipulator.
International Nuclear Information System (INIS)
DeHart, Mark D.; Williams, Mark L.; Bowman, Stephen M.
2010-01-01
The SCALE computational architecture has remained basically the same since its inception 30 years ago, although constituent modules and capabilities have changed significantly. This SCALE concept was intended to provide a framework whereby independent codes can be linked to provide a more comprehensive capability than possible with the individual programs - allowing flexibility to address a wide variety of applications. However, the current system was designed originally for mainframe computers with a single CPU and with significantly less memory than today's personal computers. It has been recognized that the present SCALE computation system could be restructured to take advantage of modern hardware and software capabilities, while retaining many of the modular features of the present system. Preliminary work is being done to define specifications and capabilities for a more advanced computational architecture. This paper describes the state of current SCALE development activities and plans for future development. With the release of SCALE 6.1 in 2010, a new phase of evolutionary development will be available to SCALE users within the TRITON and NEWT modules. The SCALE (Standardized Computer Analyses for Licensing Evaluation) code system developed by Oak Ridge National Laboratory (ORNL) provides a comprehensive and integrated package of codes and nuclear data for a wide range of applications in criticality safety, reactor physics, shielding, isotopic depletion and decay, and sensitivity/uncertainty (S/U) analysis. Over the last three years, since the release of version 5.1 in 2006, several important new codes have been introduced within SCALE, and significant advances applied to existing codes. Many of these new features became available with the release of SCALE 6.0 in early 2009. However, beginning with SCALE 6.1, a first generation of parallel computing is being introduced. In addition to near-term improvements, a plan for longer term SCALE enhancement
Computational Study on a PTAS for Planar Dominating Set Problem
Directory of Open Access Journals (Sweden)
Qian-Ping Gu
2013-01-01
Full Text Available The dominating set problem is a core NP-hard problem in combinatorial optimization and graph theory, and has many important applications. Baker [JACM 41,1994] introduces a k-outer planar graph decomposition-based framework for designing polynomial time approximation scheme (PTAS for a class of NP-hard problems in planar graphs. It is mentioned that the framework can be applied to obtain an O(2ckn time, c is a constant, (1+1/k-approximation algorithm for the planar dominating set problem. We show that the approximation ratio achieved by the mentioned application of the framework is not bounded by any constant for the planar dominating set problem. We modify the application of the framework to give a PTAS for the planar dominating set problem. With k-outer planar graph decompositions, the modified PTAS has an approximation ratio (1 + 2/k. Using 2k-outer planar graph decompositions, the modified PTAS achieves the approximation ratio (1+1/k in O(22ckn time. We report a computational study on the modified PTAS. Our results show that the modified PTAS is practical.
Pulsed laser planarization of metal films for multilevel interconnects
International Nuclear Information System (INIS)
Tuckerman, D.B.; Schmitt, R.L.
1985-05-01
Multilevel interconnect schemes for integrated circuits generally require one or more planarization steps, in order to maintain an acceptably flat topography for lithography and thin-film step coverage on the higher levels. Traditional approaches have involved planarization of the interlevel insulation (dielectric) layers, either by spin-on application (e.g., polyimide), or by reflow (e.g., phosphosilicate glass). We have pursued an alternative approach, in which each metal level is melted (hence planarized) using a pulsed laser prior to patterning. Short (approx.1 μs) pulses are used to preclude undesirable metallurgical reactions between the film, adhesion or barrier layer, and dielectric layer. Laser planarization of metals is particularly well suited to multilevel systems which include ground or power planes. Results are presented for planarization of gold films on SiO 2 dielectric layers using a flashlamp-pumped dye laser. The pulse duration is approx.1 μs, which allows the heat pulse to uniformly penetrate the gold while not penetrating substantially through the underlying SiO 2 (hence not perturbing the lower levels of metal). Excellent planarization of the gold films is achieved (less than 0.1 μm surface roughness, even starting with extreme topographic variations), as well as improved conductivity. To demonstrate the process, numerous planarized two-layer structures (transmission lines under a ground plane) were fabricated and characterized. 9 refs., 2 figs
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.
Parallel Polarization State Generation.
She, Alan; Capasso, Federico
2016-05-17
The control of polarization, an essential property of light, is of wide scientific and technological interest. The general problem of generating arbitrary time-varying states of polarization (SOP) has always been mathematically formulated by a series of linear transformations, i.e. a product of matrices, imposing a serial architecture. Here we show a parallel architecture described by a sum of matrices. The theory is experimentally demonstrated by modulating spatially-separated polarization components of a laser using a digital micromirror device that are subsequently beam combined. This method greatly expands the parameter space for engineering devices that control polarization. Consequently, performance characteristics, such as speed, stability, and spectral range, are entirely dictated by the technologies of optical intensity modulation, including absorption, reflection, emission, and scattering. This opens up important prospects for polarization state generation (PSG) with unique performance characteristics with applications in spectroscopic ellipsometry, spectropolarimetry, communications, imaging, and security.
Parallel imaging microfluidic cytometer.
Ehrlich, Daniel J; McKenna, Brian K; Evans, James G; Belkina, Anna C; Denis, Gerald V; Sherr, David H; Cheung, Man Ching
2011-01-01
By adding an additional degree of freedom from multichannel flow, the parallel microfluidic cytometer (PMC) combines some of the best features of fluorescence-activated flow cytometry (FCM) and microscope-based high-content screening (HCS). The PMC (i) lends itself to fast processing of large numbers of samples, (ii) adds a 1D imaging capability for intracellular localization assays (HCS), (iii) has a high rare-cell sensitivity, and (iv) has an unusual capability for time-synchronized sampling. An inability to practically handle large sample numbers has restricted applications of conventional flow cytometers and microscopes in combinatorial cell assays, network biology, and drug discovery. The PMC promises to relieve a bottleneck in these previously constrained applications. The PMC may also be a powerful tool for finding rare primary cells in the clinic. The multichannel architecture of current PMC prototypes allows 384 unique samples for a cell-based screen to be read out in ∼6-10 min, about 30 times the speed of most current FCM systems. In 1D intracellular imaging, the PMC can obtain protein localization using HCS marker strategies at many times for the sample throughput of charge-coupled device (CCD)-based microscopes or CCD-based single-channel flow cytometers. The PMC also permits the signal integration time to be varied over a larger range than is practical in conventional flow cytometers. The signal-to-noise advantages are useful, for example, in counting rare positive cells in the most difficult early stages of genome-wide screening. We review the status of parallel microfluidic cytometry and discuss some of the directions the new technology may take. Copyright © 2011 Elsevier Inc. All rights reserved.
Genetic manipulation of Methanosarcina spp.
Directory of Open Access Journals (Sweden)
Petra Regine Adelheid Kohler
2012-07-01
Full Text Available The discovery of the third domain of life, the Archaea, is one of the most exciting findings of the last century. These remarkable prokaryotes are well known for their adaptations to extreme environments; however, Archaea have also conquered moderate environments. Many of the archaeal biochemical processes, such as methane production, are unique in nature and therefore of great scientific interest. Although formerly restricted to biochemical and physiological studies, sophisticated systems for genetic manipulation have been developed during the last two decades for methanogenic archaea, halophilic archaea and thermophilic, sulfur-metabolizing archaea. The availability of these tools has allowed for more complete studies of archaeal physiology and metabolism and most importantly provides the basis for the investigation of gene expression, regulation and function. In this review we provide an overview of methods for genetic manipulation of Methanosarcina spp., a group of methanogenic archaea that are key players in the global carbon cycle and which can be found in a variety of anaerobic environments.
Covariance Manipulation for Conjunction Assessment
Hejduk, M. D.
2016-01-01
The manipulation of space object covariances to try to provide additional or improved information to conjunction risk assessment is not an uncommon practice. Types of manipulation include fabricating a covariance when it is missing or unreliable to force the probability of collision (Pc) to a maximum value ('PcMax'), scaling a covariance to try to improve its realism or see the effect of covariance volatility on the calculated Pc, and constructing the equivalent of an epoch covariance at a convenient future point in the event ('covariance forecasting'). In bringing these methods to bear for Conjunction Assessment (CA) operations, however, some do not remain fully consistent with best practices for conducting risk management, some seem to be of relatively low utility, and some require additional information before they can contribute fully to risk analysis. This study describes some basic principles of modern risk management (following the Kaplan construct) and then examines the PcMax and covariance forecasting paradigms for alignment with these principles; it then further examines the expected utility of these methods in the modern CA framework. Both paradigms are found to be not without utility, but only in situations that are somewhat carefully circumscribed.
Recent Studies on the Aromaticity and Antiaromaticity of Planar Cyclooctatetraene
Directory of Open Access Journals (Sweden)
Masahiko Iyoda
2010-02-01
Full Text Available Cyclooctatetraene (COT, the first 4nπ-electron system to be studied, adopts an inherently nonplanar tub-shaped geometry of D2d symmetry with alternating single and double bonds, and hence behaves as a nonaromatic polyene rather than an antiaromatic compound. Recently, however, considerable 8π-antiaromatic paratropicity has been shown to be generated in planar COT rings even with the bond alternated D4h structure. In this review, we highlight recent theoretical and experimental studies on the antiaromaticity of hypothetical and actual planar COT. In addition, theoretically predicted triplet aromaticity and stacked aromaticity of planar COT are also briefly described.
Micromachined Planar Supercapacitor with Interdigital Buckypaper Electrodes
Directory of Open Access Journals (Sweden)
Yun-Ting Chen
2018-05-01
Full Text Available In this work, a flexible micro-supercapacitor with interdigital planar buckypaper electrodes is presented. A simple fabrication process involving vacuum filtration method and SU-8 molding techniques is proposed to fabricate in-plane interdigital buckypaper electrodes on a membrane filter substrate. The proposed process exhibits excellent flexibility for future integration of the micro-supercapacitors (micro-SC with other electronic components. The device’s maximum specific capacitance measured using cyclic voltammetry was 107.27 mF/cm2 at a scan rate of 20 mV/s. The electrochemical stability was investigated by measuring the performance of charge-discharge at different discharge rates. Devices with different buckypaper electrode thicknesses were also fabricated and measured. The specific capacitance of the proposed device increased linearly with the buckypaper electrode thickness. The measured leakage current was approximately 9.95 µA after 3600 s. The device exhibited high cycle stability, with 96.59% specific capacitance retention after 1000 cycles. A Nyquist plot of the micro-SC was also obtained by measuring the impedances with frequencies from 1 Hz to 50 kHz; it indicated that the equivalent series resistance value was approximately 18 Ω.
Planar screening by charge polydisperse counterions
Trulsson, M.; Trizac, E.; Šamaj, L.
2018-01-01
We study how a neutralising cloud of counterions screens the electric field of a uniformly charged planar membrane (plate), when the counterions are characterised by a distribution of charges (or valence), n(q) . We work out analytically the one-plate and two-plate cases, at the level of non-linear Poisson-Boltzmann theory. The (essentially asymptotic) predictions are successfully compared to numerical solutions of the full Poisson-Boltzmann theory, but also to Monte Carlo simulations. The counterions with smallest valence control the long-distance features of interactions, and may qualitatively change the results pertaining to the classic monodisperse case where all counterions have the same charge. Emphasis is put on continuous distributions n(q) , for which new power-laws can be evidenced, be it for the ionic density or the pressure, in the one- and two-plates situations respectively. We show that for discrete distributions, more relevant for experiments, these scaling laws persist in an intermediate but yet observable range. Furthermore, it appears that from a practical point of view, hallmarks of the continuous n(q) behaviour are already featured by discrete mixtures with a relatively small number of constituents.
Planar optical waveguide sensor of ammonia
Sarkisov, Sergey S.; Curley, Michael J.; Boykin, Courtney; Diggs, Darnell E.; Grote, James G.; Hopkins, Frank K.
2004-12-01
We describe a novel sensor of ammonia based on a planar optical waveguide made of a thin film of polymer polyimide doped with indicator dye bromocresol purple. The film of dye-doped polyimide demonstrated reversible increase of absorption with a peak near 600 nm in response to presence of ammonia in ambient air. Coupling of input and output optic fibers with the waveguide was done by means of coupling prisms or coupling grooves. The latter configuration has the advantage of low cost, less sensitivity to temperature variation, and the possibility of coupling from both sides of the waveguide. Special experimental setup was built to test the sensor. It included test gas chamber with sealed optic fiber feed-throughs, gas filling line, laser source, photodetector, and signal processing hardware and software. The sensor was capable of detecting 100 ppm of ammonia in air within 8 seconds. Further increase of sensitivity can be achieved by adding more dye dopant to the polymer, increase of the length of the waveguide, and suppression of noise. Overexposure of the sensor to more than 5000 ppm of ammonia led to the saturation of the polymer film and, as a result, significant decrease of sensitivity and increase of the response time. The sensor can be used as low cost component of a distributed optical network of chemical sensors for monitoring presence of hazardous industrial pollutants in air.
Stress measurements of planar dielectric elastomer actuators
International Nuclear Information System (INIS)
Osmani, Bekim; Aeby, Elise A.; Müller, Bert
2016-01-01
Dielectric elastomer actuator (DEA) micro- and nano-structures are referred to artificial muscles because of their specific continuous power and adequate time response. The bending measurement of an asymmetric, planar DEA is described. The asymmetric cantilevers consist of 1 or 5 μm-thin DEAs deposited on polyethylene naphthalate (PEN) substrates 16, 25, 38, or 50 μm thick. The application of a voltage to the DEA electrodes generates an electrostatic pressure in the sandwiched silicone elastomer layer, which causes the underlying PEN substrate to bend. Optical beam deflection enables the detection of the bending angle vs. applied voltage. Bending radii as large as 850 m were reproducibly detected. DEA tests with electric fields of up to 80 V/μm showed limitations in electrode’s conductivity and structure failures. The actuation measurement is essential for the quantitative characterization of nanometer-thin, low-voltage, single- and multi-layer DEAs, as foreseen for artificial sphincters to efficiently treat severe urinary and fecal incontinence.
Stress transmission in planar disordered solid foams
International Nuclear Information System (INIS)
Blumenfeld, Raphael
2003-01-01
Stress transmission in planar open-cell cellular solids is analysed using a recent theory developed for marginally rigid granular assemblies. This is made possible by constructing a one-to-one mapping between the two systems. General trivalent networks are mapped onto assemblies of rough grains, while networks where Plateau rules are observed, are mapped onto assemblies of smooth grains. The constitutive part of the stress transmission equations couples the stress directly to the local rotational disorder of the cellular structure via a new fabric tensor. An intriguing consequence of the analysis is that the stress field can be determined in terms of the microstructure alone independent of stress-strain information. This redefines the problem of structure-property relationship in these materials and poses questions on the relations between this formalism and elasticity theory. The deviation of the stress transmission equations from those of conventional solids has been interpreted in the context of granular assemblies as a new state of solid matter and the relevance of this interpretation to the state of matter of cellular solids is discussed
Stress measurements of planar dielectric elastomer actuators
Energy Technology Data Exchange (ETDEWEB)
Osmani, Bekim; Aeby, Elise A.; Müller, Bert [Biomaterials Science Center, University of Basel, Gewerbestrasse 14, 4123 Allschwil (Switzerland)
2016-05-15
Dielectric elastomer actuator (DEA) micro- and nano-structures are referred to artificial muscles because of their specific continuous power and adequate time response. The bending measurement of an asymmetric, planar DEA is described. The asymmetric cantilevers consist of 1 or 5 μm-thin DEAs deposited on polyethylene naphthalate (PEN) substrates 16, 25, 38, or 50 μm thick. The application of a voltage to the DEA electrodes generates an electrostatic pressure in the sandwiched silicone elastomer layer, which causes the underlying PEN substrate to bend. Optical beam deflection enables the detection of the bending angle vs. applied voltage. Bending radii as large as 850 m were reproducibly detected. DEA tests with electric fields of up to 80 V/μm showed limitations in electrode’s conductivity and structure failures. The actuation measurement is essential for the quantitative characterization of nanometer-thin, low-voltage, single- and multi-layer DEAs, as foreseen for artificial sphincters to efficiently treat severe urinary and fecal incontinence.
Double shell planar experiments on OMEGA
Dodd, E. S.; Merritt, E. C.; Palaniyappan, S.; Montgomery, D. S.; Daughton, W. S.; Schmidt, D. W.; Cardenas, T.; Wilson, D. C.; Loomis, E. N.; Batha, S. H.; Ping, Y.; Smalyuk, V. A.; Amendt, P. A.
2017-10-01
The double shell project is aimed at fielding neutron-producing capsules at the National Ignition Facility (NIF), in which an outer low-Z ablator collides with an inner high-Z shell to compress the fuel. However, understanding these targets experimentally can be challenging when compared with conventional single shell targets. Halfraum-driven planar targets at OMEGA are being used to study physics issues important to double shell implosions outside of a convergent geometry. Both VISAR and radiography through a tube have advantages over imaging through the hohlraum and double-shell capsule at NIF. A number physics issues are being studied with this platform that include 1-d and higher dimensional effects such as defect-driven hydrodynamic instabilities from engineering features. Additionally, the use of novel materials with controlled density gradients require study in easily diagnosed 1-d systems. This work ultimately feeds back into the NIF capsule platform through manufacturing tolerances set using data from OMEGA. Supported under the US DOE by the LANS, LLC under contract DE-AC52-06NA25396. LA-UR-17-25386.
Bimodular high temperature planar oxygen gas sensor
Directory of Open Access Journals (Sweden)
Xiangcheng eSun
2014-08-01
Full Text Available A bimodular planar O2 sensor was fabricated using NiO nanoparticles (NPs thin film coated yttria-stabilized zirconia (YSZ substrate. The thin film was prepared by radio frequency (r.f. magnetron sputtering of NiO on YSZ substrate, followed by high temperature sintering. The surface morphology of NiO nanoparticles film was characterized by atomic force microscopy (AFM and scanning electron microscopy (SEM. X-ray diffraction (XRD patterns of NiO NPs thin film before and after high temperature O2 sensing demonstrated that the sensing material possesses a good chemical and structure stability. The oxygen detection experiments were performed at 500 °C, 600 °C and 800 °C using the as-prepared bimodular O2 sensor under both potentiometric and resistance modules. For the potentiometric module, a linear relationship between electromotive force (EMF output of the sensor and the logarithm of O2 concentration was observed at each operating temperature, following the Nernst law. For the resistance module, the logarithm of electrical conductivity was proportional to the logarithm of oxygen concentration at each operating temperature, in good agreement with literature report. In addition, this bimodular sensor shows sensitive, reproducible and reversible response to oxygen under both sensing modules. Integration of two sensing modules into one sensor could greatly enrich the information output and would open a new venue in the development of high temperature gas sensors.
About Parallel Programming: Paradigms, Parallel Execution and Collaborative Systems
Directory of Open Access Journals (Sweden)
Loredana MOCEAN
2009-01-01
Full Text Available In the last years, there were made efforts for delineation of a stabile and unitary frame, where the problems of logical parallel processing must find solutions at least at the level of imperative languages. The results obtained by now are not at the level of the made efforts. This paper wants to be a little contribution at these efforts. We propose an overview in parallel programming, parallel execution and collaborative systems.
Massive planar and non-planar double box integrals for light N f contributions to
von Manteuffel, Andreas; Studerus, Cedric
2013-10-01
We present the master integrals needed for the light fermionic two-loop corrections to top quark pair production in the gluon fusion channel. Via the method of differential equations we compute the results in terms of multiple polylogarithms in a Laurent series about d = 4, where d is the space-time dimension. The most involved topology is a non-planar double box with one internal mass. We employ the coproduct-augmented symbol calculus and show that significant simplifications are possible for selected results using an optimised set of multiple polylogarithms.
Parallel Framework for Cooperative Processes
Directory of Open Access Journals (Sweden)
Mitică Craus
2005-01-01
Full Text Available This paper describes the work of an object oriented framework designed to be used in the parallelization of a set of related algorithms. The idea behind the system we are describing is to have a re-usable framework for running several sequential algorithms in a parallel environment. The algorithms that the framework can be used with have several things in common: they have to run in cycles and the work should be possible to be split between several "processing units". The parallel framework uses the message-passing communication paradigm and is organized as a master-slave system. Two applications are presented: an Ant Colony Optimization (ACO parallel algorithm for the Travelling Salesman Problem (TSP and an Image Processing (IP parallel algorithm for the Symmetrical Neighborhood Filter (SNF. The implementations of these applications by means of the parallel framework prove to have good performances: approximatively linear speedup and low communication cost.
Multidiscipline simulation of elastic manipulators
Directory of Open Access Journals (Sweden)
T. Rølvåg
1992-10-01
Full Text Available This paper contributes to multidiscipline simulation of elastic robot manipulators in FEDEM. All developments presented in this paper are based on the formulations in FEDEM, a simulation system developed by the authors which combines finite element, mechanism and control analysis. In order to establish this general simulation system as an efficient multidiscipline robot design tool a robot control system including a high level robot programming language, interpolation algorithms, path generation algorithms, forward and inverse kinematics, control systems, gear and transmission models are implemented. These new features provide a high level of integration between traditionally separate design disciplines from the very beginning of the design and optimization process. Several simulations have shown that high fidelity mathematical models can be derived and used as a basis for dynamic analysis and controller design in FEDEM.
Non-existence of limit cycles for planar vector fields
Directory of Open Access Journals (Sweden)
Jaume Gine
2014-03-01
Full Text Available This article presents sufficient conditions for the non-existence of limit cycles for planar vector fields. Classical methods for the nonexistence of limit cycles are connected with the theory developed here.
Perovskite-fullerene hybrid materials suppress hysteresis in planar diodes.
Xu, Jixian; Buin, Andrei; Ip, Alexander H; Li, Wei; Voznyy, Oleksandr; Comin, Riccardo; Yuan, Mingjian; Jeon, Seokmin; Ning, Zhijun; McDowell, Jeffrey J; Kanjanaboos, Pongsakorn; Sun, Jon-Paul; Lan, Xinzheng; Quan, Li Na; Kim, Dong Ha; Hill, Ian G; Maksymovych, Peter; Sargent, Edward H
2015-01-01
passivates the key PbI3(-) antisite defects during the perovskite self-assembly, as revealed by theory and experiment. Photoluminescence transient spectroscopy proves that the PCBM phase promotes electron extraction. We showcase this mixed material in planar
Helical-axis stellarators with noninterlocking planar coils
International Nuclear Information System (INIS)
Reiman, A.; Boozer, A.
1983-08-01
The properties of helical axis stellarator fields generated by unlinked, planar coils are described. It is shown that such fields can have a magnetic well and large rotational transform, implying large equilibrium and stability beta limits
Helical-axis stellarators with noninterlocking planar coils
Energy Technology Data Exchange (ETDEWEB)
Reiman, A.; Boozer, A.
1983-08-01
The properties of helical axis stellarator fields generated by unlinked, planar coils are described. It is shown that such fields can have a magnetic well and large rotational transform, implying large equilibrium and stability beta limits.