WorldWideScience

Sample records for proliferation arms control

  1. Arms control and disarmament

    International Nuclear Information System (INIS)

    Acton, P.

    1992-01-01

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

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

    International Nuclear Information System (INIS)

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

    2001-01-01

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

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

    International Nuclear Information System (INIS)

    Chubin, Shahram

    2013-01-01

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

  4. The arms race control

    International Nuclear Information System (INIS)

    Nemo, J.

    2010-01-01

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

  5. Powered manipulator control arm

    International Nuclear Information System (INIS)

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

    1975-01-01

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

  6. Security and arms control

    International Nuclear Information System (INIS)

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

    1989-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2013-07-01

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

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

    NARCIS (Netherlands)

    Coppen, T.

    2016-01-01

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

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

    International Nuclear Information System (INIS)

    ElBaradei, M.

    2005-01-01

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

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

    International Nuclear Information System (INIS)

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

    1994-01-01

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

  11. Safeguarding arms control

    International Nuclear Information System (INIS)

    Flanagan, S.J.

    1988-01-01

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

  12. Disarmament and arms control

    International Nuclear Information System (INIS)

    Elzen, B.

    1979-01-01

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

  13. Arms control, nonproliferation, and US national security

    International Nuclear Information System (INIS)

    Pilat, J.F.

    1985-01-01

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

  14. JPRS Report Arms Control

    National Research Council Canada - National Science Library

    1993-01-01

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

  15. Small arms proliferation. Report on working group 2

    International Nuclear Information System (INIS)

    1998-01-01

    The working group reported on the proliferation of small arms, light weapons non-lethal weapons, which have traditionally been given little attention in international talks on peace on the contrary to nuclear weapons which have been tested during the Second World War but never used in war later

  16. Controlling nuclear proliferation

    International Nuclear Information System (INIS)

    Sweet, W.

    1981-01-01

    Nuclear non-proliferation policy depends on the 1968 Non-Proliferation Treaty, in which countries promise not to acquire nuclear weapons in exchange for open access to peaceful nuclear technology, and a system of international safeguards that are imposed on exported nuclear equipment and facilities operated by parties to the treaty. Critics have feared all along that non-nuclear countries might circumvent or exploit the system to obtain nuclear weapons and that the Atoms for Peace plan would spread the very technology it sought to control. The nuclear weapons states would like everyone else to believe that atomic bombs are undesirable, but they continue to rely on the bombs for their own defense. Israel's raid on Iraq's nuclear reactor focused world attention on the proliferation problem and helped to broaden and sterengthen its prospects. It also highlighted the weakness that there are no effective sanctions against violators. Until the international community can ageee on enforcement measures powerful enough to prevent nuclear proliferation, individual countries may be tempted to follow Israel's example, 19 references

  17. Worldwide Report, Arms Control

    Science.gov (United States)

    1986-02-28

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

  18. Worldwide Report, Arms Control.

    Science.gov (United States)

    1986-02-04

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

  19. International security and arms control

    International Nuclear Information System (INIS)

    Ekeus, R.

    2000-01-01

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

  20. Worldwide Report, Arms Control.

    Science.gov (United States)

    1985-11-22

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

  1. Worldwide Report, Arms Control

    Science.gov (United States)

    1985-09-21

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

  2. From proliferation to arms race. Nuclear challenges in Asia

    International Nuclear Information System (INIS)

    Farghen, Morgane

    2015-01-01

    If there is a region in the world where the 21. Century will be defined, it is Asia. When the rise of powers meets with old rivalries, competition for regional leadership and pending territorial disputes, the risk of conflict resurfaces and the balance of powers shifts. With changes come new trends, and with new trends come new dynamics. The nuclear realm is one of those where the changes are the most significant, the future the most uncertain, and where ongoing evolutions warrant the most scrutiny. What are these evolutions' main characteristics and what are their consequences for security, deterrence, non-proliferation and disarmament? Five major trends are currently shaping the strategic landscape and one of them has the potential for global ramifications: the advent of a regional arms race. (author)

  3. Nuclear physicist, arms control advocate

    CERN Multimedia

    Chang, K

    2002-01-01

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

  4. Borehole tool outrigger arm displacement control mechanism

    International Nuclear Information System (INIS)

    Lee, A.G.

    1985-01-01

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

  5. Dual arm master controller concept

    International Nuclear Information System (INIS)

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

    1984-01-01

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

  6. Dual arm master controller development

    Science.gov (United States)

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

    1985-01-01

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

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

    International Nuclear Information System (INIS)

    Dahan, P.

    2002-01-01

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

  8. Arms control agency faces uncertain future

    International Nuclear Information System (INIS)

    Ember, L.

    1993-01-01

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

  9. Dual arm master controller development

    International Nuclear Information System (INIS)

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

    1985-01-01

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

  10. The globalization of the arms industry: The next proliferation challenge

    Energy Technology Data Exchange (ETDEWEB)

    Bitzinger, R.A.

    1994-12-31

    The globalization of the arms industry entails a significant shift away from traditional, single-country patterns of weapons production toward internationalization of the development, production, and marketing of arms. While wholly indigenous armaments production may be on the decline, multinational arms production - through collaboration on individual weapon systems and increasingly via interfirm linkages across the international arms industry - appears actually to be expanding. In several instances, in fact, multinational armaments production is increasingly supplementing or even supplanting indigenous or autonomous weapons production or arms imports. The emergence of an increasingly transnational defense technology and industrial base is fundamentally affecting the shape and content of much of the global arms trade. This changing defense market, in turn, will have a profound impact on a number of national security issues concerning the Western industrialized nations. 3 figs., 2 tabs.

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

    International Nuclear Information System (INIS)

    ElBaradei, M.

    2001-01-01

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

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

    International Nuclear Information System (INIS)

    MacLean, G.; Fergusson, J.

    1998-01-01

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

  13. New Horizons and New Strategies in Arms Control

    Energy Technology Data Exchange (ETDEWEB)

    Brown, J. editor

    1998-12-04

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

  14. Sensory-Feedback Exoskeletal Arm Controller

    Science.gov (United States)

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

    2004-01-01

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

  15. Bill project related to the struggle against the proliferation of arms of massive destruction and their vectors; Projet de Loi relatif a la lutte contre la proliferation des armes de destruction massive et de leurs vecteurs

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2011-07-01

    This bill project addresses several issues: the struggle against proliferation of arms of massive destruction (nuclear weapons, nuclear materials, biological weapons, and chemical weapons), the struggle against proliferation of vectors of arms of massive destruction, double-use goods, the use of these weapons and vectors in acts of terrorism

  16. Neural control of colonic cell proliferation.

    Science.gov (United States)

    Tutton, P J; Barkla, D H

    1980-03-15

    The mitotic rate in rat colonic crypts and in dimethylhydrazine-induced colonic carcinomas was measured using a stathmokinetic technique. In sympathectomized animals cell proliferation was retarded in the crypts but not in the tumors, whereas in animals treated with Metaraminol, a drug which releases norepinephrine from nerve terminals, crypt cell but not tumor cell proliferation was accelerated. Blockade of alpha-adrenoceptors also inhibited crypt cell proliferation. However, stimulation of beta-adrenoceptors inhibited and blockade of beta-adrenoceptors accelerated tumor cell proliferation without influencing crypt cell proliferation. Injection of either serotonin or histamine stimulated tumor but not crypt cell proliferation and blockade or serotonin receptors or histamine H2-receptors inhibited tumor cell proliferation. It is postulated that cell proliferation in the colonic crypts, like that in the jejunal crypts, is under both endocrine and autonomic neural control whereas colonic tumor cell division is subject to endocrine regulation alone.

  17. Bill project related to the struggle against the proliferation of arms of massive destruction and their vectors

    International Nuclear Information System (INIS)

    2011-01-01

    This bill project addresses several issues: the struggle against proliferation of arms of massive destruction (nuclear weapons, nuclear materials, biological weapons, and chemical weapons), the struggle against proliferation of vectors of arms of massive destruction, double-use goods, the use of these weapons and vectors in acts of terrorism

  18. Regional dialogue and multilateral arms control efforts today

    International Nuclear Information System (INIS)

    Graham, T. Jr.

    1994-01-01

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

  19. Systems Approach to Arms Control Verification

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-05-15

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

  20. Neurobiology: motor control of flexible octopus arms.

    Science.gov (United States)

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

    2005-02-10

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

  1. Fuzzy Control of Robotic Arm

    Science.gov (United States)

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

    2008-10-01

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

  2. Robot-Arm Dynamic Control by Computer

    Science.gov (United States)

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

    1987-01-01

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

  3. Arms Control, Disarmament, and Peace Newsletters.

    Science.gov (United States)

    Atkins, Stephen

    1986-01-01

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

  4. The Proliferation and Illicit Trafficking of Small Arms and Light Weapons in the Great Lakes and Horn of Africa

    National Research Council Canada - National Science Library

    Kiugu, Aphaxard M

    2007-01-01

    In Africa, the effect of the proliferation of small arms and light weapons (SALW) continues to impact negatively on socioeconomic development, particularly within the Great Lakes and Horn of Africa...

  5. Monitoring and Controlling an Underwater Robotic Arm

    Science.gov (United States)

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

    2009-01-01

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

  6. Gorbachev’s Arms Control Strategy.

    Science.gov (United States)

    1987-01-22

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

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

    International Nuclear Information System (INIS)

    Rhinelander, J.B.; Bunn, G.

    1991-01-01

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

  8. An Approach to Naval Arms Control

    Science.gov (United States)

    1989-07-01

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

  9. Defining the new initiatives of struggle against the proliferation of arms of massive destruction

    International Nuclear Information System (INIS)

    Hautecouverture, Benjamin

    2007-01-01

    The author discusses the various terms of the concept of 'new initiatives of struggle against arms of massive destruction' by discussing how these initiatives are new, how they address new threats (State-based proliferation of AMD, terrorism of massive destruction). He comments the background of these initiatives which may be launched to respond to a specific threat or to implement specific means of struggle. He identifies the main characteristics of these political or institutional initiatives: they are pragmatic, functional, instrumental, have different scopes, are based on an institutional flexibility, and on cooperation and partnership. For different of these initiatives (Proliferation Security Initiative, Container Security Initiative, Global Initiative to Combat Nuclear Terrorism, and so on), the author indicates whether they are unilateral, bilateral, supported by regional organisations, by the UN, by operational international organisations, or inter-governmental groups. He finally outlines questions raised by these initiatives: how to assess their impact? Must they be more integrated? Can they or must they have a better defined role in the global regime of non proliferation and disarmament?

  10. Europe, arms control and American security

    International Nuclear Information System (INIS)

    Burns, W.F.

    1992-01-01

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

  11. Controlling robot arm with the mind

    National Science Foundation

    2017-05-31

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

  12. The politics of arms control treaty ratification

    International Nuclear Information System (INIS)

    Krepon, M.; Caldwell, D.

    1991-01-01

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

  13. Research on ARM Numerical Control System

    Science.gov (United States)

    Wei, Xu; JiHong, Chen

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

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

    Energy Technology Data Exchange (ETDEWEB)

    Dahan, P

    2002-07-01

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

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

    International Nuclear Information System (INIS)

    Liebert, W.

    2001-01-01

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

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

    Science.gov (United States)

    Shi, Lingling; Kayastha, Sharmila; Katupitiya, Jay

    2017-09-01

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

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

    International Nuclear Information System (INIS)

    Rotfeld, Adam Daniel

    2000-01-01

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

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

    Science.gov (United States)

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

    1996-11-15

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

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

    Science.gov (United States)

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

    2001-09-07

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

  20. Arms control and the rule of law

    International Nuclear Information System (INIS)

    Tanzman, E.A.

    1995-01-01

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

  1. Arms control and the rule of law

    Energy Technology Data Exchange (ETDEWEB)

    Tanzman, E.A.

    1995-03-01

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

  2. Arms control: moral, political and historical lesson

    International Nuclear Information System (INIS)

    Thompson, K.W.

    1990-01-01

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

  3. Nuclear Proliferation Factbook. Prepared for the Subcommittees on Arms Control, International Security and Science and on International Economic Policy and Trade of the Committee on Foreign Affairs, U.S. House of Representatives and the Subcommittee on Energy, Nuclear Proliferation, and Federal Processes of the Committee on Governmental Affairs, U.S. Senate, 99th Congress, 1st session.

    Science.gov (United States)

    Library of Congress, Washington, DC. Congressional Research Service.

    To provide a handy reference for those concerned with ways to avoid the further spread, or proliferation, of nuclear weapons, the House Committee on Foreign Affairs and the Senate Committee on Governmental Affairs have since 1977 sponsored periodic publication of the Nuclear Proliferation Factbook. This fourth edition of the factbook includes a…

  4. Arms control and disarmament: A new conceptual approach

    International Nuclear Information System (INIS)

    2000-01-01

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

  5. The fight against the weapons of mass destruction proliferation; La lutte contre la proliferation des armes de destruction massive

    Energy Technology Data Exchange (ETDEWEB)

    Boutherin, G. [Centre d' Etudes et de Recherches Internationales et Communautaires (CERIC), 13 - Aix-en-Provence (France)

    2007-07-01

    The author provides a stimulating analysis of the increasing risk of nuclear weapons proliferation, a major concern of the international community. This analysis is applied on juridical, strategical and political examinations. (A.L.B.)

  6. The Social Networks of Small Arms Proliferation: Mapping an Aviation Enabled Supply Chain

    National Research Council Canada - National Science Library

    Curwen, Philip A

    2007-01-01

    A complex network of dealers, brokers, financiers, and traffickers continue to funnel large quantities of small arms and ammunition into African conflict zones despite the presence of United Nations arms embargoes...

  7. Kinematic feedback control laws for generating natural arm movements

    International Nuclear Information System (INIS)

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

    2014-01-01

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

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

    Science.gov (United States)

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

    2016-01-01

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

  9. US-Russian relations: the arms control agenda

    Energy Technology Data Exchange (ETDEWEB)

    Potter, W

    2001-07-01

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

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

    International Nuclear Information System (INIS)

    Brown, P.S.

    1987-09-01

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

  11. US-Russian relations: the arms control agenda

    International Nuclear Information System (INIS)

    Potter, W.

    2001-01-01

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

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

    Science.gov (United States)

    Levy, Guy; Flash, Tamar; Hochner, Binyamin

    2015-05-04

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

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

    International Nuclear Information System (INIS)

    BROWN, JAMES

    1999-01-01

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

  14. Entering the New Millennium: Dilemmas in Arms Control

    Energy Technology Data Exchange (ETDEWEB)

    BROWN,JAMES

    1999-11-01

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

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

    International Nuclear Information System (INIS)

    Doyle, James E.; Meek, Elizabeth

    2009-01-01

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

  16. Arms Control and Proliferation Challenges to the Reset Policy

    Science.gov (United States)

    2011-11-01

    Sunshine Policy and economic transfers to the North.185 While it is impos- sible to determine conclusively which of these analy- ses of the DPRK’s motives...induce a return to some agreeable forum for negotiations. But it is quite unlikely that in the present configuration, North Korea will renounce its...engage North Ko- rea directly within the Six-Party framework, as China and others have recommended. Then it might be pos- sible to resume

  17. 27 CFR 479.193 - Arms Export Control Act.

    Science.gov (United States)

    2010-04-01

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

  18. Managing new arms races

    International Nuclear Information System (INIS)

    Segal, G.

    1992-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Şinasi Arslan

    2013-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Taha Beyrouthy

    2017-06-01

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

  1. Efforts of Proliferation of Small Arms in Sub-Sahara Africa

    National Research Council Canada - National Science Library

    Nganga, Frankonero

    2008-01-01

    .... Belligerents in the conflict areas for example Somali Sudan and parts of northern Uganda use the small arms and light weapons as the primary tools of violence causing deaths and injuring thousands...

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

    Energy Technology Data Exchange (ETDEWEB)

    Nemo, J.

    2010-07-15

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

  3. The importance of domestic law to international arms control

    International Nuclear Information System (INIS)

    Lehman, R.F. II.

    1993-11-01

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

  4. The importance of domestic law to international arms control

    Energy Technology Data Exchange (ETDEWEB)

    Lehman, R.F. II

    1993-11-01

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

  5. Report on the behalf of the Foreign Affairs, Defense and Armed Forces Commission on the bill project, adopted by the National Assembly, related to the struggle against the proliferation of arms of massive destruction and their vectors

    International Nuclear Information System (INIS)

    2011-01-01

    This report recalls the origins of the bill project which is the implementation of the UN Security Council resolution 1540, the aim of which was to promote the setting up of efficient tools to struggle against proliferation. The bill project aims at updating and reinforcing the existing law arsenal. The report also contains remarks made by the Commission. The bill project addresses several issues: the struggle against proliferation of arms of massive destruction (nuclear weapons, nuclear materials, biological weapons, and chemical weapons), the struggle against proliferation of vectors of arms of massive destruction, double-use goods, the use of these weapons and vectors in acts of terrorism

  6. Does programmed CTL proliferation optimize virus control?

    DEFF Research Database (Denmark)

    Wodarz, Dominik; Thomsen, Allan Randrup

    2005-01-01

    CD8 T-cell or cytotoxic T-lymphocyte responses develop through an antigen-independent proliferation and differentiation program. This is in contrast to the previous thinking, which was that continuous antigenic stimulation was required. This Opinion discusses why nature has chosen the proliferati...

  7. Control System Design for a Flexible Arm

    National Research Council Canada - National Science Library

    Wang, Li-Sheng

    1987-01-01

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

  8. Visual Recognition and Its Application to Robot Arm Control

    Directory of Open Access Journals (Sweden)

    Jih-Gau Juang

    2015-10-01

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

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

    Science.gov (United States)

    Pifer, Steven

    2017-11-01

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

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

    Science.gov (United States)

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

    2017-08-01

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

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

    Science.gov (United States)

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

    2016-01-01

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

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

    Science.gov (United States)

    Hopmann, P. Terrence; Walcott, Charles

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

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

    African Journals Online (AJOL)

    NWUuser

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

  14. Status and prospects of nuclear arms control study

    International Nuclear Information System (INIS)

    Sun Xiangli; Wang Deli

    1995-01-01

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

  15. Small Arms Proliferation and Homegrown Terrorism in the Great Lakes Region: Uganda’s Experience

    Science.gov (United States)

    2016-12-01

    in Karamoja was also motivated by the low standard of living there, as the colonial administration and other entrepreneurs expropriated their land...facilitate homegrown terrorism. Because of porous borders that make it easier for potentially disruptive groups to cross into the country, the Act makes it...used by homegrown terrorists and conflicts in the region.209 Conflict entrepreneurs continue to profit from illegal small arms trade taking advantage

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

    International Nuclear Information System (INIS)

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

    1984-04-01

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

  17. Proliferación tumoral en brazo derecho Tumor proliferation in the right arm

    Directory of Open Access Journals (Sweden)

    Martin Sangueza

    2009-07-01

    Full Text Available Se presenta un caso de lesión tumoral de rápido crecimiento en la parte posterior del brazo derecho de una paciente de sexo femenino de 37 años de edad. Son discutidas las características dermatopatológicas e inmuno histoquímicas que determinan el diagnóstico definitivo.It is a case of fast growth tumor lesion on the posterior region of the right arm of a 37-year-old female patient. Dermatopathological and immunohistochemical characteristics are discussed to support the definite diagnosis.

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

    Directory of Open Access Journals (Sweden)

    Schmid Maurizio

    2007-09-01

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

  19. Director's series on proliferation

    International Nuclear Information System (INIS)

    Bailey, K.C.; Price, M.E.

    1995-01-01

    This is an occasional publication of essays on the topics of nuclear, chemical, biological, and missile proliferation. The views represented are those of the author's. Essay topics include: Nuclear Proliferation: Myth and Reality; Problems of Enforcing Compliance with Arms Control Agreements; The Unreliability of the Russian Officer Corps: Reluctant Domestic Warriors; and Russia's Nuclear Legacy

  20. Learning and Control Model of the Arm for Loading

    Science.gov (United States)

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

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

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

    Directory of Open Access Journals (Sweden)

    Minoru Sasaki

    2012-01-01

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

  2. CONTROL SYSTEM FOR UNMANNED AIRCRAFT EQUIPPED WITH ROBOTICS ARM

    Directory of Open Access Journals (Sweden)

    Alexei A. Margun

    2014-11-01

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

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

    International Nuclear Information System (INIS)

    Liu Min

    1998-01-01

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

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

    Directory of Open Access Journals (Sweden)

    A. Notué Kadjie

    2017-01-01

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

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

    International Nuclear Information System (INIS)

    Hopmann, P.T.

    1988-01-01

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

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

    Science.gov (United States)

    Kulkarni, Tushar; Uddanwadiker, Rashmi

    2015-09-01

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

  7. Information report on the behalf of the Commission for Foreign Affairs, Defence and Armed Forces on nuclear proliferation - Nr 338

    International Nuclear Information System (INIS)

    Villepin, Xavier de

    2004-01-01

    Based on hearings of experts (notably MR El Baradei, IAEA general manager), and written at the time North Korea admitted the existence of a military nuclear programme and decided to expel IAEA inspectors, and Libya and Iran revealed nuclear activities which had been until then unsuspected, this report aims at discussing events which occurred during the two previous years in relationship with nuclear proliferation. The author first tries to draw some lessons from these recent proliferation crises. In this respect, he outlines that they reveal weaknesses of the international regime of nuclear non proliferation: lack of control means for the NPT, lack of control of the access to fuel cycle technologies, gaps in export controls exacerbated by the emergence of private actors. The author then highlights some dangerous features which threaten international safety: loss of credibility of the NPT as shown by North Korea withdrawing from the NPT without unbearable political cost, current crises with Iran and North Korea having a very strong destabilisation potential, and, with the threat of use of dirty bombs, emergence of relationships between proliferation and terrorism. In the next part, the author discusses how to make the struggle against nuclear proliferation more efficient: need of stronger mobilisation and unity within the international community, solution of the Iranian problem as a priority and a test for the international community, and ways to strengthen this struggle (implementation of additional protocols, necessity of an international framework for the control of activities related to the fuel cycle, and necessity of more visible sanctions for the sake and respect of treaties). Hearings and commission discussions are transcribed and proposed after this report

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

    International Nuclear Information System (INIS)

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

    2006-01-01

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

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

    Science.gov (United States)

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

    2013-12-01

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

  10. Space nonweaponization. An urgent task for arms control

    International Nuclear Information System (INIS)

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

    1990-05-01

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

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

    International Nuclear Information System (INIS)

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

    2013-01-01

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

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

    International Nuclear Information System (INIS)

    Holum, J.D.

    1994-01-01

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

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

    National Research Council Canada - National Science Library

    White, Elmer

    1996-01-01

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

  14. ARM-based control system for terry rapier loom

    Science.gov (United States)

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

    2007-12-01

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

  15. Nuclear power proliferation. Problems of international control

    Energy Technology Data Exchange (ETDEWEB)

    Johnson, B [International Inst. for Environment and Development, London (UK)

    1977-09-01

    The nuclear industry is experiencing a multiple crisis in which economic, technical and ethical aspects are blended inextricably. Nuclear hardware costs have everywhere soared far beyond inflation in the last five years, largely as a result of delays in programme completion arising from problems of reactor and fuel cycle. Meanwhile, partly as a result of this cost escalation, there is widespread and growing doubt as to whether capital will be available to finance the electricity generating levels projected by the industry and by governments for the 1990s. The nuclear industry is now in trouble at every stage of the fuel cycle. The industry's difficulties have also revealed a lack of overall - but particularly nuclear - energy strategy at either national or international levels, and a lack of will to create regulations and institutional machinery at either of these levels which might reassure both concerned publics and the energy industries themselves. This paper appraises some of the present limitations of international institutions in achieving control and management of nuclear power.

  16. Nuclear power proliferation: problems of international control

    Energy Technology Data Exchange (ETDEWEB)

    Johnson, B

    1977-09-01

    Some of the present limitations of international institutions in achieving control and management of nuclear power are reviewed and appraised. The nuclear industry is experiencing a multiple crisis in which economic, technical, and ethical aspects are blended. Nuclear hardware costs have increased faster than inflation in the last five years, largely as a result of delays in program completion arising from reactor and fuel-cycle safety problems. Meanwhile, there is a widespread and growing doubt, partly as a result of this cost escalation, as to whether capital will be available to finance the electricity-generating levels projected by the industry and by governments for the 1990s. The nuclear industry is now in trouble at every stage of the fuel cycle. The industry's difficulties have also revealed a lack of overall--but particularly nuclear--energy strategy at either national or international levels, and a lack of will to create regulations and institutional machinery at either of these levels that could reassure the concerned public and the energy industries.

  17. Reciprocal control of cell proliferation and migration

    Directory of Open Access Journals (Sweden)

    De Donatis Alina

    2010-09-01

    Full Text Available Abstract In adult tissue the quiescent state of a single cell is maintained by the steady state conditions of its own microenvironment for what concern both cell-cell as well as cell-ECM interaction and soluble factors concentration. Physiological or pathological conditions can alter this quiescent state through an imbalance of both soluble and insoluble factors that can trigger a cellular phenotypic response. The kind of cellular response depends by many factors but one of the most important is the concentration of soluble cytokines sensed by the target cell. In addition, due to the intrinsic plasticity of many cellular types, every single cell is able, in response to the same stimulus, to rapidly switch phenotype supporting minimal changes of microenviromental cytokines concentration. Wound healing is a typical condition in which epithelial, endothelial as well as mesenchymal cells are firstly subjected to activation of their motility in order to repopulate the damaged region and then they show a strong proliferative response in order to successfully complete the wound repair process. This schema constitute the leitmotif of many other physiological or pathological conditions such as development vasculogenesis/angiogenesis as well as cancer outgrowth and metastasis. Our review focuses on the molecular mechanisms that control the starting and, eventually, the switching of cellular phenotypic outcome in response to changes in the symmetry of the extracellular environment.

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

    Energy Technology Data Exchange (ETDEWEB)

    Lehman, R.F. II

    1993-03-01

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

  19. Report on the behalf of the Foreign Affairs, Defense and Armed Forces Commission on the bill project, adopted by the National Assembly, related to the struggle against the proliferation of arms of massive destruction and their vectors; Rapport fait au nom de la commission des affaires etrangeres, de la defense et des forces armees (1) sur le projet de loi, ADOPTE PAR L'ASSEMBLEE NATIONALE, relatif a la lutte contre la proliferation des armes de destruction massive et de leurs vecteurs

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2011-07-01

    This report recalls the origins of the bill project which is the implementation of the UN Security Council resolution 1540, the aim of which was to promote the setting up of efficient tools to struggle against proliferation. The bill project aims at updating and reinforcing the existing law arsenal. The report also contains remarks made by the Commission. The bill project addresses several issues: the struggle against proliferation of arms of massive destruction (nuclear weapons, nuclear materials, biological weapons, and chemical weapons), the struggle against proliferation of vectors of arms of massive destruction, double-use goods, the use of these weapons and vectors in acts of terrorism

  20. Light Duty Utility Arm interface control document plan

    International Nuclear Information System (INIS)

    Engstrom, J.W.

    1994-01-01

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

  1. Light Duty Utility Arm interface control document plan

    Energy Technology Data Exchange (ETDEWEB)

    Engstrom, J.W.

    1994-12-27

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

  2. The fight against weapons of mass destruction at the crossroads; La lutte contre la proliferation des armes de destruction massive a la croisee des chemins

    Energy Technology Data Exchange (ETDEWEB)

    Biad, A. [Rouen Univ., Faculte de Droit, de Sciences Economiques et de Gestion, 76 - Mont-Saint-Aignan (France)

    2004-07-01

    Under the joint pressure of the US unilateralism and of some proliferating countries, the non-proliferation regimes are today at the crossroads. Despite the enormous efforts mobilized so far, the proliferation of weapons of mass destruction appears as inescapable. This article analyzes the reasons of the continuous erosion of non-proliferation regimes and the possible means to delay this phenomenon: counter-proliferation measures, control of exported nuclear technologies and equipments, use of diplomatic and politico-economical means, controlled multilateral disarmament. (J.S.)

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

    Energy Technology Data Exchange (ETDEWEB)

    1992-12-01

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

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

    National Research Council Canada - National Science Library

    Grimmett, Richard F; Papademetriou, Theresa

    2005-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Ismail Ben Abdallah

    2016-01-01

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

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

    CERN Document Server

    Drell, Sidney D

    2007-01-01

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

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

    International Nuclear Information System (INIS)

    D'Anieri, P.J.

    1991-01-01

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

  8. Real-time statistical quality control and ARM

    International Nuclear Information System (INIS)

    Blough, D.K.

    1992-05-01

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

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

    International Nuclear Information System (INIS)

    1989-01-01

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

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

    Science.gov (United States)

    Pregenzer, Arian

    2014-01-01

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

  11. Computer Language Choices in Arms Control and Nonproliferation Regimes

    International Nuclear Information System (INIS)

    White, G K

    2005-01-01

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

  12. Intelligent Home Control System Based on ARM10

    Science.gov (United States)

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

    2017-10-01

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

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

    Science.gov (United States)

    Barker, L. K.

    1983-01-01

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

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

    International Nuclear Information System (INIS)

    Uren, R.T.

    1992-01-01

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

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

    International Nuclear Information System (INIS)

    Siebel, G.

    1988-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

    Moore, S.T.

    2004-12-14

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

  17. Nuclear proliferation and terrorism

    International Nuclear Information System (INIS)

    Anon.

    1977-01-01

    This section of the book, Part III, has two chapters (9 and 10). Chapter 9, Nuclear Power and Proliferation of Nuclear Weapons, is disucssed under these subjects: nuclear nonproliferation: origins and status; requirements for nuclear weapons manufacture; current nuclear programs and proliferation capabilities; encouraging decisions to forego weapons; arms control; safeguards; attitudes and expectations. Chapter 10, Nuclear Terrorism, discusses these areas: theft of nuclear materials; attacks on nuclear reactors; responding to nuclear terrorism; security and civil liberties

  18. Controlling Flexible Robot Arms Using High Speed Dynamics Process

    Science.gov (United States)

    Jain, Abhinandan (Inventor)

    1996-01-01

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

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

    Science.gov (United States)

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

    1992-01-01

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

  20. Measurement approaches to support future warhead arms control transparency

    International Nuclear Information System (INIS)

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

    1998-01-01

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

  1. Editorial: disarmament, non proliferation, confidence-building measures, armament control

    International Nuclear Information System (INIS)

    Soutou, Georges-Henri

    2015-01-01

    After having described the vicious circle existing between disarmament and security as it appeared before and during the first World War, the author deals with the specific case of nuclear disarmament as it was first addressed just after the Second World War, and was then not accepted by the Russians. He comments the political and strategical approach adopted by the Kennedy administration, notably within the context of severe crises (Berlin and Cuba). This resulted in the re-establishment of a relationship between war and policy as defined by Clausewitz, but based on a trilogy of three inseparable pairs: deterrence and armament control, armament control and non proliferation, armament control and confidence-building measures. The author shows that this trilogy has been somehow operating until the end of Cold War, and that nothing works anymore since the end of Cold War and of the bipolar world

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

    International Nuclear Information System (INIS)

    Connolly, J.W.; Clark, N.

    1986-11-01

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

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

    OpenAIRE

    Luo Haitao; Liu Yuwang; Chen Zhengcang; Leng Yuquan

    2013-01-01

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

  4. Non-proliferation and the control of atomic energy

    International Nuclear Information System (INIS)

    Goldschmidt, B.

    1977-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Koksal Gundogdu

    2018-04-01

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

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

    International Nuclear Information System (INIS)

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

    2012-01-01

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

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

    Science.gov (United States)

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

    2005-08-01

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

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

    Science.gov (United States)

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

    1997-01-01

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

  9. Manual input device for controlling a robot arm

    International Nuclear Information System (INIS)

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

    1990-01-01

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

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

    International Nuclear Information System (INIS)

    Liebert, Wolfgang; Englert, Matthias; Pistner, Christoph

    2009-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

    Gupta, Amit; Kamal, Nazir

    1998-11-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2012-07-09

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

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

    Science.gov (United States)

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

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

    International Nuclear Information System (INIS)

    Ma, Shugen

    1997-01-01

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

  15. The challenge of nuclear proliferation control in South Asia

    International Nuclear Information System (INIS)

    Mian, J.A.

    1996-01-01

    Prevention of nuclear weapon proliferation in South Asia is considered a a difficult challenge. The paper discusses the difficulties met in implementing the nuclear non-proliferation policy due to numerous disputes concerning China, North and South Korea, India and Pakistan, and the countries of former Soviet Union. Matters preventing proliferation are mentioned as well as obstacles to non-proliferation proposing that decisions whether voluntary or, eventually, compulsory would have to be consistently enforced by the Security Council, if states are to rely upon those methods for their security

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

    International Nuclear Information System (INIS)

    Donnelly, W.H.

    1990-01-01

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

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

    International Nuclear Information System (INIS)

    Stephens, Dale

    2016-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Takayuki Hori

    2011-09-01

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

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

    Directory of Open Access Journals (Sweden)

    Jian Huang

    2011-09-01

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

  20. NoxO1 Controls Proliferation of Colon Epithelial Cells

    Directory of Open Access Journals (Sweden)

    Franziska Moll

    2018-05-01

    Full Text Available AimReactive oxygen species (ROS produced by enzymes of the NADPH oxidase family serve as second messengers for cellular signaling. Processes such as differentiation and proliferation are regulated by NADPH oxidases. In the intestine, due to the exceedingly fast and constant renewal of the epithelium both processes have to be highly controlled and balanced. Nox1 is the major NADPH oxidase expressed in the gut, and its function is regulated by cytosolic subunits such as NoxO1. We hypothesize that the NoxO1-controlled activity of Nox1 contributes to a proper epithelial homeostasis and renewal in the gut.ResultsNoxO1 is highly expressed in the colon. Knockout of NoxO1 reduces the production of superoxide in colon crypts and is not subsidized by an elevated expression of its homolog p47phox. Knockout of NoxO1 increases the proliferative capacity and prevents apoptosis of colon epithelial cells. In mouse models of dextran sulfate sodium (DSS-induced colitis and azoxymethane/DSS induced colon cancer, NoxO1 has a protective role and may influence the population of natural killer cells.ConclusionNoxO1 affects colon epithelium homeostasis and prevents inflammation.

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

    International Nuclear Information System (INIS)

    Buerstedde, L.

    1992-01-01

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

  2. Russian-American relations and the future of arms control

    International Nuclear Information System (INIS)

    Trenin, D.

    2001-01-01

    This article describes the progressive drift of the US-Russia nuclear military policies, the implications for Russia of the US missile defense program (MDP) and its progress in the framework of President Bush administration, Russia's strategy and tactics to incite the US to continue strategic weapons reduction, the Russian theater missile defense (TMD) proposal and its philosophy, and the future necessary collaboration between the US, the EU and Russia to deal with the challenge of proliferation. (J.S.)

  3. Russian-American relations and the future of arms control

    Energy Technology Data Exchange (ETDEWEB)

    Trenin, D

    2001-07-01

    This article describes the progressive drift of the US-Russia nuclear military policies, the implications for Russia of the US missile defense program (MDP) and its progress in the framework of President Bush administration, Russia's strategy and tactics to incite the US to continue strategic weapons reduction, the Russian theater missile defense (TMD) proposal and its philosophy, and the future necessary collaboration between the US, the EU and Russia to deal with the challenge of proliferation. (J.S.)

  4. Russian-American relations and the future of arms control

    Energy Technology Data Exchange (ETDEWEB)

    Trenin, D

    2001-07-01

    This article describes the progressive drift of the US-Russia nuclear military policies, the implications for Russia of the US missile defense program (MDP) and its progress in the framework of President Bush administration, Russia's strategy and tactics to incite the US to continue strategic weapons reduction, the Russian theater missile defense (TMD) proposal and its philosophy, and the future necessary collaboration between the US, the EU and Russia to deal with the challenge of proliferation. (J.S.)

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

    Science.gov (United States)

    Book, W. J.; Majett, M.

    1982-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Korhan Kayışlı

    2017-12-01

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

  7. Role of Peroxisome Proliferator-Activated Receptors in Inflammation Control

    Directory of Open Access Journals (Sweden)

    Jihan Youssef

    2004-01-01

    Full Text Available Peroxisome proliferator-activated receptors (PPARs were discovered over a decade ago, and were classified as orphan members of the nuclear receptor superfamily. To date, three PPAR subtypes have been discovered and characterized (PPARα, β/δ, γ. Different PPAR subtypes have been shown to play crucial roles in important diseases and conditions such as obesity, diabetes, atherosclerosis, cancer, and fertility. Among the most studied roles of PPARs is their involvement in inflammatory processes. Numerous studies have revealed that agonists of PPARα and PPARγ exert anti-inflammatory effects both in vitro and in vivo. Using the carrageenan-induced paw edema model of inflammation, a recent study in our laboratories showed that these agonists hinder the initiation phase, but not the late phase of the inflammatory process. Furthermore, in the same experimental model, we recently also observed that activation of PPARδ exerted an anti-inflammatory effect. Despite the fact that exclusive dependence of these effects on PPARs has been questioned, the bulk of evidence suggests that all three PPAR subtypes, PPARα,δ,γ, play a significant role in controlling inflammatory responses. Whether these subtypes act via a common mechanism or are independent of each other remains to be elucidated. However, due to the intensity of research efforts in this area, it is anticipated that these efforts will result in the development of PPAR ligands as therapeutic agents for the treatment of inflammatory diseases.

  8. Dynamic mapping of genes controlling cancer stem cell proliferation

    Directory of Open Access Journals (Sweden)

    Zhong eWang

    2012-05-01

    Full Text Available The growing evidence that cancer originates from stem cells holds a great promise to eliminate this disease by designing specific drug therapies for removing cancer stem cells. Translation of this knowledge into predictive tests for the clinic is hampered due to the lack of methods to discriminate cancer stem cells from non-cancer stem cells. Here, we address this issue by describing a conceptual strategy for identifying the genetic origins of cancer stem cells. The strategy incorporates a high-dimensional group of differential equations that characterizes the proliferation, differentiation, and reprogramming of cancer stem cells in a dynamic cellular and molecular system. The deployment of robust mathematical models will help uncover and explain many still unknown aspects of cell behavior, tissue function, and network organization related to the formation and division of cancer stem cells. The statistical method developed allows biologically meaningful hypotheses about the genetic control mechanisms of carcinogenesis and metastasis to be tested in a quantitative manner.

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

    Directory of Open Access Journals (Sweden)

    Eduardo Iáñez

    2010-01-01

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

  10. Director`s series on proliferation

    Energy Technology Data Exchange (ETDEWEB)

    Bailey, K.C.; Price, M.E. [eds.

    1995-11-17

    This is an occasional publication of essays on the topics of nuclear, chemical, biological, and missile proliferation. The views represented are those of the author`s. Essay topics include: Nuclear Proliferation: Myth and Reality; Problems of Enforcing Compliance with Arms Control Agreements; The Unreliability of the Russian Officer Corps: Reluctant Domestic Warriors; and Russia`s Nuclear Legacy.

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

    Science.gov (United States)

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

    2018-05-01

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

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

    Directory of Open Access Journals (Sweden)

    Khin Moe Myint

    2015-08-01

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

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

    Directory of Open Access Journals (Sweden)

    N. I. Bubnova

    2017-01-01

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

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

    International Nuclear Information System (INIS)

    Willett, S.

    2002-06-01

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

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

    Directory of Open Access Journals (Sweden)

    Yushu Bian

    2015-01-01

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

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

    International Nuclear Information System (INIS)

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

    2004-01-01

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

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

    OpenAIRE

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

    2009-01-01

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

  18. Nuclear proliferation: motivations, capabilities, and strategies for control

    International Nuclear Information System (INIS)

    Greenwood, T.; Feiveson, H.A.; Taylor, T.B.

    1977-01-01

    Two possible patterns of proliferation appear to involve the greatest risks for nuclear use or war. The first is proliferation to particular categories of states and the second dangerous possibility is proliferation at a rapid rate. But rapid proliferation could cause instabilities that might be too great for political systems and institutions to handle, making nuclear use of nuclear war more likely. Thus, any strategy for nonproliferation should especially attempt to prevent a rapid spread of nuclear weapons and to avert acquisition by states in the high-risk categories. Nuclear proliferation will also have important effects on world and regional stability for reasons not directly related to nuclear use. The mere possession of nuclear weapons by certain states could radically alter international perceptions and threaten global arrangements. The main concern in this discussion is to analyze the various incentives and disincentives--involving both security and political considerations--that will affect states' decisions about whether or not to acquire nuclear weapons. The discussion then turns to the means by which individual states and the international community can influence nuclear incentives and disincentives. The particularly important subject of the management of the international nuclear industry is addressed separately, followed by an analysis of nuclear acquisition, use, and threat by non-state entities. Finally, a general strategy for decreasing incentives and increasing disincentives is proposed and applied to four special categories of states

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

    Directory of Open Access Journals (Sweden)

    Jalani Jamaludin

    2018-01-01

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

  20. Lessons from UNSCOM/IAEA applicable to nuclear arms control

    Energy Technology Data Exchange (ETDEWEB)

    Dorn, D.W.

    1995-12-05

    In early 1991, the Security Council of the United Nations tasked the Director General of the International Atomic Energy Agency, with the assistance and cooperation of the United Nations Special Commission, to oversee the destruction, removal or rendering harmless of nuclear weapons material and capabilities in Iraq. The conduct of the nuclear inspections, and the subsequent activities (identification, destruction, removal rendering harmless), have provided a wealth of experience and insight into the inspection and monitoring process as well as into the political realities of such an operation. The early inspections were conducted in an atmosphere of discovery and inexperience on both the part of the Iraqis and the IAEA and UNSCOM. As time went on, the Iraqis became more adept at hiding and obscuring relevant documents and equipment, and the inspection teams became more knowledgeable about inspection and investigative techniques, and the pre-existing Iraqi programs. A continuous monitoring presence in Iraq has now been established and an import/export monitoring regime is being developed. While steps taken to date have proven effective in inhibiting resumption of nuclear weaponization activities, it remains to be seen how effective these measures will be in the future. The external and internal conditions which led the Iraqi leadership to undertake a nuclear weaponization program have not changed, and the prognosis for the long term is uncertain. The entire process in Iraq has shown how fragile are the tools available to the international community, and how a determined proliferator can evade inspection and monitoring measures. Such measures cannot prevent nuclear proliferation, they can only hope to deter it, or, failing in that, detect it.

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

    Science.gov (United States)

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

    2018-01-01

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

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

    Science.gov (United States)

    Kuban, Daniel P.; Perkins, Gerald S.

    1989-01-01

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

  3. Monovalent ions control proliferation of Ehrlich Lettre ascites cells

    DEFF Research Database (Denmark)

    Klausen, Thomas Kjaer; Preisler, Sarah; Pedersen, Stine Helene Falsig

    2010-01-01

    of Ehrlich Lettre ascites (ELA) cells. We measured the intracellular concentration of each ion in G(0), G(1), and S phases of the cell cycle following synchronization by serum starvation and release. We show that intracellular concentrations and content of Na+ and Cl(-) were reduced in the G(0)-G(1) phase...... effect. Western blots showed reduced chloride intracellular channel CLIC1 and chloride channel ClC-2 expression in the plasma membrane in S compared with G(1). Our results suggest that Na+ regulates ELA cell proliferation by regulating intracellular pH while Cl(-) may regulate proliferation by fine...

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

    International Nuclear Information System (INIS)

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

    2011-01-01

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

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

    Science.gov (United States)

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

    2015-01-01

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

  6. Control mechanisms of cell proliferation in intestinal epithelium

    NARCIS (Netherlands)

    R.P.C. Rijke (Rudy)

    1977-01-01

    textabstractIn the adult organism some organs and tissues still contain proliferating and differentiating cells, whereas other organs only consist of non-dividing specialized cells. On the basis of their proliferative activity cell populations may be classified into three categories (135, 138,208).

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

    Directory of Open Access Journals (Sweden)

    Minoru Sasaki

    2012-01-01

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

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

    Science.gov (United States)

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

    2018-04-03

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

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

    International Nuclear Information System (INIS)

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

    1989-01-01

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

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

    Science.gov (United States)

    Edwards, Amy N.; Walker, Tim

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

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

    Energy Technology Data Exchange (ETDEWEB)

    Pilat, Joseph F [Los Alamos National Laboratory

    2009-01-01

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

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

    International Nuclear Information System (INIS)

    Pilat, Joseph F.

    2009-01-01

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

  13. Robotic arm

    International Nuclear Information System (INIS)

    Kwech, H.

    1989-01-01

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

  14. Robotic arm

    Science.gov (United States)

    Kwech, Horst

    1989-04-18

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

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

    Directory of Open Access Journals (Sweden)

    Giovanni Gerardo Muscolo

    2013-01-01

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

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

    Science.gov (United States)

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

    2008-06-01

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

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

    Science.gov (United States)

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

    2014-01-01

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

  18. Internet remote control interface for a multipurpose robotic arm

    Directory of Open Access Journals (Sweden)

    Matthew W. Dunnigan

    2008-11-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

    Alonzo, G M [ed.

    1995-01-01

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

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

    OpenAIRE

    P. Wu; W. Wu

    2012-01-01

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

  1. Information report on the behalf of the foreign affairs, defence and armed forces Commission on France security, nuclear disarmament and non proliferation

    International Nuclear Information System (INIS)

    2010-01-01

    This report first gives an overview of nuclear disarmament and non proliferation twenty years after the end of Cold War: evolution and status of Russia's and United States' nuclear weapon arsenals, France's and United Kingdom's trend to reduce their nuclear armament, reinforcement of China's nuclear armament, effects and limitations of the Non Proliferation Treaty (NPT). It notices that the new international context gave birth to some expectations and may lead to a lower nuclear pressure, notably with the influence of START negotiations between Russia and the United States, provided that the Comprehensive Nuclear Test Ban Treaty is ratified by more countries, and that negotiations promote a Fissile Material Cut-off Treaty. The report also outlines the importance of the promotion of better controlled peaceful uses of nuclear energy. It discusses the relationship between maintaining the world nuclear order and the reduction of international and regional tensions, and the importance of struggle against all forms of proliferation. It analyses the French nuclear posture in terms of security requirements, and in front of the zero nuclear option, in a context of ballistic missile proliferation, and in relationship with the issue of tactical nuclear weapons in Europe

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

    Science.gov (United States)

    Xiao, Lifeng; Peng, Jinbao

    2017-03-01

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

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

    Science.gov (United States)

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

    2016-01-01

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

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

    International Nuclear Information System (INIS)

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

    1998-01-01

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

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

    Science.gov (United States)

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

    2014-06-01

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

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

    Directory of Open Access Journals (Sweden)

    Tianliang Liu

    2016-05-01

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

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

    OpenAIRE

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

    2003-01-01

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

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

    Science.gov (United States)

    Warise, Timothy R; Galella, Steve A

    2015-01-01

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

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

    Science.gov (United States)

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

    2017-09-01

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

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

    Directory of Open Access Journals (Sweden)

    SZABO, R.

    2015-05-01

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

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

    Science.gov (United States)

    Arms Control and Disarmament Agency, Washington, DC.

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

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

    International Nuclear Information System (INIS)

    Han Yongsup.

    1991-01-01

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

  13. 77 FR 52105 - Announcement of the Innovation in Arms Control Challenge Under the America Competes...

    Science.gov (United States)

    2012-08-28

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

  14. 78 FR 43959 - Announcement of the 2013 Innovation in Arms Control Challenge Under the America Competes...

    Science.gov (United States)

    2013-07-22

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

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

    Science.gov (United States)

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

    2006-04-18

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

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

    International Nuclear Information System (INIS)

    1984-05-01

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

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

    International Nuclear Information System (INIS)

    Li Hai; Li Xiang; Liu Caixue

    2010-01-01

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

  18. Proliferation of weapons and armed violence in the private security sector in Latin America and the Caribbean: Challenges and opportunities for taking action

    Directory of Open Access Journals (Sweden)

    Rémi Bacouillard

    2014-12-01

    Full Text Available The United Nations Regional Centre for Peace, Disarmament and Development in Latin America and the Caribbean (UNLIREC has been monitoring various media in 19 countries and has documented more than 100 newspaper articles on cases of armed violence and the proliferation offirearms in the private security sector. The objective of this investigation is to analyze reported cases and systematize a typology regarding such cases, in order to prove the existence of problems in the private security sector which is a source and a victim of insecurity. This study reveals the frequency with which these cases occur, as well as the fact that they occur in different countries of the region, demonstrating that the cases being studied are not isolated cases and that they encourage the States and companies within the sector to address this disturbing reality.Finally, this article presents a series of initiatives that can be implemented by competent national authorities on the subject, as well as by the companies within the sector, to face the challenges posed by the handling, ownership and use of firearms with the privatization of the security sectorin the region.DOI: http://dx.doi.org/10.5377/rpsp.v4i2.1754

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

    Science.gov (United States)

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

    2015-09-01

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

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

    Science.gov (United States)

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

    2012-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Changan Jiang

    2016-01-01

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

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

    International Nuclear Information System (INIS)

    Gronlund, L.; Wright, D.C.

    1992-01-01

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

  3. Diverse FGF receptor signaling controls astrocyte specification and proliferation

    Energy Technology Data Exchange (ETDEWEB)

    Kang, Kyungjun [School of Life Sciences, Gwangju Institute of Science and Technology, Oryong-dong, Buk-gu, Gwangju 500-712 (Korea, Republic of); Song, Mi-Ryoung, E-mail: msong@gist.ac.kr [School of Life Sciences, Gwangju Institute of Science and Technology, Oryong-dong, Buk-gu, Gwangju 500-712 (Korea, Republic of); Bioimaging Research Center and Cell Dynamics Research Center, Gwangju Institute of Science and Technology, Oryong-dong, Buk-gu, Gwangju 500-712 (Korea, Republic of)

    2010-05-07

    During CNS development, pluripotency neuronal progenitor cells give rise in succession to neurons and glia. Fibroblast growth factor-2 (FGF-2), a major signal that maintains neural progenitors in the undifferentiated state, is also thought to influence the transition from neurogenesis to gliogenesis. Here we present evidence that FGF receptors and underlying signaling pathways transmit the FGF-2 signals that regulate astrocyte specification aside from its mitogenic activity. Application of FGF-2 to cortical progenitors suppressed neurogenesis whereas treatment with an FGFR antagonist in vitro promoted neurogenesis. Introduction of chimeric FGFRs with mutated tyrosine residues into cortical progenitors and drug treatments to specifically block individual downstream signaling pathways revealed that the overall activity of FGFR rather than individual autophosphorylation sites is important for delivering signals for glial specification. In contrast, a signal for cell proliferation by FGFR was mainly delivered by MAPK pathway. Together our findings indicate that FGFR activity promotes astrocyte specification in the developing CNS.

  4. Diverse FGF receptor signaling controls astrocyte specification and proliferation

    International Nuclear Information System (INIS)

    Kang, Kyungjun; Song, Mi-Ryoung

    2010-01-01

    During CNS development, pluripotency neuronal progenitor cells give rise in succession to neurons and glia. Fibroblast growth factor-2 (FGF-2), a major signal that maintains neural progenitors in the undifferentiated state, is also thought to influence the transition from neurogenesis to gliogenesis. Here we present evidence that FGF receptors and underlying signaling pathways transmit the FGF-2 signals that regulate astrocyte specification aside from its mitogenic activity. Application of FGF-2 to cortical progenitors suppressed neurogenesis whereas treatment with an FGFR antagonist in vitro promoted neurogenesis. Introduction of chimeric FGFRs with mutated tyrosine residues into cortical progenitors and drug treatments to specifically block individual downstream signaling pathways revealed that the overall activity of FGFR rather than individual autophosphorylation sites is important for delivering signals for glial specification. In contrast, a signal for cell proliferation by FGFR was mainly delivered by MAPK pathway. Together our findings indicate that FGFR activity promotes astrocyte specification in the developing CNS.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2012-07-01

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

  6. Nuclear proliferation: linkages and solutions

    International Nuclear Information System (INIS)

    Quester, G.H.

    1979-01-01

    Nuclear proliferation must be periodically re-examined as a moral as well as a practical foreign policy dilemma. The question is asked whether proliferation precludes a safe and peaceful world, or if a halt to proliferation is adequate without other arms control. The moral dilemma in foreign policy arises over the need to make practical choices which often serve one goal while sacrificing another. The ramifications of nuclear proliferation are examined and the conclusions reached that it is not an acceptable option. It is also decided that, because general disarmament steps will be more difficult to achieve, the world may have to accept a small number of nuclear arsenals as the price of state sovereignties. A high priority for making the effort to prevent proliferation is advised. 8 references

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

    International Nuclear Information System (INIS)

    Clavarino, Lodovica

    2017-01-01

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

  8. Tlx controls proliferation and patterning of lateral telencephalic progenitor domains.

    Science.gov (United States)

    Stenman, Jan M; Wang, Bei; Campbell, Kenneth

    2003-11-19

    We showed previously that the orphan nuclear receptor Tlx is required for the correct establishment of the pallio-subpallial boundary. Loss of Tlx results in a dorsal expansion of ventral markers (e.g., the homeodomain protein GSH2) into the ventralmost pallial region, i.e., the ventral pallium. We also observed a disproportionate reduction in the size of the Tlx mutant lateral ganglionic eminence (LGE) from embryonic day 14.5 onward. Here we show that this reduction is caused, at least in large part, by a proliferation defect. Interestingly, in Tlx mutants, the LGE derivatives are differentially affected. Although the development of the Tlx mutant striatum is compromised, an apparently normal number of olfactory bulb interneurons are observed. Consistent with this observation, we found that Tlx is required for the normal establishment of the ventral LGE that gives rise to striatal projection neurons. This domain is reduced by the dorsal and ventral expansion of molecular markers normally confined to progenitor domains flanking the ventral LGE. Finally, we investigated possible genetic interactions between Gsh2 and Tlx in lateral telencephalic development. Our results show that, although Gsh2 and Tlx have additive effects on striatal development, they differentially regulate the establishment of ventral pallial identity.

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

    Directory of Open Access Journals (Sweden)

    Felix J. L. P.

    2014-01-01

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

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

    Science.gov (United States)

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

    2018-01-01

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

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

    CERN Document Server

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

    2018-01-01

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

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

    International Nuclear Information System (INIS)

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

    1985-01-01

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

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

    Science.gov (United States)

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

    2015-01-01

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

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

    Science.gov (United States)

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

    2013-04-12

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

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

    Science.gov (United States)

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

    1984-01-01

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

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

    Science.gov (United States)

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

    1978-01-01

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

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

    Science.gov (United States)

    1984-12-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

    Sokov, N

    2003-07-01

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

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

    International Nuclear Information System (INIS)

    Sokov, N.

    2003-01-01

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

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

    Science.gov (United States)

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

    2017-02-01

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

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

    Science.gov (United States)

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

    2017-02-01

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

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

    Directory of Open Access Journals (Sweden)

    Zhi-Ying Chen

    2018-03-01

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

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

    Directory of Open Access Journals (Sweden)

    Patrik Kutílek

    2014-06-01

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

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

    International Nuclear Information System (INIS)

    Knopf, J.W.

    1991-01-01

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

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

    Science.gov (United States)

    Mclauchlan, Robert A.

    1989-01-01

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

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

    CERN Document Server

    Spiers, Adam; Herrmann, Guido

    2016-01-01

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

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

    International Nuclear Information System (INIS)

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

    2006-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Sébastien Mick

    2017-10-01

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

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

    International Nuclear Information System (INIS)

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

    2001-01-01

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

  10. Cell proliferation changes in hemopoietic tissue as a result of irradiation or drug administration: the control of cell proliferation in hemopoietic tissue

    International Nuclear Information System (INIS)

    Lord, B.I.

    1975-01-01

    The nature of the control processes operative on these cells is not completely understood. Erythropoietin has long been known as a direct stimulator of erythropoiesis at all levels. A similar compound has long been sought (unsuccessfully) to stimulate granulopoiesis. Currently the role of specific proliferation inhibitors of erythropoiesis and granulopoiesis are now attaining more prominence. In this respect, Patt and Maloney demonstrated an inverse relationship of cell concentration in the rabbit femur and the uptake of tritiated thymidine by the cells, and we have now established that extracts of mature blood cells do have specific effects on developing hemopoietic cells which are compatible with proliferation inhibition and which are completely reversible. Our current studies are showing that, used in vivo, these extracts are in fact capable of lowering the proliferation rates of the maturing hemopoietic cells (Lord- unpublished results). It is clear, therefore, that the maturing cell populations proliferate under a complex set of control processes

  11. Russia and proliferation in Northeast Asia

    International Nuclear Information System (INIS)

    Ignatov, A.I.

    1995-01-01

    For Russia, security, including non-proliferation, in Northeast Asia means in particular the maintenance of stability. Progress in arms control and non-proliferation may enhance regional stability. A common regional approach is proposed. Russia recognizes the US alliances with Japan and republic of Korea and is searching for a new cooperation framework in the region, namely further development of relations with China and reasonable rapprochement with Japan

  12. Control of proliferation rate of N27 dopaminergic neurons using Transcranial Magnetic Stimulation orientation

    Science.gov (United States)

    Meng, Yiwen; Hadimani, Ravi; Anantharam, Vellareddy; Kanthasamy, Anumantha; Jiles, David

    2015-03-01

    Transcranial magnetic stimulation (TMS) has been used to investigate possible treatments for a variety of neurological disorders. However, the effect that magnetic fields have on neurons has not been well documented in the literature. We have investigated the effect of different orientation of magnetic field generated by TMS coils with a monophasic stimulator on the proliferation rate of N27 neuronal cells cultured in flasks and multi-well plates. The proliferation rate of neurons would increase by exposed horizontally adherent N27 cells to a magnetic field pointing upward through the neuronal proliferation layer compared with the control group. On the other hand, proliferation rate would decrease in cells exposed to a magnetic field pointing downward through the neuronal growth layer compared with the control group. We confirmed results obtained from the Trypan-blue and automatic cell counting methods with those from the CyQuant and MTS cell viability assays. Our findings could have important implications for the preclinical development of TMS treatments of neurological disorders and represents a new method to control the proliferation rate of neuronal cells.

  13. The role of hormones and growth factors in the cellular proliferation control in mammals

    International Nuclear Information System (INIS)

    Armelin, H.A.

    1978-01-01

    A review is done about fibroblast proliferation, its control by classic hormones and hormonal growth factors, showing their main implications and the stage of this research at present. The control exerted on fibronlast proliferation by hormonal growth factors and classic hormones is demonstrated. The existence of basic mechanisms valid for all types of cells is suggested. Experiences are carried out with the aim of finding growth mutants useful in the elucidation of the biochemical mechanisms involved in growth regulation. Radiactive precursors and autoradiographic techniques are used in the research. (M.A.) [pt

  14. The control of nuclear proliferation: future challenges. Swedish Institute of International Affairs, Stockholm, 23 April 1998

    International Nuclear Information System (INIS)

    ElBaradei, M.

    1998-01-01

    The document reproduces the text of the conference given by the Director General of the IAEA at the Swedish Institute of International Affairs in Stockholm on 23 April 1998. After a short presentation of the Agency's current verification activities, particularly in Iraq and Democratic People's Republic of Korea, the Director General focuses on the present and future role of the IAEA in the control of nuclear proliferation through its strengthened safeguards system, in the prevention of nuclear terrorism, and future challenges of controlling nuclear proliferation from both political and technical point of view

  15. Sprouty2 controls proliferation of palate mesenchymal cells via fibroblast growth factor signaling

    Energy Technology Data Exchange (ETDEWEB)

    Matsumura, Kaori [Section of Oral and Maxillofacial Oncology, Division of Maxillofacial Diagnostic and Surgical Sciences, Faculty of Dental Science, Kyushu University, 3-1-1 Maidashi, Higashi-ku, Fukuoka 812-8582 (Japan); Taketomi, Takaharu, E-mail: taketomi@dent.kyushu-u.ac.jp [Section of Oral and Maxillofacial Oncology, Division of Maxillofacial Diagnostic and Surgical Sciences, Faculty of Dental Science, Kyushu University, 3-1-1 Maidashi, Higashi-ku, Fukuoka 812-8582 (Japan); Yoshizaki, Keigo [Section of Orthodontics, Division of Oral Health, Growth and Development, Faculty of Dental Science, Kyushu University, 3-1-1 Maidashi, Higashi-ku, Fukuoka 812-8582 (Japan); Arai, Shinsaku [Section of Oral and Maxillofacial Oncology, Division of Maxillofacial Diagnostic and Surgical Sciences, Faculty of Dental Science, Kyushu University, 3-1-1 Maidashi, Higashi-ku, Fukuoka 812-8582 (Japan); Sanui, Terukazu [Section of Periodontology, Division of Oral Rehabilitation, Faculty of Dental Science, Kyushu University, 3-1-1 Maidashi, Higashi-ku, Fukuoka 812-8582 (Japan); Yoshiga, Daigo [Section of Oral and Maxillofacial Oncology, Division of Maxillofacial Diagnostic and Surgical Sciences, Faculty of Dental Science, Kyushu University, 3-1-1 Maidashi, Higashi-ku, Fukuoka 812-8582 (Japan); Yoshimura, Akihiko [Department of Microbiology and Immunology, Keio University School of Medicine, 35 Shinanomachi, Shinjuku-ku, Tokyo 160-8582 (Japan); Japan Science and Technology Agency (JST), CREST, Chiyoda-ku, Tokyo 102-0075 (Japan); Nakamura, Seiji [Section of Oral and Maxillofacial Oncology, Division of Maxillofacial Diagnostic and Surgical Sciences, Faculty of Dental Science, Kyushu University, 3-1-1 Maidashi, Higashi-ku, Fukuoka 812-8582 (Japan)

    2011-01-28

    Research highlights: {yields} Sprouty2-deficient mice exhibit cleft palate as a result of failure of palatal shelf elevation. {yields} We examined palate cell proliferation in Sprouty2-deficient mice. {yields} Palate mesenchymal cell proliferation was increased in Sprouty2 KO mice. {yields} Sprouty2 plays roles in murine palatogenesis by regulating cell proliferation. -- Abstract: Cleft palate is one of the most common craniofacial deformities. The fibroblast growth factor (FGF) plays a central role in reciprocal interactions between adjacent tissues during palatal development, and the FGF signaling pathway has been shown to be inhibited by members of the Sprouty protein family. In this study, we report the incidence of cleft palate, possibly caused by failure of palatal shelf elevation, in Sprouty2-deficient (KO) mice. Sprouty2-deficient palates fused completely in palatal organ culture. However, palate mesenchymal cell proliferation estimated by Ki-67 staining was increased in Sprouty2 KO mice compared with WT mice. Sprouty2-null palates expressed higher levels of FGF target genes, such as Msx1, Etv5, and Ptx1 than WT controls. Furthermore, proliferation and the extracellular signal-regulated kinase (Erk) activation in response to FGF was enhanced in palate mesenchymal cells transfected with Sprouty2 small interfering RNA. These results suggest that Sprouty2 regulates palate mesenchymal cell proliferation via FGF signaling and is involved in palatal shelf elevation.

  16. Sprouty2 controls proliferation of palate mesenchymal cells via fibroblast growth factor signaling

    International Nuclear Information System (INIS)

    Matsumura, Kaori; Taketomi, Takaharu; Yoshizaki, Keigo; Arai, Shinsaku; Sanui, Terukazu; Yoshiga, Daigo; Yoshimura, Akihiko; Nakamura, Seiji

    2011-01-01

    Research highlights: → Sprouty2-deficient mice exhibit cleft palate as a result of failure of palatal shelf elevation. → We examined palate cell proliferation in Sprouty2-deficient mice. → Palate mesenchymal cell proliferation was increased in Sprouty2 KO mice. → Sprouty2 plays roles in murine palatogenesis by regulating cell proliferation. -- Abstract: Cleft palate is one of the most common craniofacial deformities. The fibroblast growth factor (FGF) plays a central role in reciprocal interactions between adjacent tissues during palatal development, and the FGF signaling pathway has been shown to be inhibited by members of the Sprouty protein family. In this study, we report the incidence of cleft palate, possibly caused by failure of palatal shelf elevation, in Sprouty2-deficient (KO) mice. Sprouty2-deficient palates fused completely in palatal organ culture. However, palate mesenchymal cell proliferation estimated by Ki-67 staining was increased in Sprouty2 KO mice compared with WT mice. Sprouty2-null palates expressed higher levels of FGF target genes, such as Msx1, Etv5, and Ptx1 than WT controls. Furthermore, proliferation and the extracellular signal-regulated kinase (Erk) activation in response to FGF was enhanced in palate mesenchymal cells transfected with Sprouty2 small interfering RNA. These results suggest that Sprouty2 regulates palate mesenchymal cell proliferation via FGF signaling and is involved in palatal shelf elevation.

  17. Nuclear war nuclear proliferation and their consequences

    International Nuclear Information System (INIS)

    Aga Khan, Sadruddin

    1986-01-01

    The paper concerns the proceedings of a conference hosted by the Groupe de Bellerive to explore and discuss the implications for humanity of nuclear war, nuclear proliferation and their consequences, Geneva 1985. The conference was divided into five sessions, headed by the subject titles: the nuclear non-proliferation treaty (NPT) and its future, the spread of nuclear weapons among nations, global effects of a nuclear war, the nuclear arms race and arms control, the NPT and its future. Twenty eight papers were presented in the five sessions. (UK)

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

    Science.gov (United States)

    Yi, Seung-Jong

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

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

    Directory of Open Access Journals (Sweden)

    Lin Xinwei

    2015-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Lakshmi Narayana ROSHANNA

    2013-01-01

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

  1. Nuclear proliferation: prospects, problems, and proposals

    International Nuclear Information System (INIS)

    Anon.

    1977-01-01

    This issue of the ANNALS addresses itself to three aspects of nuclear proliferation: the prospect that new nuclear powers will come on the scene, the problems that their arrival may create, and ways of coping with those problems. In an introductory paper, ''Quo Vadimus,'' Joseph I. Coffey investigates the pros and cons of proliferation, concluding that it is not a question of whether there will be nuclear proliferation, but in what countries. Part I, Where We Are, contains five papers preceded by introductory comments by Joseph I. Coffey. The papers and their authors are: Why States Go--and Don't Go--Nuclear, William Epstein; How States Can ''Go Nuclear,'' Frank C. Barnaby; What Happens If. . .Terrorists, Revolutionaries, and Nuclear Weapons, David Kreiger; Safeguards Against Diversion of Nuclear Material: An Overview, Ryukichi Imai; and Reducing the Incentives to Proliferation, George H. Quester. Part II, And Where We May Go, again includes some introductory remarks by Joseph I. Coffey. The seven succeeding papers are: Nth Powers of the Future, Ashok Kapur; Nuclear Proliferation and World Politics, Lewis A. Dunn; Arms Control in a Nuclear Armed World, Colin Gray; The United Nations, the Superpowers, and Proliferation, Abraham Bargman; Proliferation and the Future: Destruction or Transformation, Frederick C. Thayer; Decision Making in a Nuclear Armed World, Michael Brenner; and The United States in a World of Nuclear Powers, Michael Nacht. This special report is concluded with a glossary

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

    Science.gov (United States)

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

    2014-05-01

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

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

    Science.gov (United States)

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

    2012-01-01

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

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

    Science.gov (United States)

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

    2014-08-01

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

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

    National Research Council Canada - National Science Library

    Grimmett, Jeanne J

    2001-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-10-15

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

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

    Directory of Open Access Journals (Sweden)

    Alessandro Palla

    2017-05-01

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

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

    Science.gov (United States)

    Dounskaia, Natalia; Shimansky, Yury

    2016-06-01

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

  9. Law bill relative to the fight against the proliferation of weapons of mass destruction and of their vectors; Projet de loi relatif a la lutte contre la proliferation des armes de destruction massive et de leurs vecteurs

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2009-05-15

    The existing French legislation about the prevention and repression of proliferation actions is complex and includes some loopholes in some particular proliferation-related situations. Therefore, this bill aims at improving this situation by reinforcing the efficiency, the consistency and the dissuasive nature of the French legislation in this domain. (J.S.)

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

    OpenAIRE

    Calderón Martínez, Daniel

    2016-01-01

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

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

    International Nuclear Information System (INIS)

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

    2005-01-01

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

  12. Cell proliferation control by Notch signalling during imaginal discs development in Drosophila

    Directory of Open Access Journals (Sweden)

    Carlos Estella

    2015-02-01

    Full Text Available The Notch signalling pathway is evolutionary conserved and participates in numerous developmental processes, including the control of cell proliferation. However, Notch signalling can promote or restrain cell division depending on the developmental context, as has been observed in human cancer where Notch can function as a tumor suppressor or an oncogene. Thus, the outcome of Notch signalling can be influenced by the cross-talk between Notch and other signalling pathways. The use of model organisms such as Drosophila has been proven to be very valuable to understand the developmental role of the Notch pathway in different tissues and its relationship with other signalling pathways during cell proliferation control. Here we review recent studies in Drosophila that shed light in the developmental control of cell proliferation by the Notch pathway in different contexts such as the eye, wing and leg imaginal discs. We also discuss the autonomous and non-autonomous effects of the Notch pathway on cell proliferation and its interactions with different signalling pathways.

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

    International Nuclear Information System (INIS)

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

    1997-01-01

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

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

    Science.gov (United States)

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

    2013-09-01

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

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

    Science.gov (United States)

    Lilly, John H; Quesada, Peter M

    2004-09-01

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

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

    Science.gov (United States)

    Jiang, Zhao-Hui; Senda, Hiroshi

    2005-12-01

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

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

    International Nuclear Information System (INIS)

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

    2007-01-01

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

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

    Science.gov (United States)

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

    2007-11-01

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

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

    Science.gov (United States)

    Ghafouri, M; Feldman, A G

    2001-04-01

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

  20. Chapter 10. Multinational and international controls. Paper 18. Nuclear proliferation: arrangements for international control

    International Nuclear Information System (INIS)

    Rotblat, J.

    1979-01-01

    In the context of nuclear proliferation, the role of Third World countries is crucial since they constitute the great majority of nations, but only a few of them have as yet decided on their future energy programmes. Both the IAEA and the nuclear energy industries are urging them to opt for nuclear power. This is undesirable, because nuclear energy is an unsuitable energy source for most of these countries; it would create a new economic dependence on industrialized countries and would greatly increase the dangers of a nuclear war. To counteract this, measures are needed (a) to encourage Third World countries to meet their energy need from sources other than nuclear ones; (b) to reduce pressures on countries to acquire nuclear reactors; and (c) to eliminate the threat of new hegemonies to countries that already have nuclear power. To achieve this, it is proposed that two new international organizations be set up. One, a World Energy Organization (WEO), would be a specialized agency of the United Nations, with functions similar to those of WHO or FAO but with sufficient funds to make loans to individual countries which accept WEO's advice about their energy programmes. The second, an International Nuclear Fuel Agency (INFA), would be the sole authority to operate enrichment, fuel fabrication, reprocessing and waste disposal plants. Organizationally, it could be part of the IAEA, but the latter would have to separate its promotional and safeguarding activities. An amendment to the NPT would be needed to oblige all countries both nuclear and non-nuclear weapon states, equally to accept INFA controls. (author)

  1. Prokineticin receptor 1 as a novel suppressor of preadipocyte proliferation and differentiation to control obesity.

    Directory of Open Access Journals (Sweden)

    Cécilia Szatkowski

    Full Text Available BACKGROUND: Adipocyte renewal from preadipocytes occurs throughout the lifetime and contributes to obesity. To date, little is known about the mechanisms that control preadipocyte proliferation and differentiation. Prokineticin-2 is an angiogenic and anorexigenic hormone that activate two G protein-coupled receptors (GPCRs: PKR1 and PKR2. Prokineticin-2 regulates food intake and energy metabolism via central mechanisms (PKR2. The peripheral effect of prokineticin-2 on adipocytes/preadipocytes has not been studied yet. METHODOLOGY/PRINCIPAL FINDINGS: Since adipocytes and preadipocytes express mainly prokineticin receptor-1 (PKR1, here, we explored the role of PKR1 in adipose tissue expansion, generating PKR1-null (PKR1(-/- and adipocyte-specific (PKR1(ad-/- mutant mice, and using murine and human preadipocyte cell lines. Both PKR1(-/- and PKR1(ad-/- had excessive abdominal adipose tissue, but only PKR1(-/- mice showed severe obesity and diabetes-like syndrome. PKR1(ad-/- mice had increased proliferating preadipocytes and newly formed adipocyte levels, leading to expansion of adipose tissue. Using PKR1-knockdown in 3T3-L1 preadipocytes, we show that PKR1 directly inhibits preadipocyte proliferation and differentiation. These PKR1 cell autonomous actions appear targeted at preadipocyte cell cycle regulatory pathways, through reducing cyclin D, E, cdk2, c-Myc levels. CONCLUSIONS/SIGNIFICANCE: These results suggest PKR1 to be a crucial player in the preadipocyte proliferation and differentiation. Our data should facilitate studies of both the pathogenesis and therapy of obesity in humans.

  2. Indian Hedgehog Controls Proliferation and Differentiation in Skin Tumorigenesis and Protects against Malignant Progression

    Directory of Open Access Journals (Sweden)

    Parisa Kakanj

    2013-07-01

    Full Text Available Mutations in the hedgehog pathway drive the formation of tumors in many different organs, including the development of basal cell carcinoma in the skin. However, little is known about the role of epidermal Indian hedgehog (Ihh in skin physiology. Using mouse genetics, we identified overlapping and distinct functions of Ihh in different models of epidermal tumorigenesis. Epidermal deletion of Ihh resulted in increased formation of benign squamous papilloma. Strikingly, Ihh-deficient mice showed an increase in malignant squamous cell carcinoma and developed lung and lymph node metastases. In a sebaceous gland tumor model, Ihh deficiency inhibited tumor cell differentiation. More mechanistically, IHH stimulated cell proliferation by activating the transcription factor GLI2 in human keratinocytes and human tumors. Thus, our results uncover important functions for Ihh signaling in controlling proliferation, differentiation, malignant progression, and metastasis of epithelial cancer, establishing Ihh as a gatekeeper for controlling the grade of tumor malignancy.

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

    International Nuclear Information System (INIS)

    Matseiko, Youri

    1999-01-01

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

  4. KIF7 Controls the Proliferation of Cells of the Respiratory Airway through Distinct Microtubule Dependent Mechanisms.

    Directory of Open Access Journals (Sweden)

    Garry L Coles

    2015-10-01

    Full Text Available The cell cycle must be tightly coordinated for proper control of embryonic development and for the long-term maintenance of organs such as the lung. There is emerging evidence that Kinesin family member 7 (Kif7 promotes Hedgehog (Hh signaling during embryonic development, and its misregulation contributes to diseases such as ciliopathies and cancer. Kif7 encodes a microtubule interacting protein that controls Hh signaling through regulation of microtubule dynamics within the primary cilium. However, whether Kif7 has a function in nonciliated cells remains largely unknown. The role Kif7 plays in basic cell biological processes like cell proliferation or cell cycle progression also remains to be elucidated. Here, we show that Kif7 is required for coordination of the cell cycle, and inactivation of this gene leads to increased cell proliferation in vivo and in vitro. Immunostaining and transmission electron microscopy experiments show that Kif7dda/dda mutant lungs are hyperproliferative and exhibit reduced alveolar epithelial cell differentiation. KIF7 depleted C3H10T1/2 fibroblasts and Kif7dda/dda mutant mouse embryonic fibroblasts have increased growth rates at high cellular densities, suggesting that Kif7 may function as a general regulator of cellular proliferation. We ascertained that in G1, Kif7 and microtubule dynamics regulate the expression and activity of several components of the cell cycle machinery known to control entry into S phase. Our data suggest that Kif7 may function to regulate the maintenance of the respiratory airway architecture by controlling cellular density, cell proliferation, and cycle exit through its role as a microtubule associated protein.

  5. Mitochondrial metabolism and the control of vascular smooth muscle cell proliferation

    Directory of Open Access Journals (Sweden)

    Mario eChiong

    2014-12-01

    Full Text Available Differentiation and dedifferentiation of vascular smooth muscle cells (VSMCs are essential processes of vascular development. VSMCs have biosynthetic, proliferative and contractile roles in the vessel wall. Alterations in the differentiated state of the VSMCs play a critical role in the pathogenesis of a variety of cardiovascular diseases, including atherosclerosis, hypertension and vascular stenosis. This review provides an overview of the current state of knowledge of molecular mechanisms involved in the control of VSMC proliferation, with particular focus on mitochondrial metabolism. Mitochondrial activity can be controlled by regulating mitochondrial dynamics, i.e. mitochondrial fusion and fission, and by regulating mitochondrial calcium handling through the interaction with the endoplasmic reticulum (ER. Alterations in both VSMC proliferation and mitochondrial function can be triggered by dysregulation of mitofusin-2, a small GTPase associated with mitochondrial fusion and mitochondrial-ER interaction. Several lines of evidence highlight the relevance of mitochondrial metabolism in the control of VSMC proliferation, indicating a new area to be explored in the treatment of vascular diseases.

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

    Energy Technology Data Exchange (ETDEWEB)

    Wuest, C R

    2012-05-24

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

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

    Science.gov (United States)

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

    2015-08-01

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

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

    International Nuclear Information System (INIS)

    Oka, Kiyoshi; Kakudate, Satoshi; Nakahira, Masataka

    1994-10-01

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

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

    International Nuclear Information System (INIS)

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

    2015-01-01

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

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

    Science.gov (United States)

    Inouye, Joshua M; Valero-Cuevas, Francisco J

    2016-02-01

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

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

    Science.gov (United States)

    Gribble, P L; Ostry, D J

    2000-12-01

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

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

    Science.gov (United States)

    Gomi, H; Kawato

    1996-04-05

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

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

    International Nuclear Information System (INIS)

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

    1981-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

    Kuett, Moritz

    2016-07-07

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

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

    DEFF Research Database (Denmark)

    Olsen, Jacob Ingemar

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

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

    Directory of Open Access Journals (Sweden)

    Winstein Carolee J

    2013-01-01

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

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

    Science.gov (United States)

    Atkins, Diane J.

    1998-01-01

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

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

    Science.gov (United States)

    Fisher, Janet M.

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

  19. Control of cell proliferation by a porous chitosan scaffold with multiple releasing capabilities

    Science.gov (United States)

    Cai, Shu-Jyun; Li, Ching-Wen; Weihs, Daphne; Wang, Gou-Jen

    2017-01-01

    Abstract The aim of this study was to develop a porous chitosan scaffold with long-acting drug release as an artificial dressing to promote skin wound healing. The dressing was fabricated by pre-freezing at different temperatures (−20 and −80 °C) for different periods of time, followed by freeze-drying to form porous chitosan scaffolds with different pore sizes. The chitosan scaffolds were then used to investigate the effect of the controlled release of fibroblast growth factor-basic (bFGF) and transforming growth factor-β1 (TGFβ1) on mouse fibroblast cells (L929) and bovine carotid endothelial cells (BEC). The biocompatibility of the prepared chitosan scaffold was confirmed with WST-1 proliferation and viability assay, which demonstrated that the material is suitable for cell growth. The results of this study show that the pore sizes of the porous scaffolds prepared by freeze-drying can change depending on the pre-freezing temperature and time via the formation of ice crystals. In this study, the scaffolds with the largest pore size were found to be 153 ± 32 μm and scaffolds with the smallest pores to be 34 ± 9 μm. Through cell culture analysis, it was found that the concentration that increased proliferation of L929 cells for bFGF was 0.005 to 0.1 ng/mL, and the concentration for TGFβ1 was 0.005 to 1 ng/mL. The cell culture of the chitosan scaffold and growth factors shows that 3.75 ng of bFGF in scaffolds with pore sizes of 153 ± 32 μm can promote L929 cell proliferation, while 400 pg of TGFβ1 in scaffolds with pore size of 34 ± 9 μm can enhance the proliferation of L929 cells, but also inhibit BEC proliferation. It is proposed that the prepared chitosan scaffolds can form a multi-drug (bFGF and TGFβ1) release dressing that has the ability to control wound healing via regulating the proliferation of different cell types. PMID:29230255

  20. Hes1 Directly Controls Cell Proliferation through the Transcriptional Repression of p27Kip1

    Science.gov (United States)

    Murata, Kaoru; Hattori, Masakazu; Hirai, Norihito; Shinozuka, Yoriko; Hirata, Hiromi; Kageyama, Ryoichiro; Sakai, Toshiyuki; Minato, Nagahiro

    2005-01-01

    A transcriptional regulator, Hes1, plays crucial roles in the control of differentiation and proliferation of neuronal, endocrine, and T-lymphocyte progenitors during development. Mechanisms for the regulation of cell proliferation by Hes1, however, remain to be verified. In embryonic carcinoma cells, endogenous Hes1 expression was repressed by retinoic acid in concord with enhanced p27Kip1 expression and cell cycle arrest. Conversely, conditional expression of a moderate but not maximal level of Hes1 in HeLa cells by a tetracycline-inducible system resulted in reduced p27Kip1 expression, which was attributed to decreased basal transcript rather than enhanced proteasomal degradation, with concomitant increases in the growth rate and saturation density. Hes1 induction repressed the promoter activity of a 5′ flanking basal enhancer region of p27Kip1 gene in a manner dependent on Hes1 expression levels, and this was mediated by its binding to class C sites in the promoter region. Finally, hypoplastic fetal thymi, as well as livers and brains of Hes1-deficient mice, showed significantly increased p27Kip1 transcripts compared with those of control littermates. These results have suggested that Hes1 directly contributes to the promotion of progenitor cell proliferation through transcriptional repression of a cyclin-dependent kinase inhibitor, p27Kip1. PMID:15870295

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

    Science.gov (United States)

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

    2015-04-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2016-03-01

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

  3. Translationally controlled tumor protein supplemented chitosan modified glass ionomer cement promotes osteoblast proliferation and function

    International Nuclear Information System (INIS)

    Sangsuwan, Jiraporn; Wanichpakorn, Supreya; Kedjarune-Leggat, Ureporn

    2015-01-01

    The objective of this study was to evaluate the effect of translationally controlled tumor protein (TCTP) supplemented in a novel glass ionomer cement (BIO-GIC) on normal human osteoblasts (NHost cells). BIO-GIC was a glass ionomer cement (GIC) modified by adding chitosan and albumin to promote the release of TCTP. NHost cells were seeded on specimens of GIC, GIC + TCTP, BIO-GIC and BIO-GIC + TCTP. Cell proliferation was determined by BrdU assay. It was found that BIO-GIC + TCTP had significantly higher proliferation of cells than other specimens. Bone morphogenetic protein-2 (BMP-2) and osteopontin (OPN) gene expressions assessed by quantitative real time PCR and alkaline phosphatase (ALP) activity were used to determine cell differentiation. Bone cell function was investigated by calcium deposition using alizarin assay. Both BMP-2 and OPN gene expressions of cells cultured on specimens with added TCTP increased gradually up-regulation after day 1 and reached the highest on day 3 then down-regulation on day 7. The ALP activity of cells cultured on BIO-GIC + TCTP for 7 days and calcium content after 14 days were significantly higher than other groups. BIO-GIC + TCTP can promote osteoblast cells proliferation, differentiation and function. - Highlights: • Developed a new GIC by supplementing TCTP in BIO-GIC (GIC with chitosan and albumin) • BIO-GIC + TCTP released a higher amount of TCTP than GIC + TCTP. • BIO-GIC + TCTP promoted cell proliferation higher than other specimens and control. • BIO-GIC + TCTP promoted osteoblasts differentiation and function

  4. Translationally controlled tumor protein supplemented chitosan modified glass ionomer cement promotes osteoblast proliferation and function

    Energy Technology Data Exchange (ETDEWEB)

    Sangsuwan, Jiraporn [Department of Molecular Biology and Bioinformatics, Center for Genomics and Bioinformatics Research, Faculty of Science, Prince of Songkla University, Hat Yai, Songkhla 90112 (Thailand); Department of Oral Biology and Occlusion, Faculty of Dentistry, Prince of Songkla University, Hat Yai, Songkhla 90112 (Thailand); Wanichpakorn, Supreya; Kedjarune-Leggat, Ureporn [Department of Oral Biology and Occlusion, Faculty of Dentistry, Prince of Songkla University, Hat Yai, Songkhla 90112 (Thailand)

    2015-09-01

    The objective of this study was to evaluate the effect of translationally controlled tumor protein (TCTP) supplemented in a novel glass ionomer cement (BIO-GIC) on normal human osteoblasts (NHost cells). BIO-GIC was a glass ionomer cement (GIC) modified by adding chitosan and albumin to promote the release of TCTP. NHost cells were seeded on specimens of GIC, GIC + TCTP, BIO-GIC and BIO-GIC + TCTP. Cell proliferation was determined by BrdU assay. It was found that BIO-GIC + TCTP had significantly higher proliferation of cells than other specimens. Bone morphogenetic protein-2 (BMP-2) and osteopontin (OPN) gene expressions assessed by quantitative real time PCR and alkaline phosphatase (ALP) activity were used to determine cell differentiation. Bone cell function was investigated by calcium deposition using alizarin assay. Both BMP-2 and OPN gene expressions of cells cultured on specimens with added TCTP increased gradually up-regulation after day 1 and reached the highest on day 3 then down-regulation on day 7. The ALP activity of cells cultured on BIO-GIC + TCTP for 7 days and calcium content after 14 days were significantly higher than other groups. BIO-GIC + TCTP can promote osteoblast cells proliferation, differentiation and function. - Highlights: • Developed a new GIC by supplementing TCTP in BIO-GIC (GIC with chitosan and albumin) • BIO-GIC + TCTP released a higher amount of TCTP than GIC + TCTP. • BIO-GIC + TCTP promoted cell proliferation higher than other specimens and control. • BIO-GIC + TCTP promoted osteoblasts differentiation and function.

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

    Science.gov (United States)

    Biess, Armin

    2013-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Hong Zeng

    2017-10-01

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

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

    Science.gov (United States)

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

    2017-01-01

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

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

    National Research Council Canada - National Science Library

    Downs, Ryan

    2002-01-01

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

  9. Examination of methods of proliferation control for application to nuclear fuel reprocessing facilities

    International Nuclear Information System (INIS)

    O'Hara, F.A.

    1980-01-01

    Potential methods are examined that could be applied to the nuclear fuel reprocessing facility as a means of more effectively controlling the proliferation threat and, at the same time, permitting the further development of nuclear power as an energy source. The proposed remedies for this problem are basically technical or economic and political in nature and include: ''technical fixes'', institutional arrangements, and international political solutions. Each of these approaches to the problem is examined, along with a consideration of their interaction and an estimation of their effectiveness, either individually or in combination. 22 refs

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

    Science.gov (United States)

    Jia, Yinghong; Misra, Arun K.

    2017-08-01

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

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

    Science.gov (United States)

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

    2015-01-01

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

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

    Science.gov (United States)

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

    2016-01-01

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

  13. 76 FR 70209 - Delegation by the Secretary of State to the Under Secretary of State for Arms Control and...

    Science.gov (United States)

    2011-11-10

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

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

    International Nuclear Information System (INIS)

    Sitt, B.

    2000-01-01

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

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

    International Nuclear Information System (INIS)

    Lee Seo-Hang

    1992-01-01

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

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

    International Nuclear Information System (INIS)

    1997-01-01

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

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

    International Nuclear Information System (INIS)

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

    2014-01-01

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

  18. Hippo/Yap signaling controls epithelial progenitor cell proliferation and differentiation in the embryonic and adult lung

    Science.gov (United States)

    Lange, Alexander W.; Sridharan, Anusha; Xu, Yan; Stripp, Barry R.; Perl, Anne-Karina; Whitsett, Jeffrey A.

    2015-01-01

    The Hippo/Yap pathway is a well-conserved signaling cascade that regulates cell proliferation and differentiation to control organ size and stem/progenitor cell behavior. Following airway injury, Yap was dynamically regulated in regenerating airway epithelial cells. To determine the role of Hippo signaling in the lung, the mammalian Hippo kinases, Mst1 and Mst2, were deleted in epithelial cells of the embryonic and mature mouse lung. Mst1/2 deletion in the fetal lung enhanced proliferation and inhibited sacculation and epithelial cell differentiation. The transcriptional inhibition of cell proliferation and activation of differentiation during normal perinatal lung maturation were inversely regulated following embryonic Mst1/2 deletion. Ablation of Mst1/2 from bronchiolar epithelial cells in the adult lung caused airway hyperplasia and altered differentiation. Inhibitory Yap phosphorylation was decreased and Yap nuclear localization and transcriptional targets were increased after Mst1/2 deletion, consistent with canonical Hippo/Yap signaling. YAP potentiated cell proliferation and inhibited differentiation of human bronchial epithelial cells in vitro. Loss of Mst1/2 and expression of YAP regulated transcriptional targets controlling cell proliferation and differentiation, including Ajuba LIM protein. Ajuba was required for the effects of YAP on cell proliferation in vitro. Hippo/Yap signaling regulates Ajuba and controls proliferation and differentiation of lung epithelial progenitor cells. PMID:25480985

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

    Science.gov (United States)

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

    2018-04-02

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

  20. Evolution of robotic arms.

    Science.gov (United States)

    Moran, Michael E

    2007-01-01

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

  1. Dissociation of Survival, Proliferation, and State Control in Human Hematopoietic Stem Cells.

    Science.gov (United States)

    Knapp, David J H F; Hammond, Colin A; Miller, Paul H; Rabu, Gabrielle M; Beer, Philip A; Ricicova, Marketa; Lecault, Véronique; Da Costa, Daniel; VanInsberghe, Michael; Cheung, Alice M; Pellacani, Davide; Piret, James; Hansen, Carl; Eaves, Connie J

    2017-01-10

    The role of growth factors (GFs) in controlling the biology of human hematopoietic stem cells (HSCs) remains limited by a lack of information concerning the individual and combined effects of GFs directly on the survival, Mitogenesis, and regenerative activity of highly purified human HSCs. We show that the initial input HSC activity of such a purified starting population of human cord blood cells can be fully maintained over a 21-day period in serum-free medium containing five GFs alone. HSC survival was partially supported by any one of these GFs, but none were essential, and different combinations of GFs variably stimulated HSC proliferation. However, serial transplantability was not detectably compromised by many conditions that reduced human HSC proliferation and/or survival. These results demonstrate the dissociated control of these three human HSC bio-responses, and set the stage for future improvements in strategies to modify and expand human HSCs ex vivo. Copyright © 2017 The Author(s). Published by Elsevier Inc. All rights reserved.

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

    Science.gov (United States)

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

    2016-02-01

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

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

    Science.gov (United States)

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

    2013-07-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2010-01-01

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

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

    National Research Council Canada - National Science Library

    Sokolsky, Richard

    2001-01-01

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

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

    Science.gov (United States)

    2016-12-01

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

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

    OpenAIRE

    Pratama, Adhityanendra Pandu; Munadi, Munadi

    2014-01-01

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

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

    Science.gov (United States)

    Tryfonidis, Michail

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

  9. Proliferation networks at the time of targeted sanctions

    International Nuclear Information System (INIS)

    Gruselle, Bruno; Nexon, Elisande

    2013-01-01

    After having outlined that nuclear proliferation networks are using the existing international market, the authors present the terminology associated with this field (acquisition transaction, acquisition organization) and outline that these networks are made of natural and legal persons with the objective of acquiring goods related to arm programs. They also notice that these natural and legal persons may intervene in an unwittingly way. They comment the evolution of proliferation networks during the past ten years in relationship with the worldwide development of goods flow and export controls. They outline that control measures and mechanisms must be continuously adapted to the evolution of bypassing methods used by proliferation networks

  10. The role of strategic missile defence in the global architecture de ballistic non proliferation

    International Nuclear Information System (INIS)

    Hautecouverture, Benjamin

    2007-01-01

    Whereas some think that missile defence is a proliferation agent by nature and therefore undermines the already fragile regime of ballistic non proliferation, some others think that missile defence could underpin the non proliferation regime. The author thus discusses these issues and both points of view by commenting the ambiguous discursive relationships between missile defence and arms control, and by highlighting the various roles and missions given to missile defence, notably in treaties (like the ABM treaty) and postures adopted by concerned countries

  11. Control of Drosophila Type I and Type II central brain neuroblast proliferation by bantam microRNA

    DEFF Research Database (Denmark)

    Weng, Ruifen; Cohen, Stephen M

    2015-01-01

    Post-transcriptional regulation of stem cell self-renewal by microRNAs is emerging as an important mechanism controlling tissue homeostasis. Here, we provide evidence that bantam microRNA controls neuroblast number and proliferation in the Drosophila central brain. Bantam also supports proliferat......Post-transcriptional regulation of stem cell self-renewal by microRNAs is emerging as an important mechanism controlling tissue homeostasis. Here, we provide evidence that bantam microRNA controls neuroblast number and proliferation in the Drosophila central brain. Bantam also supports...

  12. FGFR3 regulates brain size by controlling progenitor cell proliferation and apoptosis during embryonic development.

    Science.gov (United States)

    Inglis-Broadgate, Suzanne L; Thomson, Rachel E; Pellicano, Francesca; Tartaglia, Michael A; Pontikis, Charlie C; Cooper, Jonathan D; Iwata, Tomoko

    2005-03-01

    Mice with the K644E kinase domain mutation in fibroblast growth factor receptor 3 (Fgfr3) (EIIa;Fgfr3(+/K644E)) exhibited a marked enlargement of the brain. The brain size was increased as early as E11.5, not secondary to the possible effect of Fgfr3 activity in the skeleton. Furthermore, the mutant brains showed a dramatic increase in cortical thickness, a phenotype opposite to that in FGF2 knockout mice. Despite this increased thickness, cortical layer formation was largely unaffected and no cortical folding was observed during embryonic days 11.5-18.5 (E11.5-E18.5). Measurement of cortical thickness revealed an increase of 38.1% in the EIIa;Fgfr3(+/K644E) mice at E14.5 and the advanced appearance of the cortical plate was frequently observed at this stage. Unbiased stereological analysis revealed that the volume of the ventricular zone (VZ) was increased by more than two fold in the EIIa;Fgfr3(+/K644E) mutants at E14.5. A relatively mild increase in progenitor cell proliferation and a profound decrease in developmental apoptosis during E11.5-E14.5 most likely accounts for the dramatic increase in total telecephalic cell number. Taken together, our data suggest a novel function of Fgfr3 in controlling the development of the cortex, by regulating proliferation and apoptosis of cortical progenitors.

  13. Hcm1 integrates signals from Cdk1 and calcineurin to control cell proliferation.

    Science.gov (United States)

    Arsenault, Heather E; Roy, Jagoree; Mapa, Claudine E; Cyert, Martha S; Benanti, Jennifer A

    2015-10-15

    Cyclin-dependent kinase (Cdk1) orchestrates progression through the cell cycle by coordinating the activities of cell-cycle regulators. Although phosphatases that oppose Cdk1 are likely to be necessary to establish dynamic phosphorylation, specific phosphatases that target most Cdk1 substrates have not been identified. In budding yeast, the transcription factor Hcm1 activates expression of genes that regulate chromosome segregation and is critical for maintaining genome stability. Previously we found that Hcm1 activity and degradation are stimulated by Cdk1 phosphorylation of distinct clusters of sites. Here we show that, upon exposure to environmental stress, the phosphatase calcineurin inhibits Hcm1 by specifically removing activating phosphorylations and that this regulation is important for cells to delay proliferation when they encounter stress. Our work identifies a mechanism by which proliferative signals from Cdk1 are removed in response to stress and suggests that Hcm1 functions as a rheostat that integrates stimulatory and inhibitory signals to control cell proliferation. © 2015 Arsenault, Roy, et al. This article is distributed by The American Society for Cell Biology under license from the author(s). Two months after publication it is available to the public under an Attribution–Noncommercial–Share Alike 3.0 Unported Creative Commons License (http://creativecommons.org/licenses/by-nc-sa/3.0).

  14. Regional control of Drosophila gut stem cell proliferation: EGF establishes GSSC proliferative set point & controls emergence from quiescence.

    Science.gov (United States)

    Strand, Marie; Micchelli, Craig A

    2013-01-01

    Adult stem cells vary widely in their rates of proliferation. Some stem cells are constitutively active, while others divide only in response to injury. The mechanism controlling this differential proliferative set point is not well understood. The anterior-posterior (A/P) axis of the adult Drosophila midgut has a segmental organization, displaying physiological compartmentalization and region-specific epithelia. These distinct midgut regions are maintained by defined stem cell populations with unique division schedules, providing an excellent experimental model with which to investigate this question. Here, we focus on the quiescent gastric stem cells (GSSCs) of the acidic copper cell region (CCR), which exhibit the greatest period of latency between divisions of all characterized gut stem cells, to define the molecular basis of differential stem cell activity. Our molecular genetic analysis demonstrates that the mitogenic EGF signaling pathway is a limiting factor controlling GSSC proliferation. We find that under baseline conditions, when GSSCs are largely quiescent, the lowest levels of EGF ligands in the midgut are found in the CCR. However, acute epithelial injury by enteric pathogens leads to an increase in EGF ligand expression in the CCR and rapid expansion of the GSSC lineage. Thus, the unique proliferative set points for gut stem cells residing in physiologically distinct compartments are governed by regional control of niche signals along the A/P axis.

  15. Regional control of Drosophila gut stem cell proliferation: EGF establishes GSSC proliferative set point & controls emergence from quiescence.

    Directory of Open Access Journals (Sweden)

    Marie Strand

    Full Text Available Adult stem cells vary widely in their rates of proliferation. Some stem cells are constitutively active, while others divide only in response to injury. The mechanism controlling this differential proliferative set point is not well understood. The anterior-posterior (A/P axis of the adult Drosophila midgut has a segmental organization, displaying physiological compartmentalization and region-specific epithelia. These distinct midgut regions are maintained by defined stem cell populations with unique division schedules, providing an excellent experimental model with which to investigate this question. Here, we focus on the quiescent gastric stem cells (GSSCs of the acidic copper cell region (CCR, which exhibit the greatest period of latency between divisions of all characterized gut stem cells, to define the molecular basis of differential stem cell activity. Our molecular genetic analysis demonstrates that the mitogenic EGF signaling pathway is a limiting factor controlling GSSC proliferation. We find that under baseline conditions, when GSSCs are largely quiescent, the lowest levels of EGF ligands in the midgut are found in the CCR. However, acute epithelial injury by enteric pathogens leads to an increase in EGF ligand expression in the CCR and rapid expansion of the GSSC lineage. Thus, the unique proliferative set points for gut stem cells residing in physiologically distinct compartments are governed by regional control of niche signals along the A/P axis.

  16. GATA4 Regulates Epithelial Cell Proliferation to Control Intestinal Growth and Development in MiceSummary

    Directory of Open Access Journals (Sweden)

    Bridget M. Kohlnhofer

    2016-03-01

    Full Text Available Background & Aims: The embryonic small intestinal epithelium is highly proliferative, and although much is known about mechanisms regulating proliferation in the adult intestine, the mechanisms controlling epithelial cell proliferation in the developing intestine are less clear. GATA4, a transcription factor that regulates proliferation in other developing tissues, is first expressed early in the developing gut in midgut endoderm. GATA4 function within midgut endoderm and the early intestinal epithelium is unknown. Methods: By using Sonic Hedgehog Cre to eliminate GATA4 in the midgut endoderm of mouse embryos, we determined the impact of loss of GATA4 on intestinal development, including epithelial cell proliferation, between embryonic day (E9.5 and E18.5. Results: We found that intestinal length and width were decreased in GATA4 mutants compared with controls. GATA4-deficient intestinal epithelium contained fewer cells, and epithelial girth was decreased. We further observed a decreased proportion of proliferating epithelial cells at E10.5 and E11.5 in GATA4 mutants. We showed that GATA4 binds to chromatin containing GATA4 consensus binding sites within cyclin D2 (Ccnd2, cyclin-dependent kinase 6 (Cdk6, and frizzled 5 (Fzd5. Moreover, Ccnd2, Cdk6, and Fzd5 transcripts were reduced at E11.5 in GATA4 mutant tissue. Villus morphogenesis was delayed, and villus structure was abnormal in GATA4 mutant intestine. Conclusions: Our data identify GATA4 as an essential regulator of early intestinal epithelial cell proliferation. We propose that GATA4 controls proliferation in part by directly regulating transcription of cell-cycle mediators. Our data further suggest that GATA4 affects proliferation through transcriptional regulation of Fzd5, perhaps by influencing the response of the epithelium to WNT signaling. Keywords: Transcriptional Regulation, WNT Signaling, Villus Morphogenesis

  17. Defense and Arms Control Studies Program, Annual Report, 1988-1989

    National Research Council Canada - National Science Library

    1989-01-01

    .... The other was on the proliferation of nuclear powered submarines. As the Test Ban Conference recounted there is reassurance that tensions between nuclear weapon states can be bounded and reduced...

  18. Safeguard Verification as Cooperative Measure for Non Proliferation Control in Peru

    International Nuclear Information System (INIS)

    Ramirez, R.

    2010-01-01

    Peru applies the safeguard measures on its nuclear activities based in the International Atomic Energy Agency (IAEA) Safeguard Agreement and the Additional Protocol which has been fully implemented becoming part of the Integrated Safeguard since 2005. In addition to international safeguard commitments Peru is also committed with the United Nations 1540 Resolution by which national controls has to be established for preventing the proliferation of mass destruction weapons and their vector systems. The safeguards measures have become an important part of the verification activities related to this Resolution by analyzing of materials and equipment to be imported or that may be in transit across the country. These activities are part of those developed jointly with other governmental organizations. (author)

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

    Science.gov (United States)

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

    2014-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

    Lehman, R.F. II

    1994-06-01

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

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

    International Nuclear Information System (INIS)

    Reich, J.C.

    1991-01-01

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

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

    International Nuclear Information System (INIS)

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

    1980-11-01

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

  3. Proliferation Vulnerability Red Team report

    Energy Technology Data Exchange (ETDEWEB)

    Hinton, J.P.; Barnard, R.W.; Bennett, D.E. [and others

    1996-10-01

    This report is the product of a four-month independent technical assessment of potential proliferation vulnerabilities associated with the plutonium disposition alternatives currently under review by DOE/MD. The scope of this MD-chartered/Sandia-led study was limited to technical considerations that could reduce proliferation resistance during various stages of the disposition processes below the Stored Weapon/Spent Fuel standards. Both overt and covert threats from host nation and unauthorized parties were considered. The results of this study will be integrated with complementary work by others into an overall Nonproliferation and Arms Control Assessment in support of a Secretarial Record of Decision later this year for disposition of surplus U.S. weapons plutonium.

  4. Proliferation risks

    International Nuclear Information System (INIS)

    Carchon, R.

    1998-09-01

    The report gives an overview of different aspects related to safeguards of fissile materials. Existing treaties including the Non-Proliferation Treaty, and the Tlatelolco and the Rarotonga Treaties are discussed. An overview of safeguards systems for the control of fissile materials as well as the role of various authorities is given. An overall overview of proliferation risks, the physical protection of fissile materials and the trade in fissile materials is given. Finally, the status in problem countries and de facto nuclear weapon states is discussed

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

    Science.gov (United States)

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

    2012-08-01

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

  6. Disorder of G2-M Checkpoint Control in Aniline-Induced Cell Proliferation in Rat Spleen.

    Directory of Open Access Journals (Sweden)

    Jianling Wang

    Full Text Available Aniline, a toxic aromatic amine, is known to cause hemopoietic toxicity both in humans and animals. Aniline exposure also leads to toxic response in spleen which is characterized by splenomegaly, hyperplasia, fibrosis and the eventual formation of tumors on chronic in vivo exposure. Previously, we have shown that aniline exposure leads to iron overload, oxidative DNA damage, and increased cell proliferation, which could eventually contribute to a tumorigenic response in the spleen. Despite our demonstration that cell proliferation was associated with deregulation of G1 phase cyclins and increased expression of G1 phase cyclin-dependent kinases (CDKs, molecular mechanisms, especially the regulation of G2 phase and contribution of epigenetic mechanisms in aniline-induced splenic cellular proliferation remain largely unclear. This study therefore, mainly focused on the regulation of G2 phase in an animal model preceding a tumorigenic response. Male Sprague-Dawley rats were given aniline (0.5 mmol/kg/day in drinking water or drinking water only (controls for 30 days, and expression of G2 phase cyclins, CDK1, CDK inhibitors and miRNAs were measured in the spleen. Aniline treatment resulted in significant increases in cell cycle regulatory proteins, including cyclins A, B and CDK1, particularly phosphor-CDK1, and decreases in CDK inhibitors p21 and p27, which could promote the splenocytes to go through G2/M transition. Our data also showed upregulation of tumor markers Trx-1 and Ref-1 in rats treated with aniline. More importantly, we observed lower expression of miRNAs including Let-7a, miR-15b, miR24, miR-100 and miR-125, and greater expression of CDK inhibitor regulatory miRNAs such as miR-181a, miR-221 and miR-222 in the spleens of aniline-treated animals. Our findings suggest that significant increases in the expression of cyclins, CDK1 and aberrant regulation of miRNAs could lead to an accelerated G2/M transition of the splenocytes, and

  7. 32 CFR Appendix A to Part 631 - Armed Forces Disciplinary Control Board Procedures Guide

    Science.gov (United States)

    2010-07-01

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

  8. 49 CFR 1544.221 - Carriage of prisoners under the control of armed law enforcement officers.

    Science.gov (United States)

    2010-10-01

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

  9. RAE-1 is expressed in the adult subventricular zone and controls cell proliferation of neurospheres.

    Science.gov (United States)

    Popa, Natalia; Cedile, Oriane; Pollet-Villard, Xavier; Bagnis, Claude; Durbec, Pascale; Boucraut, José

    2011-01-01

    Improving and controlling the capacity of endogenous or grafted adult neural stem cells to repair the nervous system relies on a better knowledge of interactions between immune cells and neural stem cells. Class I major histocompatibility complex (MHC) family members comprise numerous proteins playing either immune or nonimmune function. Among the latter, MHC functions in the central nervous system has started to receive recent interest. Here, our first goal was to investigate the potential relationship between MHC class I molecules and neurogenesis. For the first time, we report the expression of two MHC class I-related members by neural stem/progenitor cells: retinoic acid early induced transcript (RAE)-1 and CD1d. The expression of RAE-1 but not CD1d disappears when differentiation of neurosphere cells is induced. Interestingly, RAE-1 transcripts are expressed in the brain during development, and we demonstrate they persist in one of the main area of adult neurogenesis, the subventricular zone (SVZ). So far, RAE-1 is only known for its immune functions as a ligand of the activating receptor NKG2D expressed by natural killer (NK) cells, natural killer T, Tγδ, and some T CD8 lymphocytes. Here, we do not detect any NKG2D expression in the SVZ either in physiological or in pathological conditions. Interestingly, inhibition of RAE-1 expression in neurosphere cells reduces cell proliferation without alteration of cell viability, which argues for a nonimmune role for RAE-1. These results reveal an unexpected role of RAE-1 in regulating adult SVZ neurogenesis by supporting stem/progenitor cells proliferation. © 2010 Wiley-Liss, Inc.

  10. Arm Pain

    Science.gov (United States)

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

  11. Director`s series on proliferation

    Energy Technology Data Exchange (ETDEWEB)

    Bailey, K.C. [ed.

    1993-09-07

    Two essays are included in this booklet. Their titles are ``The Dynamics of the NPT Extension Decision`` and ``North Korea`s Nuclear Gambit.`` The first paper discusses the conference to be held in 1995 to review the Nuclear Non-Proliferation Treaty (NPT) which will decide whether the treaty shall continue in force indefinitely, or shall be extended for an additional fixed period or periods. Topics relevant to this discussion are: Arms control issues, the nuclear test ban, the limited test ban treaty, the French nuclear testing moratorium, former Soviet nuclear weapons, Iraq, North Korea, nuclear-weapon-free zones, security, controls on nuclear weapon materials, peaceful uses of nuclear energy, safeguards, politics, and organizational and procedural issues. The second paper examines short, medium, and long term issues entailed in Korea`s nuclear proliferation. Topics considered include: Korean unification, North Korean politics, the nuclear issue as leverage, and the Nuclear Non- Proliferation Treaty.

  12. The economics of proliferation and counterproliferation

    International Nuclear Information System (INIS)

    Murray, B.L.; Hallenbeck, R.A.; Gill, J.M.

    1993-01-01

    On June 2, 1993, the fourth meeting of the seminar series on open-quotes Proliferation of Ballistic Missiles and Weapons of Mass Destruction and Implications for Regional Stabilityclose quotes was held at SAIC in McLean, Virginia. This series is sponsored by the Arms Control and Disarmament Agency and is cosponsored by the Ballistic Missile Defense Organization, the Defense Nuclear Agency, the Department of Energy, and the Office of the Secretary of Defense for International Security Policy. The June seminar, open-quotes The Economics of Proliferation and Counterproliferation,close quotes discussed how economic issues and interests affect proliferation judgments. Seminar participants also examined three economic tools for advancing counterproliferation objectives: Economic Development Assistance, Export Controls, and Economic open-quotes Burdensharingclose quotes and Conversion Assistance

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

    Science.gov (United States)

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

    2018-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-01-01

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

  15. Organ size control is dominant over Rb family inactivation to restrict proliferation in vivo.

    Science.gov (United States)

    Ehmer, Ursula; Zmoos, Anne-Flore; Auerbach, Raymond K; Vaka, Dedeepya; Butte, Atul J; Kay, Mark A; Sage, Julien

    2014-07-24

    In mammals, a cell's decision to divide is thought to be under the control of the Rb/E2F pathway. We previously found that inactivation of the Rb family of cell cycle inhibitors (Rb, p107, and p130) in quiescent liver progenitors leads to uncontrolled division and cancer initiation. Here, we show that, in contrast, deletion of the entire Rb gene family in mature hepatocytes is not sufficient for their long-term proliferation. The cell cycle block in Rb family mutant hepatocytes is independent of the Arf/p53/p21 checkpoint but can be abrogated upon decreasing liver size. At the molecular level, we identify YAP, a transcriptional regulator involved in organ size control, as a factor required for the sustained expression of cell cycle genes in hepatocytes. These experiments identify a higher level of regulation of the cell cycle in vivo in which signals regulating organ size are dominant regulators of the core cell cycle machinery. Copyright © 2014 The Authors. Published by Elsevier Inc. All rights reserved.

  16. Organ Size Control Is Dominant over Rb Family Inactivation to Restrict Proliferation In Vivo

    Directory of Open Access Journals (Sweden)

    Ursula Ehmer

    2014-07-01

    Full Text Available In mammals, a cell’s decision to divide is thought to be under the control of the Rb/E2F pathway. We previously found that inactivation of the Rb family of cell cycle inhibitors (Rb, p107, and p130 in quiescent liver progenitors leads to uncontrolled division and cancer initiation. Here, we show that, in contrast, deletion of the entire Rb gene family in mature hepatocytes is not sufficient for their long-term proliferation. The cell cycle block in Rb family mutant hepatocytes is independent of the Arf/p53/p21 checkpoint but can be abrogated upon decreasing liver size. At the molecular level, we identify YAP, a transcriptional regulator involved in organ size control, as a factor required for the sustained expression of cell cycle genes in hepatocytes. These experiments identify a higher level of regulation of the cell cycle in vivo in which signals regulating organ size are dominant regulators of the core cell cycle machinery.

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

    Science.gov (United States)

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

    2017-02-01

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

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

    Directory of Open Access Journals (Sweden)

    Yueling Wang

    2013-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Manikandan Ramasamy

    2017-07-01

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

  20. Cognitive Targeting: A Coercive Air Power Theory for Conventional Escalation Control Against Nuclear Armed Adversaries

    Science.gov (United States)

    2016-06-01

    strategic,” in the cognitive targeting paradigm , are those that directly disable - in the strategic audience’s mind – the attractiveness or...This study analyses the applicability of three operational targeting paradigms to coerce a nuclear-armed adversary in a regional crisis, while...principles and elements of war and understand the coercive ability of utility targeting (a capabilities-based targeting paradigm , CBTP), axiological

  1. Impairment-oriented training or Bobath therapy for severe arm paresis after stroke: a single-blind, multicentre randomized controlled trial.

    Science.gov (United States)

    Platz, T; Eickhof, C; van Kaick, S; Engel, U; Pinkowski, C; Kalok, S; Pause, M

    2005-10-01

    To study the effects of augmented exercise therapy time for arm rehabilitation as either Bobath therapy or the impairment-oriented training (Arm BASIS training) in stroke patients with arm severe paresis. Single blind, multicentre randomized control trial. Three inpatient neurorehabilitation centres. Sixty-two anterior circulation ischaemic stroke patients. Random assignment to three group: (A) no augmented exercise therapy time, (B) augmented exercise therapy time as Bobath therapy and (C) augmented exercise therapy time as Arm BASIS training. Fugl-Meyer arm motor score. Secondary measure: Action Research Arm Test (ARA). Ancillary measures: Fugl-Meyer arm sensation and joint motion/pain scores and the Ashworth Scale (elbow flexors). An overall effect of augmented exercise therapy time on Fugl-Meyer scores after four weeks was not corroborated (mean and 95% confidence interval (CI) of change scores: no augmented exercise therapy time (n=20) 8.8, 5.2-12.3; augmented exercise therapy time (n=40) 9.9, 6.8-13.9; p = 0.2657). The group who received the augmented exercise therapy time as Arm BASIS training (n=20) had, however, higher gains than the group receiving the augmented exercise therapy time as Bobath therapy (n=20) (mean and 95% CI of change scores: Bobath 7.2, 2.6-11.8; BASIS 12.6, 8.4-16.8; p = 0.0432). Passive joint motion/pain deteriorated less in the group who received BASIS training (mean and 95% CI of change scores: Bobath -3.2, -5.2 to -1.1; BASIS 0.1, -1.8-2.0; p = 0.0090). ARA, Fugl-Meyer arm sensation, and Ashworth Scale scores were not differentially affected. The augmented exercise therapy time as Arm BASIS training enhanced selective motor control. Type of training was more relevant for recovery of motor control than therapeutic time spent.

  2. Exploring Ackermann and LQR stability control of stochastic state-space model of hexacopter equipped with robotic arm

    Science.gov (United States)

    Ibrahim, I. N.; Akkad, M. A. Al; Abramov, I. V.

    2018-05-01

    This paper discusses the control of Unmanned Aerial Vehicles (UAVs) for active interaction and manipulation of objects. The manipulator motion with an unknown payload was analysed concerning force and moment disturbances, which influence the mass distribution, and the centre of gravity (CG). Therefore, a general dynamics mathematical model of a hexacopter was formulated where a stochastic state-space model was extracted in order to build anti-disturbance controllers. Based on the compound pendulum method, the disturbances model that simulates the robotic arm with a payload was inserted into the stochastic model. This study investigates two types of controllers in order to study the stability of a hexacopter. A controller based on Ackermann’s method and the other - on the linear quadratic regulator (LQR) approach - were presented. The latter constitutes a challenge for UAV control performance especially with the presence of uncertainties and disturbances.

  3. Robot-assisted reaching exercise promotes arm movement recovery in chronic hemiparetic stroke: a randomized controlled pilot study

    Directory of Open Access Journals (Sweden)

    Rymer W Zev

    2006-06-01

    Full Text Available Abstract Background and purpose Providing active assistance to complete desired arm movements is a common technique in upper extremity rehabilitation after stroke. Such active assistance may improve recovery by affecting somatosensory input, motor planning, spasticity or soft tissue properties, but it is labor intensive and has not been validated in controlled trials. The purpose of this study was to investigate the effects of robotically administered active-assistive exercise and compare those with free reaching voluntary exercise in improving arm movement ability after chronic stroke. Methods Nineteen individuals at least one year post-stroke were randomized into one of two groups. One group performed 24 sessions of active-assistive reaching exercise with a simple robotic device, while a second group performed a task-matched amount of unassisted reaching. The main outcome measures were range and speed of supported arm movement, range, straightness and smoothness of unsupported reaching, and the Rancho Los Amigos Functional Test of Upper Extremity Function. Results and discussion There were significant improvements with training for range of motion and velocity of supported reaching, straightness of unsupported reaching, and functional movement ability. These improvements were not significantly different between the two training groups. The group that performed unassisted reaching exercise improved the smoothness of their reaching movements more than the robot-assisted group. Conclusion Improvements with both forms of exercise confirmed that repeated, task-related voluntary activation of the damaged motor system is a key stimulus to motor recovery following chronic stroke. Robotically assisting in reaching successfully improved arm movement ability, although it did not provide any detectable, additional value beyond the movement practice that occurred concurrently with it. The inability to detect any additional value of robot-assisted reaching

  4. The positive effect of mirror visual feedback on arm control in children with Spastic hemiparetic cerebral palsy is dependent on which arm is viewed

    NARCIS (Netherlands)

    Smorenburg, A; Ledebt, A.; Feltham, M.; Deconinck, F.; Savelsbergh, G.J.P.

    2011-01-01

    Mirror visual feedback has previously been found to reduce disproportionate interlimb variability and neuromuscular activity in the arm muscles in children with Spastic Hemiparetic Cerebral Palsy (SHCP). The aim of the current study was to determine whether these positive effects are generated by

  5. Safety, Security, and Stability: The Role of Nuclear Control Regimes in a Proliferated World

    National Research Council Canada - National Science Library

    Collins, James

    1995-01-01

    ... with developing and deploying nuclear weapons. The US, in the past, has refused to provide technical assistance to enhance the safety, security, and stability of proliferating countries' nuclear arsenals-we believe this policy...

  6. miRNA-720 controls stem cell phenotype, proliferation and differentiation of human dental pulp cells.

    Directory of Open Access Journals (Sweden)

    Emilio Satoshi Hara

    Full Text Available Dental pulp cells (DPCs are known to be enriched in stem/progenitor cells but not well characterized yet. Small non-coding microRNAs (miRNAs have been identified to control protein translation, mRNA stability and transcription, and have been reported to play important roles in stem cell biology, related to cell reprogramming, maintenance of stemness and regulation of cell differentiation. In order to characterize dental pulp stem/progenitor cells and its mechanism of differentiation, we herein sorted stem-cell-enriched side population (SP cells from human DPCs and periodontal ligament cells (PDLCs, and performed a locked nucleic acid (LNA-based miRNA array. As a result, miR-720 was highly expressed in the differentiated main population (MP cells compared to that in SP cells. In silico analysis and a reporter assay showed that miR-720 targets the stem cell marker NANOG, indicating that miR-720 could promote differentiation of dental pulp stem/progenitor cells by repressing NANOG. Indeed, gain-and loss-of-function analyses showed that miR-720 controls NANOG transcript and protein levels. Moreover, transfection of miR-720 significantly decreased the number of cells positive for the early stem cell marker SSEA-4. Concomitantly, mRNA levels of DNA methyltransferases (DNMTs, which are known to play crucial factors during stem cell differentiation, were also increased by miR-720 through unknown mechanism. Finally, miR-720 decreased DPC proliferation as determined by immunocytochemical analysis against ki-67, and promoted odontogenic differentiation as demonstrated by alizarin red staining, as well as alkaline phosphatase and osteopontin mRNA levels. Our findings identify miR-720 as a novel miRNA regulating the differentiation of DPCs.

  7. Disarmament and arms control in the policy of the two great powers

    International Nuclear Information System (INIS)

    Klein, J.

    2010-01-01

    This text was published in 1992. The author comments the results of the START agreement which specified a 30 per cent objective for strategic weapon reduction. He also comments the consequences and implication of the USSR splitting where some states possess nuclear arms and warheads, the cooperation for transportation, storage, security and destruction of chemical and nuclear weapons in USSR, and the perspectives of more ambitious disarmament propositions because of the USSR collapse and of the disappearance of its military threat on the USA

  8. Understanding the conventional arms trade

    Science.gov (United States)

    Stohl, Rachel

    2017-11-01

    The global conventional arms trade is worth tens of billions of dollars every year and is engaged in by every country in the world. Yet, it is often difficult to control the legal trade in conventional arms and there is a thriving illicit market, willing to arm unscrupulous regimes and nefarious non-state actors. This chapter examines the international conventional arms trade, the range of tools that have been used to control it, and challenges to these international regimes.

  9. Validation of the NATO Armaments Ballistic Kernel for use in small-arms fire control systems

    Directory of Open Access Journals (Sweden)

    D. Corriveau

    2017-06-01

    Full Text Available In support for the development of a new small-arm ballistic computer based on the NATO Armaments Ballistic Kernel (NABK for the Canadian snipers, DRDC Valcartier Research Centre was asked to carry out high-fidelity 6 degree-of-freedom (6-DOF trajectory simulations for a set of relevant vignettes for the snipers, and to compare the direct fire 6-DOF simulation results with those obtained with the 4-DOF NATO Armaments Ballistic Kernel (NABK adapted to simulate small-arm ammunition trajectories. To conduct this study, DRDC Valcartier Research Centre used BALCO v1.0b. This paper presents (1 the process and the methodology employed to carry out the sniper direct fire solution study, (2 the modeling and the simulation of the sniper projectile, the approach used in calculating the firing solutions, and the results of direct fire simulations for the sniper vignettes, and (3 an analysis of firing solutions obtained with the BALCO engine versus those of NABK. The work presented in this paper serves to validate the use of NABK for the new sniper ballistic computer.

  10. Scanning ARM Cloud Radars. Part II: Data Quality Control and Processing

    Energy Technology Data Exchange (ETDEWEB)

    Kollias, Pavlos; Jo, Ieng; Borque, Paloma; Tatarevic, Aleksandra; Lamer, Katia; Bharadwaj, Nitin; Widener, Kevin B.; Johnson, Karen L.; Clothiaux, Eugene E.

    2014-03-01

    The Scanning ARM Cloud Radars (SACR’s) are the primary instruments for documenting the four-dimensional structure and evolution of clouds within a 20-30 km radius from the ARM fixed and mobile sites. Here, the post-processing of the calibrated SACR measurements is discussed. First, a feature mask algorithm that objectively determines the presence of significant radar returns is described. The feature mask algorithm is based on the statistical properties of radar receiver noise. It accounts for atmospheric emission and is applicable even for SACR profiles with few or no signal-free range gates. Using the nearest-in-time atmospheric sounding, the SACR radar reflectivities are corrected for gaseous attenuation (water vapor and oxygen) using a line-by-line absorption model. Despite having a high pulse repetition frequency, the SACR has a narrow Nyquist velocity limit and thus Doppler velocity folding is commonly observed. An unfolding algorithm that makes use of a first guess for the true Doppler velocity using horizontal wind measurements from the nearest sounding is described. The retrieval of the horizontal wind profile from the HS-RHI SACR scan observations and/or nearest sounding is described. The retrieved horizontal wind profile can be used to adaptively configure SACR scan strategies that depend on wind direction. Several remaining challenges are discussed, including the removal of insect and second-trip echoes. The described algorithms significantly enhance SACR data quality and constitute an important step towards the utilization of SACR measurements for cloud research.

  11. Updating visual memory across eye movements for ocular and arm motor control.

    Science.gov (United States)

    Thompson, Aidan A; Henriques, Denise Y P

    2008-11-01

    Remembered object locations are stored in an eye-fixed reference frame, so that every time the eyes move, spatial representations must be updated for the arm-motor system to reflect the target's new relative position. To date, studies have not investigated how the brain updates these spatial representations during other types of eye movements, such as smooth-pursuit. Further, it is unclear what information is used in spatial updating. To address these questions we investigated whether remembered locations of pointing targets are updated following smooth-pursuit eye movements, as they are following saccades, and also investigated the role of visual information in estimating eye-movement amplitude for updating spatial memory. Misestimates of eye-movement amplitude were induced when participants visually tracked stimuli presented with a background that moved in either the same or opposite direction of the eye before pointing or looking back to the remembered target location. We found that gaze-dependent pointing errors were similar following saccades and smooth-pursuit and that incongruent background motion did result in a misestimate of eye-movement amplitude. However, the background motion had no effect on spatial updating for pointing, but did when subjects made a return saccade, suggesting that the oculomotor and arm-motor systems may rely on different sources of information for spatial updating.

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

    International Nuclear Information System (INIS)

    Imai, Ryukichi

    1993-01-01

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

  13. Nuclear Testing: Arms Control Opportunities. Hearing before the Subcommittee on Arms Control, International Security and Science of the Committee on Foreign Affairs, US House of Representatives, One Hundredth Congress, Second Session, June 28, 1988

    International Nuclear Information System (INIS)

    Anon.

    1988-01-01

    The results of this hearing before the Subcommittee on Arms Control, International Security and Science that had a three-fold purpose are recorded. The three-fold purpose was: (1) to examine the nuclear testing policy of the USA and how that policy fits into a larger USA arms control and national security strategy; (2) to discuss the status of the USA-Soviet Nuclear Testing Talks in Geneva, i.e. what is the status of the protocols of the Threshold Test Ban Treaty (TTBT) and the Peaceful Nuclear Explosion Treaty (PNET)? and what is the next step in the US negotiating strategy after the protocols are completed?; and (3) to examine the conclusions of a 139 page report completed by the Office of Technology Assessment (OTA) on 'Seismic Verification of Nuclear Testing Treaties'. The OTA report addressed two key questions: (1) down to what size explosion can underground testing be seismically monitored with high confidence; and (2) how accurately can the yields of underground explosions be measured seismically? The answers to these questions are featured in the hearings

  14. When ethics constrains clinical research: trial design of control arms in "greater than minimal risk" pediatric trials.

    Science.gov (United States)

    de Melo-Martín, Inmaculada; Sondhi, Dolan; Crystal, Ronald G

    2011-09-01

    For more than three decades clinical research in the United States has been explicitly guided by the idea that ethical considerations must be central to research design and practice. In spite of the centrality of this idea, attempting to balance the sometimes conflicting values of advancing scientific knowledge and protecting human subjects continues to pose challenges. Possible conflicts between the standards of scientific research and those of ethics are particularly salient in relation to trial design. Specifically, the choice of a control arm is an aspect of trial design in which ethical and scientific issues are deeply entwined. Although ethical quandaries related to the choice of control arms may arise when conducting any type of clinical trials, they are conspicuous in early phase gene transfer trials that involve highly novel approaches and surgical procedures and have children as the research subjects. Because of children's and their parents' vulnerabilities, in trials that investigate therapies for fatal, rare diseases affecting minors, the scientific and ethical concerns related to choosing appropriate controls are particularly significant. In this paper we use direct gene transfer to the central nervous system to treat late infantile neuronal ceroid lipofuscinosis to illustrate some of these ethical issues and explore possible solutions to real and apparent conflicts between scientific and ethical considerations.

  15. Information report on the behalf of the foreign affairs, defence and armed forces Commission on France security, nuclear disarmament and non proliferation; Rapport d'information fait au nom de la commission des affaires etrangeres, de la defense et des forces armees (1) sur le desarmement, la non-proliferation nucleaires et la securite de la France

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2010-07-01

    This report first gives an overview of nuclear disarmament and non proliferation twenty years after the end of Cold War: evolution and status of Russia's and United States' nuclear weapon arsenals, France's and United Kingdom's trend to reduce their nuclear armament, reinforcement of China's nuclear armament, effects and limitations of the Non Proliferation Treaty (NPT). It notices that the new international context gave birth to some expectations and may lead to a lower nuclear pressure, notably with the influence of START negotiations between Russia and the United States, provided that the Comprehensive Nuclear Test Ban Treaty is ratified by more countries, and that negotiations promote a Fissile Material Cut-off Treaty. The report also outlines the importance of the promotion of better controlled peaceful uses of nuclear energy. It discusses the relationship between maintaining the world nuclear order and the reduction of international and regional tensions, and the importance of struggle against all forms of proliferation. It analyses the French nuclear posture in terms of security requirements, and in front of the zero nuclear option, in a context of ballistic missile proliferation, and in relationship with the issue of tactical nuclear weapons in Europe

  16. Strengthening the nuclear non-proliferation regime

    International Nuclear Information System (INIS)

    Carlson, J.

    2003-01-01

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

  17. Supporting non proliferation and global security efforts

    International Nuclear Information System (INIS)

    Pochon, E.

    2013-01-01

    CEA contributes as a major actor of France's action against nuclear proliferation and to the strengthening of nuclear security at national level as European and International levels, in particular through the support of the IAEA activities in nuclear non proliferation with the French Support Programme for the IAEA safeguards system and security with the contribution to the IAEA Nuclear Security Plan and cooperation projects with the European Commission. The CEA is a French government funded technological research organization, organized around 5 branches: Nuclear Energy, Technological Researches, Defence (DAM), Material Sciences and Life Sciences. Within the scope of its activities, CEA covers most of the research areas and techniques in nuclear non-proliferation and security. The CEA is also the advisor of the French Government on nuclear policy. Treaty monitoring and the development and implementation of non proliferation and global security programs is an important mission of DAM which rely on nuclear weapons manufacture and past testing experience. The programmes on non proliferation and global security carried out to fulfil DAM's mission cover the following areas: development of monitoring and detection methods and equipments, country profiles and nuclear stockpiles assessment, arms control instruments, proliferation resistance of nuclear fuel cycle, monitoring of nuclear tests, operation and maintenance of national detection capabilities and contribution to CTBT verification systems. (A.C.)

  18. Adaptive neural control for dual-arm coordination of humanoid robot with unknown nonlinearities in output mechanism.

    Science.gov (United States)

    Liu, Zhi; Chen, Ci; Zhang, Yun; Chen, C L P

    2015-03-01

    To achieve an excellent dual-arm coordination of the humanoid robot, it is essential to deal with the nonlinearities existing in the system dynamics. The literatures so far on the humanoid robot control have a common assumption that the problem of output hysteresis could be ignored. However, in the practical applications, the output hysteresis is widely spread; and its existing limits the motion/force performances of the robotic system. In this paper, an adaptive neural control scheme, which takes the unknown output hysteresis and computational efficiency into account, is presented and investigated. In the controller design, the prior knowledge of system dynamics is assumed to be unknown. The motion error is guaranteed to converge to a small neighborhood of the origin by Lyapunov's stability theory. Simultaneously, the internal force is kept bounded and its error can be made arbitrarily small.

  19. Sample size determinations for group-based randomized clinical trials with different levels of data hierarchy between experimental and control arms.

    Science.gov (United States)

    Heo, Moonseong; Litwin, Alain H; Blackstock, Oni; Kim, Namhee; Arnsten, Julia H

    2017-02-01

    We derived sample size formulae for detecting main effects in group-based randomized clinical trials with different levels of data hierarchy between experimental and control arms. Such designs are necessary when experimental interventions need to be administered to groups of subjects whereas control conditions need to be administered to individual subjects. This type of trial, often referred to as a partially nested or partially clustered design, has been implemented for management of chronic diseases such as diabetes and is beginning to emerge more commonly in wider clinical settings. Depending on the research setting, the level of hierarchy of data structure for the experimental arm can be three or two, whereas that for the control arm is two or one. Such different levels of data hierarchy assume correlation structures of outcomes that are different between arms, regardless of whether research settings require two or three level data structure for the experimental arm. Therefore, the different correlations should be taken into account for statistical modeling and for sample size determinations. To this end, we considered mixed-effects linear models with different correlation structures between experimental and control arms to theoretically derive and empirically validate the sample size formulae with simulation studies.

  20. Scanning ARM Cloud Radars Part II. Data Quality Control and Processing

    Energy Technology Data Exchange (ETDEWEB)

    Kollias, Pavlos [McGill Univ., Montreal, QC (Canada); Jo, Ieng [McGill Univ., Montreal, QC (Canada); Borque, Paloma [McGill Univ., Montreal, QC (Canada); Tatarevic, Aleksandra [McGill Univ., Montreal, QC (Canada); Lamer, Katia [McGill Univ., Montreal, QC (Canada); Bharadwaj, Nitin [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Widener, Kevin B. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Johnson, Karen [Brookhaven National Lab. (BNL), Upton, NY (United States); Clothiaux, Eugene E. [Pennsylvania State Univ., State College, PA (United States)

    2013-10-04

    The Scanning ARM Cloud Radars (SACR’s) are the primary instruments for documenting the four-dimensional structure and evolution of clouds within a 20-30 km radius from the ARM fixed and mobile sites. Here, the post-processing of the calibrated SACR measurements is discussed. First, a feature mask algorithm that objectively determines the presence of significant radar returns is described. The feature mask algorithm is based on the statistical properties of radar receiver noise. It accounts for atmospheric emission and is applicable even for SACR profiles with few or no signal-free range gates. Using the nearest-in-time atmospheric sounding, the SACR radar reflectivities are corrected for gaseous attenuation (water vapor and oxygen) using a line-by-line absorption model. Despite having a high pulse repetition frequency, the SACR has a narrow Nyquist velocity limit and thus Doppler velocity folding is commonly observed. An unfolding algorithm that makes use of a first guess for the true Doppler velocity using horizontal wind measurements from the nearest sounding is described. The retrieval of the horizontal wind profile from the Hemispherical Sky – Range Height Indicator SACR scan observations and/or nearest sounding is described. The retrieved horizontal wind profile can be used to adaptively configure SACR scan strategies that depend on wind direction. Several remaining challenges are discussed, including the removal of insect and second-trip echoes. The described algorithms significantly enhance SACR data quality and constitute an important step towards the utilization of SACR measurements for cloud research.

  1. [A Multi-arm Placebo-controlled Study with Glutamic Acid Conducted in Rostock in 1953/1954].

    Science.gov (United States)

    Häßler, Frank; Weirich, Steffen

    2017-09-01

    A Multi-arm Placebo-controlled Study with Glutamic Acid Conducted in Rostock in 1953/1954 Glutamic acid was commonly used in the treatment of intellectually disabled children in the 50s. Koch reported first results of an observation of 140 children treated with glutamic acid in 1952. In this line is the multi-arm placebo-controlled study reported here. The original study protocols were available. 58 children with speech problems who attending a school of special needs received glutamic acid, or vitamin B, or St.-John's-wort. The effect of glutamic acid was in few cases an improvement of attention. On the other hand restlessness and stutter increased. The majority of all reported a weight loss. The treatment with vitamin B showed a positive effect concerning concentration. The treatment with St.-John's wort was stopped caused by headache and vomiting in eight of nine cases. The results of the study reported here are unpublished. The reason may be that until the 60s the effects of glutamic acid in the treatment of intellectually disabled children were in generally overestimated.

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

    Energy Technology Data Exchange (ETDEWEB)

    Casey, Leslie A.

    1994-01-01

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

  3. Assessment of the beryllium lymphocyte proliferation test using statistical process control.

    Science.gov (United States)

    Cher, Daniel J; Deubner, David C; Kelsh, Michael A; Chapman, Pamela S; Ray, Rose M

    2006-10-01

    Despite more than 20 years of surveillance and epidemiologic studies using the beryllium blood lymphocyte proliferation test (BeBLPT) as a measure of beryllium sensitization (BeS) and as an aid for diagnosing subclinical chronic beryllium disease (CBD), improvements in specific understanding of the inhalation toxicology of CBD have been limited. Although epidemiologic data suggest that BeS and CBD risks vary by process/work activity, it has proven difficult to reach specific conclusions regarding the dose-response relationship between workplace beryllium exposure and BeS or subclinical CBD. One possible reason for this uncertainty could be misclassification of BeS resulting from variation in BeBLPT testing performance. The reliability of the BeBLPT, a biological assay that measures beryllium sensitization, is unknown. To assess the performance of four laboratories that conducted this test, we used data from a medical surveillance program that offered testing for beryllium sensitization with the BeBLPT. The study population was workers exposed to beryllium at various facilities over a 10-year period (1992-2001). Workers with abnormal results were offered diagnostic workups for CBD. Our analyses used a standard statistical technique, statistical process control (SPC), to evaluate test reliability. The study design involved a repeated measures analysis of BeBLPT results generated from the company-wide, longitudinal testing. Analytical methods included use of (1) statistical process control charts that examined temporal patterns of variation for the stimulation index, a measure of cell reactivity to beryllium; (2) correlation analysis that compared prior perceptions of BeBLPT instability to the statistical measures of test variation; and (3) assessment of the variation in the proportion of missing test results and how time periods with more missing data influenced SPC findings. During the period of this study, all laboratories displayed variation in test results that

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

    International Nuclear Information System (INIS)

    Miller, S.E.

    1993-01-01

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

  5. How do octopuses use their arms?

    Science.gov (United States)

    Mather, J A

    1998-09-01

    A taxonomy of the movement patterns of the 8 flexible arms of octopuses is constructed. Components consist of movements of the arm itself, the ventral suckers and their stalks, as well as the relative position of arms and the skin web between them. Within 1 arm, combinations of components result in a variety of behaviors. At the level of all arms, 1 group of behaviors is described as postures, on the basis of the spread of all arms and the web to make a 2-dimensional surface whose position differs in the 3rd dimension. Another group of arm behaviors is actions, more or less coordinated and involving several to all arms. Arm control appears to be based on radial symmetry, relative equipotentiality of all arms, relative independence of each arm, and separability of components within the arm. The types and coordination of arm behaviors are discussed with relationship to biomechanical limits, muscle structures, and neuronal programming.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1995-01-01

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

  7. CT dose modulation using automatic exposure control in whole-body PET/CT: effects of scout imaging direction and arm positioning.

    Science.gov (United States)

    Inoue, Yusuke; Nagahara, Kazunori; Kudo, Hiroko; Itoh, Hiroyasu

    2018-01-01

    Automatic exposure control (AEC) modulates tube current and consequently X-ray exposure in CT. We investigated the behavior of AEC systems in whole-body PET/CT. CT images of a whole-body phantom were acquired using AEC on two scanners from different manufactures. The effects of scout imaging direction and arm positioning on dose modulation were evaluated. Image noise was assessed in the chest and upper abdomen. On one scanner, AEC using two scout images in the posteroanterior (PA) and lateral (Lat) directions provided relatively constant image noise along the z-axis with the arms at the sides. Raising the arms increased tube current in the head and neck and decreased it in the body trunk. Image noise increased in the upper abdomen, suggesting excessive reduction in radiation exposure. AEC using the PA scout alone strikingly increased tube current and reduced image noise in the shoulder. Raising the arms did not substantially influence dose modulation and decreased noise in the abdomen. On the other scanner, AEC using the PA scout alone or Lat scout alone resulted in similar dose modulation. Raising the arms increased tube current in the head and neck and decreased it in the trunk. Image noise was higher in the upper abdomen than in the middle and lower chest, and was not influenced by arm positioning. CT dose modulation using AEC may vary greatly depending on scout direction. Raising the arms tended to decrease radiation exposure; however, the effect depends on scout direction and the AEC system.

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

    International Nuclear Information System (INIS)

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

    1983-01-01

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

  9. Profound Tissue Specificity in Proliferation Control Underlies Cancer Drivers and Aneuploidy Patterns.

    Science.gov (United States)

    Sack, Laura Magill; Davoli, Teresa; Li, Mamie Z; Li, Yuyang; Xu, Qikai; Naxerova, Kamila; Wooten, Eric C; Bernardi, Ronald J; Martin, Timothy D; Chen, Ting; Leng, Yumei; Liang, Anthony C; Scorsone, Kathleen A; Westbrook, Thomas F; Wong, Kwok-Kin; Elledge, Stephen J

    2018-04-05

    Genomics has provided a detailed structural description of the cancer genome. Identifying oncogenic drivers that work primarily through dosage changes is a current challenge. Unrestrained proliferation is a critical hallmark of cancer. We constructed modular, barcoded libraries of human open reading frames (ORFs) and performed screens for proliferation regulators in multiple cell types. Approximately 10% of genes regulate proliferation, with most performing in an unexpectedly highly tissue-specific manner. Proliferation drivers in a given cell type showed specific enrichment in somatic copy number changes (SCNAs) from cognate tumors and helped predict aneuploidy patterns in those tumors, implying that tissue-type-specific genetic network architectures underlie SCNA and driver selection in different cancers. In vivo screening confirmed these results. We report a substantial contribution to the catalog of SCNA-associated cancer drivers, identifying 147 amplified and 107 deleted genes as potential drivers, and derive insights about the genetic network architecture of aneuploidy in tumors. Copyright © 2018 Elsevier Inc. All rights reserved.

  10. Polycomb proteins control proliferation and transformation independently of cell cycle checkpoints by regulating DNA replication

    DEFF Research Database (Denmark)

    Piunti, Andrea; Rossi, Alessandra; Cerutti, Aurora

    2014-01-01

    The ability of PRC1 and PRC2 to promote proliferation is a main feature that links polycomb (PcG) activity to cancer. PcGs silence the expression of the tumour suppressor locus Ink4a/Arf, whose products positively regulate pRb and p53 functions. Enhanced PcG activity is a frequent feature of human...

  11. EGFR/Ras Signaling Controls Drosophila Intestinal Stem Cell Proliferation via Capicua-Regulated Genes.

    Directory of Open Access Journals (Sweden)

    Yinhua Jin

    2015-12-01

    Full Text Available Epithelial renewal in the Drosophila intestine is orchestrated by Intestinal Stem Cells (ISCs. Following damage or stress the intestinal epithelium produces ligands that activate the epidermal growth factor receptor (EGFR in ISCs. This promotes their growth and division and, thereby, epithelial regeneration. Here we demonstrate that the HMG-box transcriptional repressor, Capicua (Cic, mediates these functions of EGFR signaling. Depleting Cic in ISCs activated them for division, whereas overexpressed Cic inhibited ISC proliferation and midgut regeneration. Epistasis tests showed that Cic acted as an essential downstream effector of EGFR/Ras signaling, and immunofluorescence showed that Cic's nuclear localization was regulated by EGFR signaling. ISC-specific mRNA expression profiling and DNA binding mapping using DamID indicated that Cic represses cell proliferation via direct targets including string (Cdc25, Cyclin E, and the ETS domain transcription factors Ets21C and Pointed (pnt. pnt was required for ISC over-proliferation following Cic depletion, and ectopic pnt restored ISC proliferation even in the presence of overexpressed dominant-active Cic. These studies identify Cic, Pnt, and Ets21C as critical downstream effectors of EGFR signaling in Drosophila ISCs.

  12. Nuclear proliferation and terrorism in the post-9/11 world

    CERN Document Server

    Hafemeister, David

    2016-01-01

    This book fills a clear gap in the literature for a technically-focused book covering nuclear proliferation and related issues post-9/11. Using a concept-led approach which serves a broad readership, it provides detailed overview of nuclear weapons, nuclear proliferation and international nuclear policy. The author addresses topics including offensive and defensive missile systems, command and control, verification, weapon effects, and nuclear testing. A chronology of nuclear arms is presented including detailed discussion of the Cold War, proliferation, and arms control treaties. The book is tailored to courses on nuclear proliferation, and the general reader will also find it a fascinating introduction to the science and strategy behind international nuclear policy in the modern era. “Finally, a spritely, accessible overview of the nuclear world in historical context from someone who has both seen it from the U.S. State Department and Congressional policy trenches and taught it for 43 years. A gift to bot...

  13. The role of Ki67 proliferation assessment in predicting local control in bladder cancer patients treated by radical radiation therapy

    International Nuclear Information System (INIS)

    Lara, P.C.; Gonzalez, G.; Rey, A.; Apolinario, R.; Santana, C.; Afonso, J.L.; Diaz, J.M.

    1998-01-01

    Purpose: To assess whether tumour proliferation as measured by Ki67 immunostaining has any predictive value for local control in bladder cancer patients treated by radiotherapy. Patients and methods: Fifty-five patients suffering from infiltrating bladder carcinoma recommended for radical radiotherapy (66 Gy/6-7weeks) were included in this study. Paraffin-embedded pre-treatment tumour sections were stained with the Ki67 antibody. The percentage of Ki67-positive nuclei was correlated with established prognostic factors, local control and survival. Results27%) Ki67 expression indices (31.5%) (P<0.05; log-rank test). Conclusions: Ki67 immunostaining was a feasible method to estimate tumour proliferation. Patients with very low proliferating tumours seemed to achieve better local control after fractionated radiotherapy compared to other patients. Further studies are needed with a greater number of patients to accurately define the role of Ki67 expression in predicting tumour repopulation during fractionated radiotherapy. (Copyright (c) 1998 Elsevier Science B.V., Amsterdam. All rights reserved.)

  14. Evaluation of Arm Processor-based Bionic Intelligent Controller for a Buck-boost Converte

    OpenAIRE

    M.V. Mini; L. Padma Suresh

    2015-01-01

    This study focuses on performance-comparison of different tuning methods for a PI controller applied to a buck-boost converter. Comparison between the controllers is made by analysis of design methodology implementation issues and empirically measured performance. Design of PI controller is based on frequency response of the converter. The optimization of PI controller is based on ant colony algorithm. Experimental results show that, tuning the PI controller using ACO algorithm gave better pe...

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

    International Nuclear Information System (INIS)

    ElBaradei, M.

    2004-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

    ElBaradei, M

    2004-06-21

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

  17. Velocity-dependent changes of rotational axes in the non-visual control of unconstrained 3D arm motions.

    Science.gov (United States)

    Isableu, B; Rezzoug, N; Mallet, G; Bernardin, D; Gorce, P; Pagano, C C

    2009-12-29

    We examined the roles of inertial (e(3)), shoulder-centre of mass (SH-CM) and shoulder-elbow articular (SH-EL) rotation axes in the non-visual control of unconstrained 3D arm rotations. Subjects rotated the arm in elbow configurations that yielded either a constant or variable separation between these axes. We hypothesized that increasing the motion frequency and the task complexity would result in the limbs' rotational axis to correspond to e(3) in order to minimize rotational resistances. Results showed two velocity-dependent profiles wherein the rotation axis coincided with the SH-EL axis for S and I velocities and then in the F velocity shifted to either a SH-CM/e(3) trade-off axis for one profile, or to no preferential axis for the other. A third profile was velocity-independent, with the SH-CM/e(3) trade-off axis being adopted. Our results are the first to provide evidence that the rotational axis of a multi-articulated limb may change from a geometrical axis of rotation to a mass or inertia based axis as motion frequency increases. These findings are discussed within the framework of the minimum inertia tensor model (MIT), which shows that rotations about e(3) reduce the amount of joint muscle torque that must be produced by employing the interaction torque to assist movement.

  18. Method of Grasping Control by Computing Internal and External Impedances for Two Robot Fingers, and Its Application to Admittance Control of a Robot Hand-Arm System

    Directory of Open Access Journals (Sweden)

    Jian Huang

    2015-08-01

    Full Text Available Impedance control is an important technology used in the grasping control of a robot hand. Numerous studies related to grasping algorithms have been reported in recent years, with the contact force between robot fingers and the object to be grasped being primarily discussed in most cases. Generally, a coupling effect occurs between the internal loop of the grasping operation and the external loop of the interaction with the environment when a multi-fingered robot hand is used to complete a contact task. Therefore, a robot hand cannot hold an object using a large external force to complete a wide range of tasks by applying the conventional method. In this paper, the coupling of the internal/external forces occurring in grasping operations using multiple fingers is analysed. Then, improved impedance control based on the previous method is proposed as an effective tool to solve the problem of grasping failure caused by single-finger contact. Furthermore, a method for applying the improved grasping algorithm to the admittance control of a robot hand-arm system is also proposed. The proposed method divides the impedance effect into the grasping control of the hand and the cooperative control of the arm, so that expanding the task space and increasing the flexibility of impedance adjustment can be achieved. Experiments were conducted to demonstrate the effectiveness of the proposed method.

  19. Visually and force controlled opening and closing of doors by means of a mobile robot arm

    OpenAIRE

    Milighetti, G.; Hoffmann, E.; Fetzner, Angelika; Kuntze, Helge-Björn

    2012-01-01

    A multi-sensory discrete-continuous control concept has been developed to realize interactive basic skills for humanoid and mobile service robots. In the upper hierarchy level a discrete task control structure enables the flexible execution of primitive skill sequences. In the lower continuous level a suitable controller is chosen with control parameters adapted to the current primitive skill. The basic skill for the frequently occurring task of unlocking and opening a door by means of a mobi...

  20. Equilibrium point control of a monkey arm simulator by a fast learning tree structured artificial neural network.

    Science.gov (United States)

    Dornay, M; Sanger, T D

    1993-01-01

    A planar 17 muscle model of the monkey's arm based on realistic biomechanical measurements was simulated on a Symbolics Lisp Machine. The simulator implements the equilibrium point hypothesis for the control of arm movements. Given initial and final desired positions, it generates a minimum-jerk desired trajectory of the hand and uses the backdriving algorithm to determine an appropriate sequence of motor commands to the muscles (Flash 1987; Mussa-Ivaldi et al. 1991; Dornay 1991b). These motor commands specify a temporal sequence of stable (attractive) equilibrium positions which lead to the desired hand movement. A strong disadvantage of the simulator is that it has no memory of previous computations. Determining the desired trajectory using the minimum-jerk model is instantaneous, but the laborious backdriving algorithm is slow, and can take up to one hour for some trajectories. The complexity of the required computations makes it a poor model for biological motor control. We propose a computationally simpler and more biologically plausible method for control which achieves the benefits of the backdriving algorithm. A fast learning, tree-structured network (Sanger 1991c) was trained to remember the knowledge obtained by the backdriving algorithm. The neural network learned the nonlinear mapping from a 2-dimensional cartesian planar hand position (x,y) to a 17-dimensional motor command space (u1, . . ., u17). Learning 20 training trajectories, each composed of 26 sample points [[x,y], [u1, . . ., u17] took only 20 min on a Sun-4 Sparc workstation. After the learning stage, new, untrained test trajectories as well as the original trajectories of the hand were given to the neural network as input. The network calculated the required motor commands for these movements. The resulting movements were close to the desired ones for both the training and test cases.

  1. A randomized controlled trial of a modified wheelchair arm-support to reduce shoulder pain in stroke patients.

    Science.gov (United States)

    Pan, Ruihuan; Zhou, Mingchao; Cai, Hao; Guo, Youhua; Zhan, Lechang; Li, Mei; Yang, Zhijing; Zhu, Leying; Zhan, Jie; Chen, Hongxia

    2018-01-01

    To evaluate the effect of modified wheelchair arm-support to mitigate hemiplegic shoulder pain and reduce pain frequency in stroke patients. A single-blind randomized controlled trial using computer-generated simple randomization. Participants recruited from inpatients at the Guangdong Provincial Hospital of Chinese Medicine. A total of 120 patients with stroke were divided into two groups. All subjects underwent basic rehabilitation training and wheelchair assistance with eight weeks follow-up period. Patients in the treatment group additionally received modified wheelchair arm-support for at least 60 minutes a day, six days a week, for four weeks. Primary outcome was measured by the Visual Analogue Pain Scale or Numeric Pain Rating Scale. Secondary outcome was measured using the Upper Extremity Fugl-Meyer Assessment scale, Modified Barthel Index and Quality of Life Index. Measurements were made at 4 weeks and 12 weeks, following the intervention. Patients age from 21 to 83 years (mean ± SD = 62.41 ± 12.26). The average duration of disease was 1.9 ± 1.3 months. At four weeks, the median of pain intensity was higher in the control group (median, interquartile range = 3, 5.75 vs. 2, 3.75; P = 0.059). At 12 weeks, the median of pain intensity was higher in the control group (median, interquartile range = 3, 5.00 vs. 0, 1.00; P vs. 1; P stroke patients. It may also improve the patients' quality of life.

  2. An interactive videogame for arm and hand exercise in people with Parkinson's disease: A randomized controlled trial.

    Science.gov (United States)

    Allen, Natalie E; Song, Jooeun; Paul, Serene S; Smith, Stuart; O'Duffy, Jonathan; Schmidt, Matthew; Love, Rachelle; Sherrington, Catherine; Canning, Colleen G

    2017-08-01

    People with Parkinson's disease (PD) have difficulty performing upper extremity (UE) activities. The aim of this study was to investigate if exergames targeting the UE improve arm and hand activities and impairments and to establish the acceptability and feasibility of these games in people with PD. Two tablet-based exergames were developed which were controlled with finger movements or unimanual whole arm movements. Participants with PD were randomized to an exergame (n = 19) or control (n = 19) group. The exergame group performed UE exergames at home, 3 times per week for 12 weeks. The primary outcome measure was the nine hole peg test. Secondary outcomes included measures of UE activities and impairments, including the tapping test [speed (taps/60s), and error (weighted error score/speed)]. There were no between group differences in the nine hole peg test, or in any secondary outcome measures except for the tapping test. Horizontal tapping test results showed that exergame participants improved their speed (mean difference = 10.9 taps/60s, p < 0.001) but increased error (mean difference = 0.03, p = 0.03) compared to the control group. Participants enjoyed the games and improved in their ability to play the games. There were no adverse events. The UE exergames were acceptable and safe, but did not translate to improvement in functional activities. It is likely that the requirement of the games resulted in increased movement speed at the detriment of accuracy. The design of exergames should consider task specificity. Copyright © 2017 Elsevier Ltd. All rights reserved.

  3. Nonspecific Arm Pain

    Directory of Open Access Journals (Sweden)

    Ali Moradi

    2013-12-01

    Full Text Available Nonspecific activity-related arm pain is characterized by an absence of objective physical findings and symptoms that do not correspond with objective pathophysiology. Arm pain without strict diagnosis is often related to activity, work-related activity in particular, and is often seen in patients with physically demanding work. Psychological factors such as catastrophic thinking, symptoms of depression, and heightened illness concern determine a substantial percentage of the disability associated with puzzling hand and arm pains. Ergonomic modifications can help to control symptoms, but optimal health may require collaborative management incorporating psychosocial and psychological elements of illness.

  4. Nonspecific Arm Pain

    Directory of Open Access Journals (Sweden)

    Ali Moradi

    2013-12-01

    Full Text Available   Nonspecific activity-related arm pain is characterized by an absence of objective physical findings and symptoms that do not correspond with objective pathophysiology. Arm pain without strict diagnosis is often related to activity, work-related activity in particular, and is often seen in patients with physically demanding work. Psychological factors such as catastrophic thinking, symptoms of depression, and heightened illness concern determine a substantial percentage of the disability associated with puzzling hand and arm pains. Ergonomic modifications can help to control symptoms, but optimal health may require collaborative management incorporating psychosocial and psychological elements of illness.

  5. The small Rho GTPase Rac1 controls normal human dermal fibroblasts proliferation with phosphorylation of the oncoprotein c-myc

    International Nuclear Information System (INIS)

    Nikolova, Ekaterina; Mitev, Vanio; Zhelev, Nikolai; Deroanne, Christophe F.; Poumay, Yves

    2007-01-01

    Proliferation of dermal fibroblasts is crucial for the maintenance of skin. The small Rho GTPase, Rac1, has been identified as a key transducer of proliferative signals in various cell types, but in normal human dermal fibroblasts its significance to cell growth control has not been studied. In this study, we applied the method of RNA interference to suppress endogenous Rac1 expression and examined the consequences on human skin fibroblasts. Rac1 knock-down resulted in inhibition of DNA synthesis. This effect was not mediated by inhibition of the central transducer of proliferative stimuli, ERK1/2 or by activation of the pro-apoptotic p38. Rather, as a consequence of the suppressed Rac1 expression we observed a significant decrease in phosphorylation of c-myc, revealing for the first time that in human fibroblasts Rac1 exerts control on proliferation through c-myc phosphorylation. Thus Rac1 activates proliferation of normal fibroblasts through stimulation of c-myc phosphorylation without affecting ERK1/2 activity

  6. Abelson tyrosine-protein kinase 2 regulates myoblast proliferation and controls muscle fiber length

    OpenAIRE

    Lee, Jennifer K; Hallock, Peter T; Burden, Steven J

    2017-01-01

    Muscle fiber length is nearly uniform within a muscle but widely different among different muscles. We show that Abelson tyrosine-protein kinase 2 (Abl2) has a key role in regulating myofiber length, as a loss of Abl2 leads to excessively long myofibers in the diaphragm, intercostal and levator auris muscles but not limb muscles. Increased myofiber length is caused by enhanced myoblast proliferation, expanding the pool of myoblasts and leading to increased myoblast fusion. Abl2 acts in myobla...

  7. Abelson tyrosine-protein kinase 2 Regulates Myoblast Proliferation and Controls Muscle Fiber Length

    OpenAIRE

    Burden, Steven; Lee, Jennifer

    2017-01-01

    Muscle fiber length is nearly uniform within a muscle but widely different among muscles. Here, we show that Abelson tyrosine-protein kinase 2 (Abl2) has a key role in regulating myofiber length, as a loss of Abl2 leads to excessively long myofibers in the diaphragm and other muscles. Increased myofiber length is caused by enhanced myoblast proliferation, expanding the pool of available myoblasts and leading to increased myoblast fusion. Abl2 acts in myoblasts, but expansion of the diaphragm ...

  8. Broken Arm

    Science.gov (United States)

    ... of falling — including football, soccer, gymnastics, skiing and skateboarding — also increases the risk of a broken arm. ... for high-risk activities, such as in-line skating, snowboarding, rugby and football. Don't smoke. Smoking ...

  9. LIX1 regulates YAP1 activity and controls the proliferation and differentiation of stomach mesenchymal progenitors.

    Science.gov (United States)

    McKey, Jennifer; Martire, Delphine; de Santa Barbara, Pascal; Faure, Sandrine

    2016-04-28

    Smooth muscle cell (SMC) plasticity maintains the balance between differentiated SMCs and proliferative mesenchymal progenitors, crucial for muscular tissue homeostasis. Studies on the development of mesenchymal progenitors into SMCs have proven useful in identifying molecular mechanisms involved in digestive musculature plasticity in physiological and pathological conditions. Here, we show that Limb Expression 1 (LIX1) molecularly defines the population of mesenchymal progenitors in the developing stomach. Using in vivo functional approaches in the chick embryo, we demonstrate that LIX1 is a key regulator of stomach SMC development. We show that LIX1 is required for stomach SMC determination to regulate the expression of the pro-proliferative gene YAP1 and mesenchymal cell proliferation. However, as stomach development proceeds, sustained LIX1 expression has a negative impact on further SMC differentiation and this is associated with a decrease in YAP1 activity. We demonstrate that expression of LIX1 must be tightly regulated to allow fine-tuning of the transcript levels and state of activation of the pro-proliferative transcriptional coactivator YAP1 to regulate proliferation rates of stomach mesenchymal progenitors and their differentiation. Our data highlight dual roles for LIX1 and YAP1 and provide new insights into the regulation of cell density-dependent proliferation, which is essential for the development and homeostasis of organs.

  10. Analysis of the features of untrained human movements based on the multichannel EEG for controlling anthropomorphic robotic arm

    Science.gov (United States)

    Maksimenko, Vladimir; Runnova, Anastasia; Pchelintseva, Svetlana; Efremova, Tatiana; Zhuravlev, Maksim; Pisarchik, Alexander

    2018-04-01

    We have considered time-frequency and spatio-temporal structure of electrical brain activity, associated with real and imaginary movements based on the multichannel EEG recordings. We have found that along with wellknown effects of event-related desynchronization (ERD) in α/μ - rhythms and β - rhythm, these types of activity are accompanied by the either ERS (for real movement) or ERD (for imaginary movement) in low-frequency δ - band, located mostly in frontal lobe. This may be caused by the associated processes of decision making, which take place when subject is deciding either perform the movement or imagine it. Obtained features have been found in untrained subject which it its turn gives the possibility to use our results in the development of brain-computer interfaces for controlling anthropomorphic robotic arm.

  11. Store-Operated Ca2+ Entry Does Not Control Proliferation in Primary Cultures of Human Metastatic Renal Cellular Carcinoma

    Directory of Open Access Journals (Sweden)

    Silvia Dragoni

    2014-01-01

    Full Text Available Store-operated Ca2+ entry (SOCE is activated following depletion of the inositol-1,4,5-trisphosphate (InsP3-sensitive Ca2+ pool to regulate proliferation in immortalized cell lines established from either primary or metastatic lesions. The molecular nature of SOCE may involve both Stim1, which senses Ca2+ levels within the endoplasmic reticulum (ER Ca2+ reservoir, and a number of a Ca2+-permeable channels on the plasma membrane, including Orai1, Orai3, and members of the canonical transient receptor (TRPC1–7 family of ion channels. The present study was undertaken to assess whether SOCE is expressed and controls proliferation in primary cultures isolated from secondary lesions of heavily pretreated metastatic renal cell carcinoma (mRCC patients. SOCE was induced following pharmacological depletion of the ER Ca2+ store, but not by InsP3-dependent Ca2+ release. Metastatic RCC cells express Stim1-2, Orai1–3, and TRPC1–7 transcripts and proteins. In these cells, SOCE was insensitive to BTP-2, 10 µM Gd3+ and Pyr6, while it was inhibited by 100 µM Gd3+, 2-APB, and carboxyamidotriazole (CAI. Neither Gd3+ nor 2-APB or CAI impaired mRCC cell proliferation. Consistently, no detectable Ca2+ signal was elicited by growth factor stimulation. Therefore, a functional SOCE is expressed but does not control proliferation of mRCC cells isolated from patients resistant to multikinase inhibitors.

  12. Store-Operated Ca2+ Entry Does Not Control Proliferation in Primary Cultures of Human Metastatic Renal Cellular Carcinoma

    Science.gov (United States)

    Turin, Ilaria; Potenza, Duilio Michele; Bottino, Cinzia; Glasnov, Toma N.; Ferulli, Federica; Mosca, Alessandra; Guerra, Germano; Rosti, Vittorio; Luinetti, Ombretta; Porta, Camillo; Pedrazzoli, Paolo

    2014-01-01

    Store-operated Ca2+ entry (SOCE) is activated following depletion of the inositol-1,4,5-trisphosphate (InsP3)-sensitive Ca2+ pool to regulate proliferation in immortalized cell lines established from either primary or metastatic lesions. The molecular nature of SOCE may involve both Stim1, which senses Ca2+ levels within the endoplasmic reticulum (ER) Ca2+ reservoir, and a number of a Ca2+-permeable channels on the plasma membrane, including Orai1, Orai3, and members of the canonical transient receptor (TRPC1–7) family of ion channels. The present study was undertaken to assess whether SOCE is expressed and controls proliferation in primary cultures isolated from secondary lesions of heavily pretreated metastatic renal cell carcinoma (mRCC) patients. SOCE was induced following pharmacological depletion of the ER Ca2+ store, but not by InsP3-dependent Ca2+ release. Metastatic RCC cells express Stim1-2, Orai1–3, and TRPC1–7 transcripts and proteins. In these cells, SOCE was insensitive to BTP-2, 10 µM Gd3+ and Pyr6, while it was inhibited by 100 µM Gd3+, 2-APB, and carboxyamidotriazole (CAI). Neither Gd3+ nor 2-APB or CAI impaired mRCC cell proliferation. Consistently, no detectable Ca2+ signal was elicited by growth factor stimulation. Therefore, a functional SOCE is expressed but does not control proliferation of mRCC cells isolated from patients resistant to multikinase inhibitors. PMID:25126575

  13. Speaking and cognitive distractions during EEG-based brain control of a virtual neuroprosthesis-arm

    OpenAIRE

    Foldes, Stephen T; Taylor, Dawn M

    2013-01-01

    Background Brain-computer interface (BCI) systems have been developed to provide paralyzed individuals the ability to command the movements of an assistive device using only their brain activity. BCI systems are typically tested in a controlled laboratory environment were the user is focused solely on the brain-control task. However, for practical use in everyday life people must be able to use their brain-controlled device while mentally engaged with the cognitive responsibilities of daily a...

  14. Comparison between sEMG and force as control interfaces to support planar arm movements in adults with Duchenne: a feasibility study.

    Science.gov (United States)

    Lobo-Prat, Joan; Nizamis, Kostas; Janssen, Mariska M H P; Keemink, Arvid Q L; Veltink, Peter H; Koopman, Bart F J M; Stienen, Arno H A

    2017-07-12

    Adults with Duchenne muscular dystrophy (DMD) can benefit from devices that actively support their arm function. A critical component of such devices is the control interface as it is responsible for the human-machine interaction. Our previous work indicated that surface electromyography (sEMG) and force-based control with active gravity and joint-stiffness compensation were feasible solutions for the support of elbow movements (one degree of freedom). In this paper, we extend the evaluation of sEMG- and force-based control interfaces to simultaneous and proportional control of planar arm movements (two degrees of freedom). Three men with DMD (18-23 years-old) with different levels of arm function (i.e. Brooke scores of 4, 5 and 6) performed a series of line-tracing tasks over a tabletop surface using an experimental active arm support. The arm movements were controlled using three control methods: sEMG-based control, force-based control with stiffness compensation (FSC), and force-based control with no compensation (FNC). The movement performance was evaluated in terms of percentage of task completion, tracing error, smoothness and speed. For subject S1 (Brooke 4) FNC was the preferred method and performed better than FSC and sEMG. FNC was not usable for subject S2 (Brooke 5) and S3 (Brooke 6). Subject S2 presented significantly lower movement speed with sEMG than with FSC, yet he preferred sEMG since FSC was perceived to be too fatiguing. Subject S3 could not successfully use neither of the two force-based control methods, while with sEMG he could reach almost his entire workspace. Movement performance and subjective preference of the three control methods differed with the level of arm function of the participants. Our results indicate that all three control methods have to be considered in real applications, as they present complementary advantages and disadvantages. The fact that the two weaker subjects (S2 and S3) experienced the force-based control

  15. Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot

    Directory of Open Access Journals (Sweden)

    Leijie Jiang

    2017-01-01

    Full Text Available The paper focuses on the design and nonlinear control of the humanoid wrist/shoulder joint based on the cable-driven parallel mechanism which can realize roll and pitch movement. In view of the existence of the flexible parts in the mechanism, it is necessary to solve the vibration control of the flexible wrist/shoulder joint. In this paper, a cable-driven parallel robot platform is developed for the experiment study of the humanoid wrist/shoulder joint. And the dynamic model of the mechanism is formulated by using the coupling theory of the flexible body’s large global motion and small flexible deformation. Based on derived dynamics, antivibration control of the joint robot is studied with a nonlinear control method. Finally, simulations and experiments were performed to validate the feasibility of the developed parallel robot prototype and the proposed control scheme.

  16. Position controller for the arm of a neutron diffractometer using fuzzy logic

    International Nuclear Information System (INIS)

    Ayala P, G.F.

    1994-01-01

    The neutron diffractometer is an important instrument coupled to one of the radial outlets of the TRIGA-3-Salazar Reactor and is used mainly to analyze textures and crystal lattices. One of its main components is the velocity analysis goniometer which controls in a tangential way the movements of the sensor requiring for this a resolution of a hundredth of degree, but at the same time wide displacements are required. It is necessary to design and construct a system on the basis of a micro controller which control the long movements in a rapid way and with the needed accuracy. In this work, a proposition is presented: to replace the A.C. motor with a D.C. motor with a wide range of velocity and supplied with a card (DAC) to control the velocity by means of digital data. Moreover, a programmed micro controller with an algorithm based on fuzzy logic receiving data in BCD will be use. The use of micro controller will allow to set free the personal computer of the position of the goniometer; nevertheless, the system will report to the P C and its control program about the present position of the goniometer and the time when the desired position is reached. It is also consider that the user will be away from the system (a minimum of 15 meters) in order to avoid the zone with a high intensity of background radiation. (Author)

  17. Armed violence and the politics of gun control in Brazil: an analysis of the 2005 referendum

    OpenAIRE

    Cavalcanti, R.P.

    2017-01-01

    This article analyses the factors behind the paradoxical result of the Brazilian gun-control referendum. It adopts a qualitative approach to explore the dissemination of ideologies surrounding crime, gun control and security. For this purpose, interviews were conducted with activists involved in the referendum's campaign. The results reveal that ideologically driven campaigns in a context of corruption scandals, high levels of violence and fear influenced the result. The neoliberal discourse ...

  18. Territorial Service as part of the social and territorial control of the Salvadoran State during the armed conflict (1972-1992

    Directory of Open Access Journals (Sweden)

    Herard Von Santos

    2016-06-01

    Full Text Available Historiography study done with a narrative approach, based on documentary research and consulting oral sources. A historical review of the social and territorial control developed by the Salvadoran State during the internal armed conflict (1972-1992 is made. This is an academic effort to bring relevant elements that could be useful for contemporary contexts, especially in stages where irregular armed groups have a presence in the territory and exercise powers. The Territorial Service was a strategy to recover the State’s presence in the territory and exercise social control over vulnerable populations.

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

    International Nuclear Information System (INIS)

    Andersson, Per; Nielsen, Fredrik; Sunhede, Daniel

    2013-01-01

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

  20. MiR-203 controls proliferation, migration and invasive potential of prostate cancer cell lines

    DEFF Research Database (Denmark)

    Viticchiè, Giuditta; Lena, Anna Maria; Latina, Alessia

    2011-01-01

    Prostate cancers show a slow progression from a local lesion (primary tumor) to a metastatic and hormone-resistant phenotype. After an initial step of hyperplasia, in a high percentage of cases a neoplastic transformation event occurs that, less frequently, is followed by epithelial to mesenchymal...... cell lines compared to normal epithelial prostatic cells. Overexpression of miR-203 in brain or bone metastatic prostate cell lines (DU145 and PC3) is sufficient to induce a mesenchymal to epithelial transition with inhibition of cell proliferation, migration and invasiveness. We have identified CKAP2...

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

    International Nuclear Information System (INIS)

    Gudlin, S.

    2009-01-01

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

  2. Extracorporal Shock Waves Activate Migration, Proliferation and Inflammatory Pathways in Fibroblasts and Keratinocytes, and Improve Wound Healing in an Open-Label, Single-Arm Study in Patients with Therapy-Refractory Chronic Leg Ulcers.

    Science.gov (United States)

    Aschermann, Ilknur; Noor, Seema; Venturelli, Sascha; Sinnberg, Tobias; Mnich, Christian D; Busch, Christian

    2017-01-01

    Chronic leg ulcers (CLUs) are globally a major cause of morbidity and mortality with increasing prevalence. Their treatment is highly challenging, and many conservative, surgical or advanced therapies have been suggested, but with little overall efficacy. Since the 1980s extracorporal shock wave therapy (ESWT) has gained interest as treatment for specific indications. Here, we report that patients with CLU showed wound healing after ESWT and investigated the underlying molecular mechanisms. We performed cell proliferation and migration assays, FACS- and Western blot analyses, RT-PCR, and Affymetrix gene expression analyses on human keratinocytes and fibroblasts, and a tube formation assay on human microvascular endothelial cells to assess the impact of shock waves in vitro. In vivo, chronic therapy-refractory leg ulcers were treated with ESWT, and wound healing was assessed. Upon ESWT, we observed morphological changes and increased cell migration of keratinocytes. Cell-cycle regulatory genes were upregulated, and proliferation induced in fibroblasts. This was accompanied by secretion of pro-inflammatory cytokines from keratinocytes, which are known to drive wound healing, and a pro-angiogenic activity of endothelial cells. These observations were transferred "from bench to bedside", and 60 consecutive patients with 75 CLUs with different pathophysiologies (e.g. venous, mixed arterial-venous, arterial) were treated with ESWT. In this setting, 41% of ESWT-treated CLUs showed complete healing, 16% significant improvement, 35% improvement, and 8% of the ulcers did not respond to ESWT. The induction of healing was independent of patient age, duration or size of the ulcer, and the underlying pathophysiology. The efficacy of ESWT needs to be confirmed in controlled trials to implement ESWT as an adjunct to standard therapy or as a stand-alone treatment. Our results suggest that EWST may advance the treatment of chronic, therapy-refractory ulcers. © 2017 The Author

  3. Extracorporal Shock Waves Activate Migration, Proliferation and Inflammatory Pathways in Fibroblasts and Keratinocytes, and Improve Wound Healing in an Open-Label, Single-Arm Study in Patients with Therapy-Refractory Chronic Leg Ulcers

    Directory of Open Access Journals (Sweden)

    Ilknur Aschermann

    2017-02-01

    Full Text Available Background/Aims: Chronic leg ulcers (CLUs are globally a major cause of morbidity and mortality with increasing prevalence. Their treatment is highly challenging, and many conservative, surgical or advanced therapies have been suggested, but with little overall efficacy. Since the 1980s extracorporal shock wave therapy (ESWT has gained interest as treatment for specific indications. Here, we report that patients with CLU showed wound healing after ESWT and investigated the underlying molecular mechanisms. Methods: We performed cell proliferation and migration assays, FACS- and Western blot analyses, RT-PCR, and Affymetrix gene expression analyses on human keratinocytes and fibroblasts, and a tube formation assay on human microvascular endothelial cells to assess the impact of shock waves in vitro. In vivo, chronic therapy-refractory leg ulcers were treated with ESWT, and wound healing was assessed. Results: Upon ESWT, we observed morphological changes and increased cell migration of keratinocytes. Cell-cycle regulatory genes were upregulated, and proliferation induced in fibroblasts. This was accompanied by secretion of pro-inflammatory cytokines from keratinocytes, which are known to drive wound healing, and a pro-angiogenic activity of endothelial cells. These observations were transferred “from bench to bedside”, and 60 consecutive patients with 75 CLUs with different pathophysiologies (e.g. venous, mixed arterial-venous, arterial were treated with ESWT. In this setting, 41% of ESWT-treated CLUs showed complete healing, 16% significant improvement, 35% improvement, and 8% of the ulcers did not respond to ESWT. The induction of healing was independent of patient age, duration or size of the ulcer, and the underlying pathophysiology. Conclusions: The efficacy of ESWT needs to be confirmed in controlled trials to implement ESWT as an adjunct to standard therapy or as a stand-alone treatment. Our results suggest that EWST may advance the

  4. Loss of TRPV2 Homeostatic Control of Cell Proliferation Drives Tumor Progression

    Directory of Open Access Journals (Sweden)

    Sonia Liberati

    2014-02-01

    Full Text Available Herein we evaluate the involvement of the TRPV2 channel, belonging to the Transient Receptor Potential Vanilloid channel family (TRPVs, in development and progression of different tumor types. In normal cells, the activation of TRPV2 channels by growth factors, hormones, and endocannabinoids induces a translocation of the receptor from the endosomal compartment to the plasma membrane, which results in abrogation of cell proliferation and induction of cell death. Consequently, loss or inactivation of TRPV2 signaling (e.g., glioblastomas, induces unchecked proliferation, resistance to apoptotic signals and increased resistance to CD95-induced apoptotic cell death. On the other hand, in prostate cancer cells, Ca2+-dependent activation of TRPV2 induced by lysophospholipids increases the invasion of tumor cells. In addition, the progression of prostate cancer to the castration-resistant phenotype is characterized by de novo TRPV2 expression, with higher TRPV2 transcript levels in patients with metastatic cancer. Finally, TRPV2 functional expression in tumor cells can also depend on the presence of alternative splice variants of TRPV2 mRNA that act as dominant-negative mutant of wild-type TRPV2 channels, by inhibiting its trafficking and translocation to the plasma membrane. In conclusion, as TRP channels are altered in human cancers, and their blockage impair tumor progression, they appear to be a very promising targets for early diagnosis and chemotherapy.

  5. Tactical Command and Control in the Combined Arms Battalion Task Force,

    Science.gov (United States)

    1988-03-08

    described as [ •follows. -.. Acquire information in the basic categories of mission, enemy, terrain, and troops available on a * continual basis through a...became the basic unit." 55 A study by Dr. Gabel describes a wide range of organizational and -*"" control structures which were ultimately used to...FreLelonolSystell each orce evel Commander * Procedures/acioa otrlS a / eCommunication $ 0’ Automation/// _. Other Notion’$ Command *e Facilities ’/ a nd Control

  6. An embedded controller for a 7-degree of freedom prosthetic arm.

    Science.gov (United States)

    Tenore, Francesco; Armiger, Robert S; Vogelstein, R Jacob; Wenstrand, Douglas S; Harshbarger, Stuart D; Englehart, Kevin

    2008-01-01

    We present results from an embedded real-time hardware system capable of decoding surface myoelectric signals (sMES) to control a seven degree of freedom upper limb prosthesis. This is one of the first hardware implementations of sMES decoding algorithms and the most advanced controller to-date. We compare decoding results from the device to simulation results from a real-time PC-based operating system. Performance of both systems is shown to be similar, with decoding accuracy greater than 90% for the floating point software simulation and 80% for fixed point hardware and software implementations.

  7. RNA interference: a new strategy in the evolutionary arms race between human control strategies and insect pests.

    Science.gov (United States)

    Machado, Vilmar; Rodríguez-García, María Juliana; Sánchez-García, Francisco Javier; Galan, Jose

    2014-01-01

    The relationship between humans and the insect pests of cultivated plants may be considered to be an indirect coevolutionary process, i.e., an arms race. Over time, humans have developed several strategies to minimize the negative impacts of insects on agricultural production. However, insects have made adaptive responses via the evolution of resistance to insecticides, and more recently against Bacillus thuriengiensis. Thus, we need to continuously invest resources in the development of new strategies for crop protection. Recent advances in genomics have demonstrated the possibility of a new weapon or strategy in this war, i.e., gene silencing, which involves blocking the expression of specific genes via mRNA inactivation. In the last decade, several studies have demonstrated the effectiveness of this strategy in the control of different species of insects. However, several technical difficulties need to be overcome to transform this potential into reality, such as the selection of target genes, the concentration of dsRNA, the nucleotide sequence of the dsRNA, the length of dsRNA, persistence in the insect body, and the life stage of the target species where gene silencing is most efficient. This study analyzes several aspects related to the use of gene silencing in pest control and it includes an overview of the inactivation process, as well as the problems that need to be resolved to transform gene silencing into an effective pest control method.

  8. Aryl hydrocarbon receptor-dependent regulation of miR-196a expression controls lung fibroblast apoptosis but not proliferation

    International Nuclear Information System (INIS)

    Hecht, Emelia; Zago, Michela; Sarill, Miles; Rico de Souza, Angela; Gomez, Alvin; Matthews, Jason; Hamid, Qutayba; Eidelman, David H.; Baglole, Carolyn J.

    2014-01-01

    The aryl hydrocarbon receptor (AhR) is a ligand-activated transcription factor implicated in the regulation of apoptosis and proliferation. Although activation of the AhR by xenobiotics such as dioxin inhibits the cell cycle and control apoptosis, paradoxically, AhR expression also promotes cell proliferation and survival independent of exogenous ligands. The microRNA (miRNA) miR-196a has also emerged as a regulator of proliferation and apoptosis but a relationship between the AhR and miR-196a is not known. Therefore, we hypothesized that AhR-dependent regulation of endogenous miR-196a expression would promote cell survival and proliferation. Utilizing lung fibroblasts from AhR deficient (AhR −/− ) and wild-type (AhR +/+ ) mice, we show that there is ligand-independent regulation of miRNA, including low miR-196a in AhR −/− cells. Validation by qRT-PCR revealed a significant decrease in basal expression of miR-196a in AhR −/− compared to AhR +/+ cells. Exposure to AhR agonists benzo[a]pyrene (B[a]P) and FICZ as well as AhR antagonist CH-223191 decreased miR-196a expression in AhR +/+ fibroblasts concomitant with decreased AhR protein levels. There was increased proliferation only in AhR +/+ lung fibroblasts in response to serum, corresponding to a decrease in p27 KIP1 protein, a cyclin-dependent kinase inhibitor. Increasing the cellular levels of miR-196a had no effect on proliferation or expression of p27 KIP1 in AhR −/− fibroblasts but attenuated cigarette smoke-induced apoptosis. This study provides the first evidence that AhR expression is essential for the physiological regulation of cellular miRNA levels- including miR-196a. Future experiments designed to elucidate the functional relationship between the AhR and miR-196a may delineate additional novel ligand-independent roles for the AhR. - Highlights: • The AhR controls proliferation and apoptosis in lung cells. • The AhR regulates the expression of the microRNA miR-196a independent of

  9. Aryl hydrocarbon receptor-dependent regulation of miR-196a expression controls lung fibroblast apoptosis but not proliferation

    Energy Technology Data Exchange (ETDEWEB)

    Hecht, Emelia [Department of Medicine, McGill University, Montreal, Quebec (Canada); Zago, Michela [Research Institute of the McGill University Health Centre, McGill University, Montreal, Quebec (Canada); Sarill, Miles [Department of Medicine, McGill University, Montreal, Quebec (Canada); Rico de Souza, Angela [Research Institute of the McGill University Health Centre, McGill University, Montreal, Quebec (Canada); Gomez, Alvin; Matthews, Jason [Department of Pharmacology and Toxicology, University of Toronto, Toronto, ON (Canada); Hamid, Qutayba; Eidelman, David H. [Department of Medicine, McGill University, Montreal, Quebec (Canada); Research Institute of the McGill University Health Centre, McGill University, Montreal, Quebec (Canada); Baglole, Carolyn J., E-mail: Carolyn.baglole@McGill.ca [Department of Medicine, McGill University, Montreal, Quebec (Canada); Research Institute of the McGill University Health Centre, McGill University, Montreal, Quebec (Canada)

    2014-11-01

    The aryl hydrocarbon receptor (AhR) is a ligand-activated transcription factor implicated in the regulation of apoptosis and proliferation. Although activation of the AhR by xenobiotics such as dioxin inhibits the cell cycle and control apoptosis, paradoxically, AhR expression also promotes cell proliferation and survival independent of exogenous ligands. The microRNA (miRNA) miR-196a has also emerged as a regulator of proliferation and apoptosis but a relationship between the AhR and miR-196a is not known. Therefore, we hypothesized that AhR-dependent regulation of endogenous miR-196a expression would promote cell survival and proliferation. Utilizing lung fibroblasts from AhR deficient (AhR{sup −/−}) and wild-type (AhR{sup +/+}) mice, we show that there is ligand-independent regulation of miRNA, including low miR-196a in AhR{sup −/−} cells. Validation by qRT-PCR revealed a significant decrease in basal expression of miR-196a in AhR{sup −/−} compared to AhR{sup +/+} cells. Exposure to AhR agonists benzo[a]pyrene (B[a]P) and FICZ as well as AhR antagonist CH-223191 decreased miR-196a expression in AhR{sup +/+} fibroblasts concomitant with decreased AhR protein levels. There was increased proliferation only in AhR{sup +/+} lung fibroblasts in response to serum, corresponding to a decrease in p27{sup KIP1} protein, a cyclin-dependent kinase inhibitor. Increasing the cellular levels of miR-196a had no effect on proliferation or expression of p27{sup KIP1} in AhR{sup −/−} fibroblasts but attenuated cigarette smoke-induced apoptosis. This study provides the first evidence that AhR expression is essential for the physiological regulation of cellular miRNA levels- including miR-196a. Future experiments designed to elucidate the functional relationship between the AhR and miR-196a may delineate additional novel ligand-independent roles for the AhR. - Highlights: • The AhR controls proliferation and apoptosis in lung cells. • The AhR regulates the

  10. Proliferation: myth or reality?

    International Nuclear Information System (INIS)

    2005-01-01

    This article analyzes the proliferation approach, its technical condition and political motivation, and the share between the myth (political deception, assumptions and extrapolations) and the reality of proliferation. Its appreciation is complicated by the irrational behaviour of some political actors and by the significant loss of the non-use taboo. The control of technologies is an important element for proliferation slowing down but an efficient and autonomous intelligence system remains indispensable. (J.S.)

  11. Modeling and identification for high-performance robot control : an RRR-robotic arm case study

    NARCIS (Netherlands)

    Kostic, D.; Jager, de A.G.; Steinbuch, M.; Hensen, R.H.A.

    2004-01-01

    We explain a procedure for getting models of robot kinematics and dynamics that are appropriate for robot control design. The procedure consists of the following steps: (i) derivation of robot kinematic and dynamic models and establishing correctness of their structures; (ii) experimental estimation

  12. Gaming and conventional exercises for improvement of arm function after stroke: a randomised controlled pilot study

    NARCIS (Netherlands)

    Kottink, A.I.R.; Prange, Grada Berendina; Krabben, T.; Rietman, Johan Swanik; Buurke, Jaap

    2014-01-01

    Objective: The use of new technologies in rehabilitation, such as virtual reality and/or computerized gaming exercises, may be useful to enable patients to practice intensively in a motivating way. The objective of the present randomized controlled pilot study was to compare the effect of reach

  13. Stage-specific control of neural crest stem cell proliferation by the small rho GTPases Cdc42 and Rac1

    DEFF Research Database (Denmark)

    Fuchs, Sebastian; Herzog, Dominik; Sumara, Grzegorz

    2009-01-01

    -renewal and proliferation of later stage, but not early migratory NCSCs. This stage-specific requirement for small Rho GTPases is due to changes in NCSCs that, during development, acquire responsiveness to mitogenic EGF acting upstream of both Cdc42 and Rac1. Thus, our data reveal distinct mechanisms for growth control......The neural crest (NC) generates a variety of neural and non-neural tissues during vertebrate development. Both migratory NC cells and their target structures contain cells with stem cell features. Here we show that these populations of neural crest-derived stem cells (NCSCs) are differentially...

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

    OpenAIRE

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

    2012-01-01

    Paralysis following spinal cord injury, brainstemstroke, amyotrophic lateral sclerosis and other disorders can disconnect the brain from the body, eliminating the ability to perform volitional movements. A neural interface system could restore mobility and independence for people with paralysis by translating neuronal activity directly into control signals for assistive devices. We have previously shown that people with long-standing tetraplegia can use a neural interface ...

  15. A pilot single-blind multicentre randomized controlled trial to evaluate the potential benefits of computer-assisted arm rehabilitation gaming technology on the arm function of children with spastic cerebral palsy.

    Science.gov (United States)

    Preston, Nick; Weightman, Andrew; Gallagher, Justin; Levesley, Martin; Mon-Williams, Mark; Clarke, Mike; O'Connor, Rory J

    2016-10-01

    To evaluate the potential benefits of computer-assisted arm rehabilitation gaming technology on arm function of children with spastic cerebral palsy. A single-blind randomized controlled trial design. Power calculations indicated that 58 children would be required to demonstrate a clinically important difference. Intervention was home-based; recruitment took place in regional spasticity clinics. A total of 15 children with cerebral palsy aged five to 12 years were recruited; eight to the device group. Both study groups received 'usual follow-up treatment' following spasticity treatment with botulinum toxin; the intervention group also received a rehabilitation gaming device. ABILHAND-kids and Canadian Occupational Performance Measure were performed by blinded assessors at baseline, six and 12 weeks. An analysis of covariance showed no group differences in mean ABILHAND-kids scores between time points. A non-parametric analysis of variance on Canadian Occupational Performance Measure scores showed a statistically significant improvement across time points (χ 2 (2,15) = 6.778, p = 0.031), but this improvement did not reach minimal clinically important difference. Mean daily device use was seven minutes. Recruitment did not reach target owing to unanticipated staff shortages in clinical services. Feedback from children and their families indicated that the games were not sufficiently engaging to promote sufficient use that was likely to result in functional benefits. This study suggests that computer-assisted arm rehabilitation gaming does not benefit arm function, but a Type II error cannot be ruled out. © The Author(s) 2015.

  16. Path Planning of Mobile Elastic Robotic Arms by Indirect Approach of Optimal Control

    Directory of Open Access Journals (Sweden)

    Moharam Habibnejad Korayem

    2011-03-01

    Full Text Available Finding optimal trajectory is critical in several applications of robot manipulators. This paper is applied the open-loop optimal control approach for generating the optimal trajectory of the flexible mobile manipulators in point-to-point motion. This method is based on the Pontryagin-s minimum principle that by providing a two-point boundary value problem is solved the problem. This problem is known to be complex in particular when combined motion of the base and manipulator, non-holonomic constraint of the base and highly non-linear and complicated dynamic equations as a result of flexible nature of links are taken into account. The study emphasizes on modeling of the complete optimal control problem by remaining all nonlinear state and costate variables as well as control constraints. In this method, designer can compromise between different objectives by considering the proper penalty matrices and it yields to choose the proper trajectory among the various paths. The effectiveness and capability of the proposed approach are demonstrated through simulation studies. Finally, to verify the proposed method, the simulation results obtained from the model are compared with the results of those available in the literature.

  17. Football gambling three arm-controlled study: gamblers, amateurs and laypersons.

    Science.gov (United States)

    Huberfeld, Ronen; Gersner, Roman; Rosenberg, Oded; Kotler, Moshe; Dannon, Pinhas N

    2013-01-01

    Football (soccer) betting, as a strategic form of betting, became one of the favorite wagers for pathological gamblers. Previous studies demonstrated the psychological and biological significance of the 'illusion of control' (personal control) and 'near miss' results in gambling. In our study, we explored whether knowledge and expertise of pathological sports gamblers can ensure a successful bet. Participants were divided into three groups of individuals - pathological gamblers, amateurs and laypersons - and were asked to predict in advance the general result and the exact result of football matches in the European Champions League Round of 16. The 165 participants included 53 pathological sports gamblers (52 males and 1 female), 78 laypersons (45 females and 33 males) and 34 amateurs (all males). After a thorough statistical analysis, we found no significant differences between the groups, no matter what kind of previous knowledge they had acquired. This study demonstrates that the 'illusion of control' of pathological gamblers, attained by knowledge of the game and its latest data and information (especially in a strategic gamble as football betting), has no factual background. Moreover, our study demonstrates without a doubt that there is no significant difference between the male pathological sports gamblers group and the male/female laypersons group. Copyright © 2012 S. Karger AG, Basel.

  18. Electroacupuncture to alleviate postoperative pain after a laparoscopic appendectomy: study protocol for a three-arm, randomised, controlled trial.

    Science.gov (United States)

    Lee, Seunghoon; Nam, Dongwoo; Kwon, Minsoo; Park, Won Seo; Park, Sun Jin

    2017-08-04

    The purpose of this study is to evaluate the efficacy and safety of electroacupuncture (EA) for postoperative pain after laparoscopic appendectomy compared with sham electroacupuncture (SEA) and no acupuncture treatment. This study is a protocol for a three-arm, randomised, patient-assessor-blinded (to the type of acupuncture treatment), controlled, parallel trial. 138 participants diagnosed with appendicitis and scheduled for laparoscopic appendectomy will be randomly assigned to the EA group (n=46), SEA group (n=46) or control group (n=46). The EA group will receive acupuncture treatment at both regional and distal acupuncture points with electrostimulation. The SEA group will receive sham acupuncture treatment with mock electrostimulation. Both EA and SEA groups will receive a total of four treatments 1 hour preoperative, 1 hour postoperative and during the morning and afternoon the day after surgery with the same routine postoperative pain control. The control group will receive only routine postoperative pain control. The primary outcome is the 11-point Pain Intensity Numerical Rating Scale (PI-NRS) at 24 hours after surgery. The secondary outcomes are the PI-NRS, analgesic consumption, opioid-related side effects, time to first passing flatus, quality of life and adverse events evaluated 6, 12, 24 and 36 hours and 7 days after surgery. The study was planned in accordance with the Helsinki Declaration and the Korean Good Clinical Practice Guidelines to protect the participants and was approved by the institutional review board (IRB) of Kyung Hee University Medical Center (KMC IRB-1427-02). The results will be disseminated in peer-reviewed journals and presented at international conferences. Clinical Research Information Service (KCT0001328). © Article author(s) (or their employer(s) unless otherwise stated in the text of the article) 2017. All rights reserved. No commercial use is permitted unless otherwise expressly granted.

  19. Abelson tyrosine-protein kinase 2 regulates myoblast proliferation and controls muscle fiber length.

    Science.gov (United States)

    Lee, Jennifer K; Hallock, Peter T; Burden, Steven J

    2017-12-12

    Muscle fiber length is nearly uniform within a muscle but widely different among different muscles. We show that Abelson tyrosine-protein kinase 2 (Abl2) has a key role in regulating myofiber length, as a loss of Abl2 leads to excessively long myofibers in the diaphragm, intercostal and levator auris muscles but not limb muscles. Increased myofiber length is caused by enhanced myoblast proliferation, expanding the pool of myoblasts and leading to increased myoblast fusion. Abl2 acts in myoblasts, but as a consequence of expansion of the diaphragm muscle, the diaphragm central tendon is reduced in size, likely contributing to reduced stamina of Abl2 mutant mice. Ectopic muscle islands, each composed of myofibers of uniform length and orientation, form within the central tendon of Abl2 +/- mice. Specialized tendon cells, resembling tendon cells at myotendinous junctions, form at the ends of these muscle islands, suggesting that myofibers induce differentiation of tendon cells, which reciprocally regulate myofiber length and orientation.

  20. Parametric motion control of robotic arms: A biologically based approach using neural networks

    Science.gov (United States)

    Bock, O.; D'Eleuterio, G. M. T.; Lipitkas, J.; Grodski, J. J.

    1993-01-01

    A neural network based system is presented which is able to generate point-to-point movements of robotic manipulators. The foundation of this approach is the use of prototypical control torque signals which are defined by a set of parameters. The parameter set is used for scaling and shaping of these prototypical torque signals to effect a desired outcome of the system. This approach is based on neurophysiological findings that the central nervous system stores generalized cognitive representations of movements called synergies, schemas, or motor programs. It has been proposed that these motor programs may be stored as torque-time functions in central pattern generators which can be scaled with appropriate time and magnitude parameters. The central pattern generators use these parameters to generate stereotypical torque-time profiles, which are then sent to the joint actuators. Hence, only a small number of parameters need to be determined for each point-to-point movement instead of the entire torque-time trajectory. This same principle is implemented for controlling the joint torques of robotic manipulators where a neural network is used to identify the relationship between the task requirements and the torque parameters. Movements are specified by the initial robot position in joint coordinates and the desired final end-effector position in Cartesian coordinates. This information is provided to the neural network which calculates six torque parameters for a two-link system. The prototypical torque profiles (one per joint) are then scaled by those parameters. After appropriate training of the network, our parametric control design allowed the reproduction of a trained set of movements with relatively high accuracy, and the production of previously untrained movements with comparable accuracy. We conclude that our approach was successful in discriminating between trained movements and in generalizing to untrained movements.

  1. Vision-based control of robotic arm with 6 degrees of freedom

    OpenAIRE

    Versleegers, Wim

    2014-01-01

    This paper studies the procedure to program a vertically articulated robot with six degrees of freedom, the Mitsubishi Melfa RV-2SD, with Matlab. A major drawback of the programming software provided by Mitsubishi is that it barely allows the use of vision-based programming. The amount of useable cameras is limited and moreover, the cameras are very expensive. Using Matlab, these limitations could be overcome. However there is no direct way to control the robot with Matlab. The goal of this p...

  2. Russian Defense and Arms Control Policy and its Prospects after the Presidential Elections

    OpenAIRE

    Alexander Savelyev

    2008-01-01

    Este artículo explora los posibles escenarios en las políticas de desarme y control de armamentos de Rusia tras la toma de posesión del presidente Medvedev. El autor analiza la experiencia de la presidencia de Putin y de los acuerdos EE.UU.-URSS durante la Guerra Fría, conluyendo que los sistemas ABM y el principio de “estabilidad estratégica” se han convertido en el problema central. Por tanto, Rusia y EE.UU. necesitan revisar sus posiciones y aceptar las nuevas realidades de sus relaciones ...

  3. Russian Defense and Arms Control Policy and its Prospects after the Presidential Elections

    Directory of Open Access Journals (Sweden)

    Alexander Savelyev

    2008-05-01

    Full Text Available Este artículo explora los posibles escenarios en las políticas de desarme y control de armamentos de Rusia tras la toma de posesión del presidente Medvedev. El autor analiza la experiencia de la presidencia de Putin y de los acuerdos EE.UU.-URSS durante la Guerra Fría, conluyendo que los sistemas ABM y el principio de “estabilidad estratégica” se han convertido en el problema central. Por tanto, Rusia y EE.UU. necesitan revisar sus posiciones y aceptar las nuevas realidades de sus relaciones estratégicas en el siglo XXI.

  4. Mobile Phone Support for Diabetes Self-Care Among Diverse Adults: Protocol for a Three-Arm Randomized Controlled Trial

    Science.gov (United States)

    Nelson, Lyndsay A; Wallston, Kenneth A; Kripalani, Sunil; Greevy Jr, Robert A; Elasy, Tom A; Bergner, Erin M; Gentry, Chad K

    2018-01-01

    Background Nonadherence to self-care is common among patients with type 2 diabetes (T2D) and often leads to severe complications. Moreover, patients with T2D who have low socioeconomic status and are racial/ethnic minorities disproportionately experience barriers to adherence and poor outcomes. Basic phone technology (text messages and phone calls) provides a practical medium for delivering content to address patients’ barriers to adherence; however, trials are needed to explore long-term and sustainable effects of mobile phone interventions among diverse patients. Objective The aim of this study is to evaluate the effects of mobile phone–based diabetes support interventions on self-care and hemoglobin A1c (HbA1c) among adults with T2D using a 3-arm, 15-month randomized controlled trial with a Type 1 hybrid effectiveness-implementation approach. The intervention arms are (1) Rapid Encouragement/Education And Communications for Health (REACH) and (2) REACH + Family-focused Add-on for Motivating Self-care (FAMS). Methods We recruited primary care patients with T2D (N=512) from Federally Qualified Health Centers and an academic medical center, prioritizing recruitment of publicly insured and minority patients from the latter. Eligible patients were prescribed daily diabetes medication and owned a cell phone with text messaging capability. We excluded patients whose most recent HbA1c result within 12 months was <6.8% to support detection of intervention effects on HbA1c. Participants were randomly assigned to REACH only, REACH + FAMS, or the control condition. REACH provides text messages tailored to address patient-specific barriers to medication adherence based on the Information-Motivation-Behavioral skills model, whereas FAMS provides monthly phone coaching with related text message content focused on family and friend barriers to diet and exercise adherence. We collect HbA1c and self-reported survey data at baseline and at 3, 6, and 12 months, and again at 15

  5. Transcriptional Control of Vascular Smooth Muscle Cell Proliferation by Peroxisome Proliferator-Activated Receptor-γ: Therapeutic Implications for Cardiovascular Diseases

    Directory of Open Access Journals (Sweden)

    Florence Gizard

    2008-01-01

    Full Text Available Proliferation of vascular smooth muscle cells (SMCs is a critical process for the development of atherosclerosis and complications of procedures used to treat atherosclerotic diseases, including postangioplasty restenosis, vein graft failure, and transplant vasculopathy. Peroxisome proliferator-activated receptor (PPAR γ is a member of the nuclear hormone receptor superfamily and the molecular target for the thiazolidinediones (TZD, used clinically to treat insulin resistance in patients with type 2 diabetes. In addition to their efficacy to improve insulin sensitivity, TZD exert a broad spectrum of pleiotropic beneficial effects on vascular gene expression programs. In SMCs, PPARγ is prominently upregulated during neointima formation and suppresses the proliferative response to injury of the arterial wall. Among the molecular target genes regulated by PPARγ in SMCs are genes encoding proteins involved in the regulation of cell-cycle progression, cellular senescence, and apoptosis. This inhibition of SMC proliferation is likely to contribute to the prevention of atherosclerosis and postangioplasty restenosis observed in animal models and proof-of-concept clinical studies. This review will summarize the transcriptional target genes regulated by PPARγ in SMCs and outline the therapeutic implications of PPARγ activation for the treatment and prevention of atherosclerosis and its complications.

  6. A four arm, double blind, randomized and placebo controlled study of pregabalin in the management of post-burn pruritus.

    Science.gov (United States)

    Ahuja, Rajeev B; Gupta, Gaurav K

    2013-02-01

    Post-burn itch is a distressing symptom in burns rehabilitation and its treatment often proves frustrating for the patient and the multidisciplinary burns team. Traditionally, the mainstay of antipruritic therapy for decades has been antihistamines and massage with emollients. With a better understanding of the neurophysiology of itch emerged a new dimension in the treatment of post-burn pruritus. Gabapentin, a centrally modulating anti-epileptic agent and α2δ ligand, proved in clinical trials to be immensely better in the treatment of post-burn pruritus. Pregabalin is a newer structural analog of gabapentin. It has a much better anxiolytic effect and pharmacokinetic profile as compared to gabapentin. The current study was initiated to specifically study the role of pregabalin in relieving post-burn itch as this has never been investigated before. This double blind, randomized and placebo controlled study had four arms and was carried out on 80 adult patients (20 each). The four arms were: pregabalin, cetirizine with pheniramine maleate, combination of pregabalin, cetirizine and pheniramine maleate, and placebo (vit. B comp.). Massage with coconut oil was integral to all groups. Drug dosage was determined by initial VAS (visual analog scale) scores. All groups matched in demographic data and initial VAS scores. VAS scores were evaluated over next 28 days (days 3, 7, 14, 21 and 28). In patients with mild itch (VAS scores 2-5) or moderate itch (VAS scores 6-8) near complete remission of itch was seen in combination group and pregabalin group where the response was comparable and close to 95%. This was significantly better response than antihistaminic combination or massage alone. However, massage alone was sufficient in decreasing mean scores in mild itch, in a large percentage of patients. Amongst the patients with severe itch (VAS scores 9-10), 3/6 and 6/7 patients dropped out of trial in the antihistaminic and placebo groups, respectively. Combination therapy

  7. Mobile Phone Support for Diabetes Self-Care Among Diverse Adults: Protocol for a Three-Arm Randomized Controlled Trial.

    Science.gov (United States)

    Nelson, Lyndsay A; Wallston, Kenneth A; Kripalani, Sunil; Greevy, Robert A; Elasy, Tom A; Bergner, Erin M; Gentry, Chad K; Mayberry, Lindsay S

    2018-04-10

    Nonadherence to self-care is common among patients with type 2 diabetes (T2D) and often leads to severe complications. Moreover, patients with T2D who have low socioeconomic status and are racial/ethnic minorities disproportionately experience barriers to adherence and poor outcomes. Basic phone technology (text messages and phone calls) provides a practical medium for delivering content to address patients' barriers to adherence; however, trials are needed to explore long-term and sustainable effects of mobile phone interventions among diverse patients. The aim of this study is to evaluate the effects of mobile phone-based diabetes support interventions on self-care and hemoglobin A 1c (HbA 1c ) among adults with T2D using a 3-arm, 15-month randomized controlled trial with a Type 1 hybrid effectiveness-implementation approach. The intervention arms are (1) Rapid Encouragement/Education And Communications for Health (REACH) and (2) REACH + Family-focused Add-on for Motivating Self-care (FAMS). We recruited primary care patients with T2D (N=512) from Federally Qualified Health Centers and an academic medical center, prioritizing recruitment of publicly insured and minority patients from the latter. Eligible patients were prescribed daily diabetes medication and owned a cell phone with text messaging capability. We excluded patients whose most recent HbA 1c result within 12 months was phone coaching with related text message content focused on family and friend barriers to diet and exercise adherence. We collect HbA 1c and self-reported survey data at baseline and at 3, 6, and 12 months, and again at 15 months to assess sustained changes. We will use generalized estimating equation models to test the effects of REACH (either intervention arm) on HbA 1c relative to the control group, the potential additive effects of FAMS, and effects of either intervention on adherence to self-care behaviors and diabetes self-efficacy. The trial is ongoing; recruitment closed

  8. Complement regulation in murine and human hypercholesterolemia and role in the control of macrophage and smooth muscle cell proliferation.

    Science.gov (United States)

    Verdeguer, Francisco; Castro, Claudia; Kubicek, Markus; Pla, Davinia; Vila-Caballer, Marian; Vinué, Angela; Civeira, Fernando; Pocoví, Miguel; Calvete, Juan José; Andrés, Vicente

    2007-11-01

    Mounting evidence suggests that activation of complement, an important constituent of innate immunity, contributes to atherosclerosis. Here we investigated the expression of complement components (CCs) in the setting of experimental and clinical hypercholesterolemia, a major risk factor for atherosclerosis, their effects on vascular smooth muscle cell (VSMC) and macrophage proliferation, and the underlying molecular mechanisms. For this study we analyzed the mRNA and protein expression of several CCs in plasma and aorta of hypercholesterolemic atherosclerosis-prone apolipoprotein E-null mice (apoE-KO) and in plasma of normocholesterolemic subjects and familial hypercholesterolemia (FH) patients. We also carried out in vitro molecular studies to assess the role of CCs on the control of macrophage and VSMC proliferation. Fat-fed apoE-KO mice experiencing severe hypercholesterolemia (approximately 400 mg/dL), but not fat-fed wild-type controls with plasma cholesterol levelfeeding when hypercholesterolemia was manifested yet atherosclerotic lesions were absent or incipient. Rapid C3 and C4 protein upregulation was also observed in the plasma of fat-fed apoE-KO mice, and FH patients exhibited higher plasmatic C3a, C4 gamma chain, C1s and C3c alpha chain protein levels than normocholesterolemic subjects. In vitro, C3 and C3a, but not C3a-desArg, C4 and C1q, promoted macrophage and VSMC proliferation through Gi protein-dependent activation of extracellular signal-regulated kinase 1/2 (ERK1/2). We also found that C3-enriched FH plasma evoked a stronger mitogenic response in macrophages than normocholesterolemic plasma, and treatment with anti-C3 antibodies eliminated this difference. Both experimental and clinical hypercholesterolemia coincides with a concerted activation of several CCs. However, only C3 and C3a elicited a mitogenic response in cultured VSMCs and macrophages through Gi protein-dependent ERK1/2 activation. Thus, excess of C3/C3a in hypercholesterolemic apo

  9. Bio-Inspired Control of an Arm Exoskeleton Joint with Active-Compliant Actuation System

    Directory of Open Access Journals (Sweden)

    Michele Folgheraiter

    2009-01-01

    Full Text Available This paper presents the methodology followed on the design of a multi-contact point haptic interface that uses a bio-inspired control approach and a novel actuation system. The combination of these components aims at creating a system that increases the operability of the target, and, at the same time, enables an intuitive and safe tele-operation of any complex robotic system of any given morphology. The novelty lies on the combination of a thoughtful kinematic structure driven by an active-compliant actuation system and a bio-inspired paradigm for its regulation. Due to the proposed actuation approach, the final system will achieve the condition of wearable system. On that final solution, each joint will be able to change its stiffness depending on the task to be executed, and on the anatomical features of each individual. Moreover, the system provides a variety of safety mechanisms at different levels to prevent causing any harm to the operator. In future, the system should allow the complete virtual immersion of the user within the working scenario.

  10. A controlled pilot trial of two commercial video games for rehabilitation of arm function after stroke.

    Science.gov (United States)

    Chen, Mei-Hsiang; Huang, Lan-Ling; Lee, Chang-Franw; Hsieh, Ching-Lin; Lin, Yu-Chao; Liu, Hsiuchih; Chen, Ming-I; Lu, Wen-Shian

    2015-07-01

    To investigate the acceptability and potential efficacy of two commercial video games for improving upper extremity function after stroke in order to inform future sample size and study design. A controlled clinical trial design using sequential allocation into groups. A clinical occupational therapy department. Twenty-four first-stroke patients. Patients were assigned to one of three groups: conventional group, Wii group, and XaviX group. In addition to regular one-hour conventional rehabilitation, each group received an additional half-hour of upper extremity exercises via conventional devices, Wii games, or XaviX games, for eight weeks. The Fugl-Meyer Assessment of motor function, Box and Block Test of Manual Dexterity, Functional Independence Measure, and upper extremity range of motion were used at baseline and postintervention. Also, a questionnaire was used to assess motivation and enjoyment. The effect size of differences in change scores between the Wii and conventional groups ranged from 0.71 (SD 0.59) to 0.28 (SD 0.58), on the Fugl-Meyer Assessment of motor function (d = 0.74) was larger than that between the XaviX and conventional groups, ranged from 0.44 (SD 0.49) to 0.28 (SD 0.58) (d = 0.30). Patient enjoyment was significantly greater in the video game groups (Wii mean 4.25, SD 0.89; XaviX mean 4.38, SD 0.52) than in the conventional group (mean 2.25, SD 0.89, F = 18.55, p video games in rehabilitation. A sample size of 72 patients (24 per group) would be appropriate for a full study. © The Author(s) 2014.

  11. Hybrid Neuroprosthesis for the Upper Limb: Combining Brain-Controlled Neuromuscular Stimulation with a Multi-Joint Arm Exoskeleton.

    Science.gov (United States)

    Grimm, Florian; Walter, Armin; Spüler, Martin; Naros, Georgios; Rosenstiel, Wolfgang; Gharabaghi, Alireza

    2016-01-01

    Brain-machine interface-controlled (BMI) neurofeedback training aims to modulate cortical physiology and is applied during neurorehabilitation to increase the responsiveness of the brain to subsequent physiotherapy. In a parallel line of research, robotic exoskeletons are used in goal-oriented rehabilitation exercises for patients with severe motor impairment to extend their range of motion (ROM) and the intensity of training. Furthermore, neuromuscular electrical stimulation (NMES) is applied in neurologically impaired patients to restore muscle strength by closing the sensorimotor loop. In this proof-of-principle study, we explored an integrated approach for providing assistance as needed to amplify the task-related ROM and the movement-related brain modulation during rehabilitation exercises of severely impaired patients. For this purpose, we combined these three approaches (BMI, NMES, and exoskeleton) in an integrated neuroprosthesis and studied the feasibility of this device in seven severely affected chronic stroke patients who performed wrist flexion and extension exercises while receiving feedback via a virtual environment. They were assisted by a gravity-compensating, seven degree-of-freedom exoskeleton which was attached to the paretic arm. NMES was applied to the wrist extensor and flexor muscles during the exercises and was controlled by a hybrid BMI based on both sensorimotor cortical desynchronization (ERD) and electromyography (EMG) activity. The stimulation intensity was individualized for each targeted muscle and remained subthreshold, i.e., induced no overt support. The hybrid BMI controlled the stimulation significantly better than the offline analyzed ERD (p = 0.028) or EMG (p = 0.021) modality alone. Neuromuscular stimulation could be well integrated into the exoskeleton-based training and amplified both the task-related ROM (p = 0.009) and the movement-related brain modulation (p = 0.019). Combining a hybrid BMI with neuromuscular stimulation

  12. Hybrid Neuroprosthesis for the Upper Limb: Combining Brain-Controlled Neuromuscular Stimulation with a Multi-Joint Arm Exoskeleton

    Science.gov (United States)

    Grimm, Florian; Walter, Armin; Spüler, Martin; Naros, Georgios; Rosenstiel, Wolfgang; Gharabaghi, Alireza

    2016-01-01

    Brain-machine interface-controlled (BMI) neurofeedback training aims to modulate cortical physiology and is applied during neurorehabilitation to increase the responsiveness of the brain to subsequent physiotherapy. In a parallel line of research, robotic exoskeletons are used in goal-oriented rehabilitation exercises for patients with severe motor impairment to extend their range of motion (ROM) and the intensity of training. Furthermore, neuromuscular electrical stimulation (NMES) is applied in neurologically impaired patients to restore muscle strength by closing the sensorimotor loop. In this proof-of-principle study, we explored an integrated approach for providing assistance as needed to amplify the task-related ROM and the movement-related brain modulation during rehabilitation exercises of severely impaired patients. For this purpose, we combined these three approaches (BMI, NMES, and exoskeleton) in an integrated neuroprosthesis and studied the feasibility of this device in seven severely affected chronic stroke patients who performed wrist flexion and extension exercises while receiving feedback via a virtual environment. They were assisted by a gravity-compensating, seven degree-of-freedom exoskeleton which was attached to the paretic arm. NMES was applied to the wrist extensor and flexor muscles during the exercises and was controlled by a hybrid BMI based on both sensorimotor cortical desynchronization (ERD) and electromyography (EMG) activity. The stimulation intensity was individualized for each targeted muscle and remained subthreshold, i.e., induced no overt support. The hybrid BMI controlled the stimulation significantly better than the offline analyzed ERD (p = 0.028) or EMG (p = 0.021) modality alone. Neuromuscular stimulation could be well integrated into the exoskeleton-based training and amplified both the task-related ROM (p = 0.009) and the movement-related brain modulation (p = 0.019). Combining a hybrid BMI with neuromuscular stimulation

  13. Abelson tyrosine-protein kinase 2 regulates myoblast proliferation and controls muscle fiber length

    Science.gov (United States)

    Lee, Jennifer K; Hallock, Peter T

    2017-01-01

    Muscle fiber length is nearly uniform within a muscle but widely different among different muscles. We show that Abelson tyrosine-protein kinase 2 (Abl2) has a key role in regulating myofiber length, as a loss of Abl2 leads to excessively long myofibers in the diaphragm, intercostal and levator auris muscles but not limb muscles. Increased myofiber length is caused by enhanced myoblast proliferation, expanding the pool of myoblasts and leading to increased myoblast fusion. Abl2 acts in myoblasts, but as a consequence of expansion of the diaphragm muscle, the diaphragm central tendon is reduced in size, likely contributing to reduced stamina of Abl2 mutant mice. Ectopic muscle islands, each composed of myofibers of uniform length and orientation, form within the central tendon of Abl2+/− mice. Specialized tendon cells, resembling tendon cells at myotendinous junctions, form at the ends of these muscle islands, suggesting that myofibers induce differentiation of tendon cells, which reciprocally regulate myofiber length and orientation. PMID:29231808

  14. Bilateral and unilateral arm training improve motor function through differing neuroplastic mechanisms: a single-blinded randomized controlled trial.

    Science.gov (United States)

    Whitall, Jill; Waller, Sandy McCombe; Sorkin, John D; Forrester, Larry W; Macko, Richard F; Hanley, Daniel F; Goldberg, Andrew P; Luft, Andreas

    2011-02-01

    This randomized controlled trial tests the efficacy of bilateral arm training with rhythmic auditory cueing (BATRAC) versus dose-matched therapeutic exercises (DMTEs) on upper-extremity (UE) function in stroke survivors and uses functional magnetic resonance imaging (fMRI) to examine effects on cortical reorganization. A total of 111 adults with chronic UE paresis were randomized to 6 weeks (3×/week) of BATRAC or DMTE. Primary end points of UE assessments of Fugl-Meyer UE Test (FM) and modified Wolf Motor Function Test Time (WT) were performed 6 weeks prior to and at baseline, after training, and 4 months later. Pretraining and posttraining, fMRI for UE movement was evaluated in 17 BATRAC and 21 DMTE participants. The improvements in UE function (BATRAC: FM Δ = 1.1 + 0.5, P = .03; WT Δ = -2.6 + 0.8, P frontal gyrus (P < .05). Activation change in the latter was correlated with improvement in the WMFT (P = .01). BATRAC is not superior to DMTE, but both rehabilitation programs durably improve motor function for individuals with chronic UE hemiparesis and with varied deficit severity. Adaptations in brain activation are greater after BATRAC than DMTE, suggesting that given similar benefits to motor function, these therapies operate through different mechanisms.

  15. Tracking Control of a 2-DOF Arm Actuated by Pneumatic Muscle Actuators Using Adaptive Fuzzy Sliding Mode Control

    Science.gov (United States)

    Chang, Ming-Kun; Wu, Jui-Chi

    Pneumatic muscle actuators (PMAs) have the highest power/weight ratio and power/volume ratio of any actuator. Therefore, they can be used not only in the rehabilitation engineering, but also as an actuator in robots, including industrial robots and therapy robots. It is difficult to achieve excellent tracking performance using classical control methods because the compressibility of gas and the nonlinear elasticity of bladder container causes parameter variations. An adaptive fuzzy sliding mode control is developed in this study. The fuzzy sliding surface can be used to reduce fuzzy rule numbers, and the adaptive control law is used to modify fuzzy rules on-line. A model matching technique is then adopted to adjust scaling factors. The experimental results show that this control strategy can attain excellent tracking performance.

  16. Responses of the less affected arm to bilateral upper limb task training in early rehabilitation after stroke: a randomized controlled trial.

    Science.gov (United States)

    Morris, Jacqui H; Van Wijck, Frederike

    2012-07-01

    To investigate effects of bilateral training (BT) on ipsilesional arm dexterity and activity limitation; to explore clinical and demographic factors that influence training effects; and to explore relationships between contralesional and ipsilesional recovery. Single-blind randomized controlled trial with outcome assessment at baseline, postintervention (6 wk), and follow-up (18 wk). Inpatient acute and rehabilitation hospitals. Participants were randomized to a BT group in which training involved the ipsilesional and contralesional arms (n=56) or control training involving the contralesional arm only (n=50). Supervised BT or control training for 20 minutes on weekdays over a 6-week period using a standardized program. Upper limb activity limitation: Action Research Arm Test; and dexterity: Nine-Hole Peg Test (9HPT). Lower baseline scores were found for the ipsilesional arm on both measures compared with published normative values. The BT group demonstrated significantly greater change in dexterity (P=.03) during the intervention phase at 0 to 6 weeks (.06±.07pegs/s) compared with the control group (.02±.02pegs/s). The effect was lost for overall recovery at 0 to 18 weeks (P=.93). Younger participants (age≤68y) performed the 9HPT faster at baseline than older participants (P=.04) and demonstrated greater overall recovery with BT than older participants (P=.04). There was no significant correlation between ipsilesional and contralesional recovery. The study suggests that BT may lead to clinically small improvements in ipsilesional performance of fine, rapid dexterity tasks. Younger participants responded better to BT. There was no relationship between contralesional and ipsilesional recovery, suggesting that different causes and recovery mechanisms may exist. Copyright © 2012 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

  17. Proliferation Networks and Financing

    International Nuclear Information System (INIS)

    Gruselle, Bruno

    2007-01-01

    The objective of this study is to propose practical solutions aimed at completing and strengthening the existing arrangement for the control of nuclear proliferation through a control of financial as well as material or immaterial flows. In a first part, the author proposes a systemic analysis of networks of suppliers and demanders. He notably evokes the Khan's network and the Iraqi acquisition network during the 1993-2001 period. He also proposes a modelling of proliferation networks (supplier networks and acquisition networks) and of their interactions. In a second part, the author examines possible means and policies aimed at neutralising proliferation networks: organisation, adaptation and improvement of intelligence tools in front of proliferation networks, and means, limitations and perspectives of network neutralisation. He also briefly addresses the possibility of military action to contain proliferation flows

  18. Genetic control of mammalian T-cell proliferation with synthetic RNA regulatory systems

    OpenAIRE

    Chen, Yvonne Y.; Jensen, Michael C.; Smolke, Christina D.

    2010-01-01

    RNA molecules perform diverse regulatory functions in natural biological systems, and numerous synthetic RNA-based control devices that integrate sensing and gene-regulatory functions have been demonstrated, predominantly in bacteria and yeast. Despite potential advantages of RNA-based genetic control strategies in clinical applications, there has been limited success in extending engineered RNA devices to mammalian gene-expression control and no example of their application to functional res...

  19. Feedback Control of arm movements using Neuro-Muscular Electrical Stimulation (NMES combined with a lockable, passive exoskeleton for gravity compensation

    Directory of Open Access Journals (Sweden)

    Christian eKlauer

    2014-09-01

    Full Text Available Within the European project MUNDUS, an assistive framework was developed for the support of arm and hand functions during daily life activities in severely impaired people. Potential users of this system are patients with high-level spinal cord injury and neurodegenerative neuromuscular diseases, such as amyotrophic lateral sclerosis, Friedreich ataxia, and multiple sclerosis. This contribution aims at designing a feedback control system for Neuro-Muscular Electrical Stimulation (NMES to enable reaching functions in people with no residual voluntary control of the arm due to upper motor neuron lesions after spinal cord injury. NMES is applied to the deltoids and the biceps muscles and integrated with a three degrees of freedom (DoFs passive exoskeleton, which partially compensates gravitational forces and allows to lock each DOF. The user is able to choose the target hand position and to trigger actions using an eyetracker system. The target position is selected by using the eyetracker and determined by a marker-based tracking system using Microsoft Kinect. A central controller, i.e. a finite state machine, issues a sequence of basic movement commands to the real-time arm controller. The NMES control algorithm sequentially controls each joint angle while locking the other DoFs. Daily activities, such as drinking, brushing hair, pushing an alarm button, etc., can be supported by the system. The robust and easily tunable control approach was evaluated with five healthy subjects during a drinking task. Subjects were asked to remain passive and to allow NMES to induce the movements. In all of them, the controller was able to perform the task, and a mean hand positioning error of less than five centimeters was achieved. The average total time duration for moving the hand from a rest position to a drinking cup, for moving the cup to the mouth and back, and for finally returning the arm to the rest position was 71 seconds.

  20. Modulation of RIZ gene expression is associated to estradiol control of MCF-7 breast cancer cell proliferation

    International Nuclear Information System (INIS)

    Gazzerro, Patrizia; Abbondanza, Ciro; D'Arcangelo, Andrea; Rossi, Mariangela; Medici, Nicola; Moncharmont, Bruno; Puca, Giovanni Alfredo

    2006-01-01

    The retinoblastoma protein-interacting zinc-finger (RIZ) gene, a member of the nuclear protein methyltransferase superfamily, is characterized by the presence of the N-terminal PR domain. The RIZ gene encodes for two proteins, RIZ1 and RIZ2. While RIZ1 contains the PR (PRDI-BF1 and RIZ homologous) domain, RIZ2 lacks it. RIZ gene expression is altered in a variety of human cancers and RIZ1 is now considered to be a candidate tumor suppressor. Estradiol treatment of MCF-7 cells produced a selective decrease of RIZ1 transcript and an increase of total RIZ mRNA. Experiments of chromatin immunoprecipitation indicated that RIZ2 protein expression was controlled by estrogen receptor and RIZ1 had a direct repressor function on c-myc gene expression. To investigate the role of RIZ gene products as regulators of the proliferation/differentiation transition, we analyzed the effects of forced suppression of RIZ1 induced in MCF-7 cells by siRNA of the PR domain-containing form. Silencing of RIZ1 expression stimulated cell proliferation, similar to the effect of estradiol on these cells, associated with a transient increase of c-myc expression

  1. RIP3 Inhibits Inflammatory Hepatocarcinogenesis but Promotes Cholestasis by Controlling Caspase-8- and JNK-Dependent Compensatory Cell Proliferation

    Directory of Open Access Journals (Sweden)

    Mihael Vucur

    2013-08-01

    Full Text Available For years, the term “apoptosis” was used synonymously with programmed cell death. However, it was recently discovered that receptor interacting protein 3 (RIP3-dependent “necroptosis” represents an alternative programmed cell death pathway activated in many inflamed tissues. Here, we show in a genetic model of chronic hepatic inflammation that activation of RIP3 limits immune responses and compensatory proliferation of liver parenchymal cells (LPC by inhibiting Caspase-8-dependent activation of Jun-(N-terminal kinase in LPC and nonparenchymal liver cells. In this way, RIP3 inhibits intrahepatic tumor growth and impedes the Caspase-8-dependent establishment of specific chromosomal aberrations that mediate resistance to tumor-necrosis-factor-induced apoptosis and underlie hepatocarcinogenesis. Moreover, RIP3 promotes the development of jaundice and cholestasis, because its activation suppresses compensatory proliferation of cholangiocytes and hepatic stem cells. These findings demonstrate a function of RIP3 in regulating carcinogenesis and cholestasis. Controlling RIP3 or Caspase-8 might represent a chemopreventive or therapeutic strategy against hepatocellular carcinoma and biliary disease.

  2. Effect of Transcranial Direct Current Stimulation on Severely Affected Arm-Hand Motor Function in Patients After an Acute Ischemic Stroke: A Pilot Randomized Control Trial.

    Science.gov (United States)

    Rabadi, Meheroz H; Aston, Christopher E

    2017-10-01

    The aim of this article was to determine whether cathodal transcranial direct current stimulation (c-tDCS) to unaffected primary motor cortex (PMC) plus conventional occupational therapy (OT) improves functional motor recovery of the affected arm hand in patients after an acute ischemic stroke compared with sham transcranial direct current stimulation plus conventional OT. In this prospective, randomized, double-blinded, sham-controlled trial of 16 severe, acute ischemic stroke patients with severe arm-hand weakness were randomly assigned to either experimental (c-tDCS plus OT; n = 8) or control (sham transcranial direct current stimulation plus OT; n = 8) groups. All patients received a standard 3-hr in-patient rehabilitation therapy, plus an additional ten 30-min sessions of tDCS. During each session, 1 mA of cathodal stimulation to the unaffected PMC is performed followed by the patient's scheduled OT. The primary outcome measure was change in Action Research Arm Test (ARAT) total and subscores on discharge. Application of c-tDCS to unaffected PMC resulted in a clinically relevant 10-point improvement in the affected arm-hand function based on ARAT total score compared with a 2-point improvement in the control group. Application of 30-min of c-tDCS to the unaffected PMC showed a 10-point improvement in the ARAT score. This corresponds to a large effect size in improvement of affected arm-hand function in patients with severe, acute ischemic stroke. Although not statistically significant, this suggests that larger studies, enrolling at least 25 patients in each group, and with a longer follow-up are warranted.

  3. JPRS Report, Arms Control

    Science.gov (United States)

    1989-05-09

    drop his ANZUS bombshell by his visit to Strawberry Fields in New York with Yoko Ono, the widow of Beatle John Lennon. The Opposition regarded Mr...Murphy; THE NEW ZEALAND HERALD 27 Apr] 11 Lange Said To Risk Leadership [S. Collins; NEW ZEALAND HERALD 27 Apr] 12 Bush Administration Called...30-31 [Article by Hsiao Li: "Outlook for Talks on Conven- tional Forces in Europe"] [Text]Special dispatch from Vienna The talks on Conven- tional

  4. Worldwide Report, Arms Control.

    Science.gov (United States)

    1985-10-11

    the University of Cranfield, and in Germany that of 36 Aix- la -Chapelle, have become application research centers working with the industrialists...which, in its laboratories at Marcoussis, is testing its expert scheduling system SOJA , for Alsthom-Atlantique’s pilot sheet-metal workshop., The

  5. JPRS Report, Arms Control.

    Science.gov (United States)

    1989-04-26

    NUERNBERGER NACHRICHTEN state: Of course, it would be supremely reasonable to also attack the poten- tial for the limited self-destruction in the...policy under the slogan "each one for himself!" This was the view of NUER- BERGER NACHRICHTEN . DIE WELT on FRG Position A U2204195489 Hamburg DIE

  6. Worldwide Report, Arms Control.

    Science.gov (United States)

    1985-08-12

    COMMERCE SPRINGFIELD, VA. 22161 10 NOTE JPRS publications contain information primarily from foreign newspapers, periodicals and books , but also...Reagan program of "star wars." The so-called "Strategic Defence Initiative" of the United States, said Leo Molenaar , member of the Political Bureau of

  7. JPRS Report, Arms Control

    Science.gov (United States)

    1989-12-01

    the current crisis." [passage omitted] In related developments, Presidential Chief-of-Staff Alberto Kohan disclosed yesterday that the Soviet gov...1989 The ABIMDE leaders, with four-star General Diogo Figueiredo, the youngest brother of former president Joao Figueiredo, in attendance, decided

  8. Worldwide Report, Arms Control.

    Science.gov (United States)

    1985-07-30

    reports that a two-million watt laser will soon be tested at the missile testing range of White Sands, New Mexico , in accordance with the Pentagon’s plan...European program dubbed "Eureka." The consortium will develop research in the area of software for high-speed computers, radar, electro-optics and...Excerpts] The PUERTO RICO LIBRE journal, published in New York by the Committee in Solidarity With Puerto Rico, has published an article in which the

  9. JPRS Report, Arms Control

    Science.gov (United States)

    1989-10-20

    to them. This vast land has only very few people and its climate is mild. With a total area of over 100,000 square km, it is larger than Zhejiang...Mandarin 1030 GMT 17 Sep 89 ["Roster of Heroes and Model Workers"—on Sun Jingliang, chief designer of Long March Carrier Rocket IV, member of the...the building of new housing for U.S. forces and the refurbishing of present ones. Tatsu Arima , director general of the Foreign Ministry’s North

  10. Worldwide Report, Arms Control

    Science.gov (United States)

    1986-03-21

    of all peoples. The Soviet Union’s present foreign policy course is a law -governed and consistent continuation of Lenin’s peace strategy. There is...general that a viewer named Peter Szasz asks if there is not a danger of the USSR merely transferring its SS-20 medium-range missiles from its European...is under way in Moscow. However, it could not help but influence to some extent the way of thinking of a number of American law -makers. "The proposals

  11. JPRS Report, Arms Control.

    Science.gov (United States)

    1989-07-19

    fuels for missiles and banning of existing fuels which contaminate the environment. (Ecologically pure fuels for the Soviet Energia space carrier...principle. Also additional one-time expenses of up to five billion rubles will be required for building and renovating everyday social and cultural...completely renovated by the year 2008, when the program will be completed. The M5 ballistic missile is being developed specially for the new generation of

  12. JPRS Report, Arms Control

    Science.gov (United States)

    1989-11-13

    Addresses UN on Disarmament [AGERPRES 24 Oct] 21 LATIN AMERICA MEXICO USSR’s Marcha Praises Anti-Nuclear Policy [UNOMASUNO 27 Oct] 23 NEAR...23 MEXICO USSR’s Marcha Praises Anti-Nuclear Policy PA0111002389 Mexico City UNOMASUNO in Spanish 27 Oct 89 p 6 [Text] Soviet Vice President... Marcha I. Snegur ratified the Soviet’s intention of ridding the world of the threat of nuclear war and highly praised Mexico’s contribution to this

  13. Worldwide Report, Arms Control

    Science.gov (United States)

    1986-01-02

    contentedly. Since April, when the Franch plan for European technology was launched, he has traveled to the capitals of 18 countries, among them the...territo- cheering throng at Queen’s Park’: ted $50 million for food aidt for .ry. that the Canadian peace move-, Africa thilss.mmer .. Lubbers said the

  14. JPRS Report, Arms Control

    Science.gov (United States)

    1989-01-10

    to be taken. Specifically, study of the 1970s detente period affords abundant food for thought. Many of the procedural propositions of the foreign...parts of Europe. He even feels that if Franch nuclear deterrent forces did not exist, it would now be time to create them. But this does not tally

  15. Worldwide Report, Arms Control.

    Science.gov (United States)

    1985-06-20

    Manufacturing Engineers at the Disneyland Hotel in Anaheim, California in January, as well as meetings on ceramic materials and high technology last year...the research agency: a flexible instrument that is to be financed half by public funding and half by trade and industry. The agency is nominally to...question of the financing . Initially, however, the Paris proposal is nothing more than an idea. "EURECA is like a red cloth with which the torero

  16. Worldwide Report, Arms Control.

    Science.gov (United States)

    1986-02-10

    beautiful, wordy husk in which the White House cloaks the "Star Wars program, it appears before us in its true sinister form The program is nothing... coconut palm near the legal office of the city of Avarua (the administrative center of the Cook Islands), clearly reflects the attitude of countries of...President knows that we are in a position of great conflict of interest and that we had a hard time making a decision. The Americans have their own oil

  17. [Arm Motor Function Recovery during Rehabilitation with the Use of Hand Exoskeleton Controlled by Brain-Computer Interface: a Patient with Severe Brain Damage].

    Science.gov (United States)

    Biryukova, E V; Pavlova, O G; Kurganskaya, M E; Bobrov, P D; Turbina, L G; Frolov, A A; Davydov, V I; Sil'tchenko, A V; Mokienko, O A

    2016-01-01

    We studied the dynamics of motor function recovery in a patient with severe brain damage in the course of neurorehabilitation using hand exoskeleton controlled by brain-computer interface. For estimating the motor function of paretic arm, we used the biomechanical analysis of movements registered during the course of rehabilitation. After 15 weekly sessions of hand exoskeleton control, the following results were obtained: a) the velocity profile of goal-directed movements of paretic hand became bell-shaped, b) the patient began to extend and abduct the hand which was flexed and adducted in the beginning of rehabilitation, and c) the patient began to supinate the forearm which was pronated in the beginning of rehabilitation. The first result is an evidence of the general improvement of the quality of motor control, while the second and third results prove that the spasticity of paretic arm has decreased.

  18. Interaction of the IAEA and the United States in controlling nuclear weapons proliferation

    International Nuclear Information System (INIS)

    Tape, G.F.

    1977-01-01

    The emphasis of this paper is on those aspects of the U. S.-IAEA interactions that pertain to the control and assurance of non-diversion of special nuclear materials. Some background information on the IAEA is given

  19. The effects of a home-based arm ergometry exercise programme on physical fitness, fatigue and activity in polio survivors: protocol for a randomised controlled trial

    Directory of Open Access Journals (Sweden)

    Murray Deirdre

    2012-12-01

    Full Text Available Abstract Background Many Polio survivors have reduced mobility, pain and fatigue, which make access to conventional forms of aerobic exercise difficult. Inactivity leads to increased risk of health problems, many of which are prevalent among Polio survivors. Aerobic exercise programmes in Polio survivors should utilise stable muscle groups and should be designed to minimise exacerbation of pain and fatigue. A home-based arm ergometry aerobic exercise programme may represent an affordable and accessible exercise modality, incorporating exercise prescription principles in this group. Methods/design This is a prospective, single blinded, randomised controlled trial. There are two arms; exercise intervention using arm ergometers and control. Polio survivors meeting eligibility criteria will be recruited and randomly allocated to intervention or control groups. Participants allocated to the intervention group will receive a small arm ergometer and a polar heart rate monitor. They will carry out a home-based moderate intensity (50-70% HRMax aerobic exercise programme for eight weeks, following instruction by the treating physiotherapist. Assessments will occur at baseline and after eight weeks and will include tests of physical fitness, activity, energy cost of walking, fatigue and quality of life. Clinically feasible assessment tools including the Six Minute Arm Test, the Physical Activity Scale for People with Physical Disabilities questionnaire, the Physiological Cost Index, Fatigue Severity Scale and the SF-36v2 will be utilised. Discussion The efficacy of a home-based arm ergometry programme in Polio survivors will be examined. No previous trial has examined such a programme using a wide range of outcome measures pertinent to Polio survivors. This study will provide new information on the impact of arm ergometry on physical fitness, activity, body composition, fatigue, pain, muscle strength, and health related quality of life. Also, the study

  20. Control of cell proliferation, endoreduplication, cell size, and cell death by the retinoblastoma-related pathway in maize endosperm

    KAUST Repository

    Sabelli, Paolo A.

    2013-04-22

    The endospermof cereal grains is one of the most valuable products of modern agriculture. Cereal endosperm development comprises different phases characterized by mitotic cell proliferation, endoreduplication, the accumulation of storage compounds, and programmed cell death. Although manipulation of these processes could maximize grain yield, how they are regulated and integrated is poorly understood. We show that the Retinoblastoma-related (RBR) pathway controls key aspects of endosperm development in maize. Down-regulation of RBR1 by RNAi resulted in up-regulation of RBR3-type genes, as well as the MINICHROMOSOME MAINTENANCE 2-7 gene family and PROLIFERATING CELL NUCLEAR ANTIGEN, which encode essential DNA replication factors. Both the mitotic and endoreduplication cell cycles were stimulated. Developing transgenic endosperm contained 42-58% more cells and ~70% more DNA than wild type, whereas there was a reduction in cell and nuclear sizes. In addition, cell death was enhanced. The DNA content of mature endosperm increased 43% upon RBR1 downregulation, whereas storage protein content and kernel weight were essentially not affected. Down-regulation of both RBR1 and CYCLIN DEPENDENT KINASE A (CDKA);1 indicated that CDKA;1 is epistatic to RBR1 and controls endoreduplication through an RBR1- dependent pathway. However, the repressive activity of RBR1 on downstream targets was independent from CDKA;1, suggesting diversification of RBR1 activities. Furthermore, RBR1 negatively regulated CDK activity, suggesting the presence of a feedback loop. These results indicate that the RBR1 pathway plays a major role in regulation of different processes during maize endosperm development and suggest the presence of tissue/organlevel regulation of endosperm/seed homeostasis.

  1. Spatial control of cell attachment, proliferation, and differentiation using ion-beam induced thin films

    International Nuclear Information System (INIS)

    Tanaka, Toshiyuki; Suzuki, Yoshiaki

    2014-01-01

    Highlights: • Cellular films can be obtained ion-beam irradiation and cell culture. • Film shapes were controlled by patterned irradiation. • Cellular films were firmly attached each other. • Tubular constructions were fabricated by wide-patterned irradiation. • Nerve growth direction was controlled by varying the pattern widths. - Abstract: In this study, cellular films were fabricated by ion-beam irradiation into poly-L-lactic acid sheets and cell culture. The cellular film shapes can be controlled by pattern masks. We performed spatial cell patterning using three types of cells: fibroblasts, endothelial cells, and nerve-like cells. First, multi-layered cellular construct was fabricated by stacking fibroblast cellular films. When three cellular films were stacked and incubated, these films firmly attached to each other. Second, tubular constructs were fabricated by endothelial cell culture on linearly patterned surfaces with wide widths of 80, 120, 160, and 200 μm. The patterned cellular films were rounded into vessel-like structure. The diameters of the constructs depend upon the pattern widths. Finally, we controlled cell attachment and nerve growth of nerve-like cells by using linearly patterned surfaces with narrow widths of 10, 30, and 50 μm. Nerve growth direction was controlled by varying the pattern widths. In the case of 10 μm, the attached cells and nerve growth were straight on the patterned thin films. These cell patterning techniques are expected to have applications in tissue engineering, cell transplantation, and in vitro tissue modeling

  2. China's position on nuclear non-proliferation

    International Nuclear Information System (INIS)

    Qian Jiadong.

    1986-01-01

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

  3. Hybrid neuroprosthesis for the upper limb: combining brain-controlled neuromuscular stimulation with a multi-joint arm exoskeleton

    Directory of Open Access Journals (Sweden)

    Florian Grimm

    2016-08-01

    Full Text Available Brain-machine interface-controlled (BMI neurofeedback training aims to modulate cortical physiology and is applied during neurorehabilitation to increase the responsiveness of the brain to subsequent physiotherapy. In a parallel line of research, robotic exoskeletons are used in goal-oriented rehabilitation exercises for patients with severe motor impairment to extend their range of motion and the intensity of training. Furthermore, neuromuscular electrical stimulation (NMES is applied in neurologically impaired patients to restore muscle strength by closing the sensorimotor loop. In this proof-of-principle study, we explored an integrated approach for providing assistance as needed to amplify the task-related range of motion and the movement-related brain modulation during rehabilitation exercises of severely impaired patients. For this purpose, we combined these three approaches (BMI, NMES, and exoskeleton in an integrated neuroprosthesis and studied the feasibility of this device in seven severely affected chronic stroke patients who performed wrist flexion and extension exercises while receiving feedback via a virtual environment. They were assisted by a gravity-compensating, seven degree-of-freedom exoskeleton which was attached to the paretic arm. Neuromuscular electrical stimulation was applied to the wrist extensor and flexor muscles during the exercises and was controlled by a hybrid BMI based on both sensorimotor cortical desynchronization (ERD and electromyography (EMG activity. The stimulation intensity was individualized for each targeted muscle and remained subthreshold, i.e. induced no overt support. The hybrid BMI controlled the stimulation significantly better than the offline analyzed ERD (p=0.028 or EMG (p=0.021 modality alone. Neuromuscular stimulation could be well integrated into the exoskeleton-based training and amplified both the task-related range of motion (p=0.009 and the movement-related brain modulation (p=0

  4. Isavuconazole treatment for mucormycosis: a single-arm open-label trial and case-control analysis.

    Science.gov (United States)

    Marty, Francisco M; Ostrosky-Zeichner, Luis; Cornely, Oliver A; Mullane, Kathleen M; Perfect, John R; Thompson, George R; Alangaden, George J; Brown, Janice M; Fredricks, David N; Heinz, Werner J; Herbrecht, Raoul; Klimko, Nikolai; Klyasova, Galina; Maertens, Johan A; Melinkeri, Sameer R; Oren, Ilana; Pappas, Peter G; Ráčil, Zdeněk; Rahav, Galia; Santos, Rodrigo; Schwartz, Stefan; Vehreschild, J Janne; Young, Jo-Anne H; Chetchotisakd, Ploenchan; Jaruratanasirikul, Sutep; Kanj, Souha S; Engelhardt, Marc; Kaufhold, Achim; Ito, Masanori; Lee, Misun; Sasse, Carolyn; Maher, Rochelle M; Zeiher, Bernhardt; Vehreschild, Maria J G T

    2016-07-01

    Mucormycosis is an uncommon invasive fungal disease with high mortality and few treatment options. Isavuconazole is a triazole active in vitro and in animal models against moulds of the order Mucorales. We assessed the efficacy and safety of isavuconazole for treatment of mucormycosis and compared its efficacy with amphotericin B in a matched case-control analysis. In a single-arm open-label trial (VITAL study), adult patients (≥18 years) with invasive fungal disease caused by rare fungi, including mucormycosis, were recruited from 34 centres worldwide. Patients were given isavuconazole 200 mg (as its intravenous or oral water-soluble prodrug, isavuconazonium sulfate) three times daily for six doses, followed by 200 mg/day until invasive fungal disease resolution, failure, or for 180 days or more. The primary endpoint was independent data review committee-determined overall response-ie, complete or partial response (treatment success) or stable or progressive disease (treatment failure)-according to prespecified criteria. Mucormycosis cases treated with isavuconazole as primary treatment were matched with controls from the FungiScope Registry, recruited from 17 centres worldwide, who received primary amphotericin B-based treatment, and were analysed for day-42 all-cause mortality. VITAL is registered with ClinicalTrials.gov, number NCT00634049. FungiScope is registered with ClinicalTrials.gov, number NCT01731353. Within the VITAL study, from April 22, 2008, to June 21, 2013, 37 patients with mucormycosis received isavuconazole for a median of 84 days (IQR 19-179, range 2-882). By day 42, four patients (11%) had a partial response, 16 (43%) had stable invasive fungal disease, one (3%) had invasive fungal disease progression, three (8%) had missing assessments, and 13 (35%) had died. 35 patients (95%) had adverse events (28 [76%] serious). Day-42 crude all-cause mortality in seven (33%) of 21 primary-treatment isavuconazole cases was similar to 13 (39%) of 33

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

    International Nuclear Information System (INIS)

    Pander, J. von.

    1978-01-01

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

  6. The UN panel of governmental experts on small arms: a Canadian perspective on their report

    International Nuclear Information System (INIS)

    DeClerq, D.G.

    1998-01-01

    After the end of the Cold War, the United Nations, some individual governments, non-govermental research organizations and academia began to focus increased attention on light weapons as an arms control proliferation issue particularly within the context of intrastate warfare and destabilizing criminal activities. In 1995 the Secretary-General to the Security Council in a report entitled, An Agenda for Peace stressed the need for 'practical disarmament in the context of the conflicts that the UN is actually dealing with and of the weapons most of them light weapons, that are actually killing people in the hundreds of thousands. Light weapons and small arms have been the subject of some 12 UN resolutions and documents among them, UN Resolution 49175M which addressed illicit arms trafficking and Annex I of UN Document A151142 which provided 'Guidelines for International Arms Transfers.' Within a different context, the UN Commission on Crime Prevention and Criminal Justice in Vienna recently made recommendations on the impact of small arms, primarily within the framework of criminal activities, accidents and suicides, illicit firearms trafficking, and domestic, regional and interregional firearms regulations. On 12 December 1995, Japan introduced Resolution 50/01/70 B which was the first attempt by the UN to clearly address small arms and light weapons as an arms control issue. (author)

  7. Design of Smart Home Control System Based on ARM and ZigBee%基于ARM和ZigBee的智能家居控制系统设计

    Institute of Scientific and Technical Information of China (English)

    黄国伟; 彭玲; 林伟腾

    2014-01-01

    为实现家居设备远程控制智能化,提出一种基于ARM、ZigBee和GPRS技术的智能家居控制系统。系统以ARM9处理器S3C2440为控制核心,利用ZigBee技术组建无线传感网络,实现家庭内部各种设备的无线连接和信息采集功能。通过在ARM上移植BOA Web服务器,同时利用 GPRS技术接入移动通信网络,实现用户利用远端PC和手机远程监控家居环境设备的功能。测试结果表明,系统达到设计要求。%In order to achieve the remote monitoring and control household ,designs a smart home control system based on ARM, ZigBee and GPRS technologies. The system uses ARM920T embedded processor S3C2440 as the control center, uses ZigBee wireless sensor networks to collect and transmit various household data, uses BOA Web servicer to build on ARM platform to achieve the landing Web page function, uses GPRS technology to access mobile telecommunication network, so as to achieve the remote control function by PC and mobile of users. The test result shows that the system conforms to the design requirements.

  8. Control of proliferation and osteogenic differentiation of human dental-pulp-derived stem cells by distinct surface structures.

    Science.gov (United States)

    Kolind, K; Kraft, D; Bøggild, T; Duch, M; Lovmand, J; Pedersen, F S; Bindslev, D A; Bünger, C E; Foss, M; Besenbacher, F

    2014-02-01

    The ability to control the behavior of stem cells provides crucial benefits, for example, in tissue engineering and toxicity/drug screening, which utilize the stem cell's capacity to engineer new tissues for regenerative purposes and the testing of new drugs in vitro. Recently, surface topography has been shown to influence stem cell differentiation; however, general trends are often difficult to establish due to differences in length scales, surface chemistries and detailed surface topographies. Here we apply a highly versatile screening approach to analyze the interplay of surface topographical parameters on cell attachment, morphology, proliferation and osteogenic differentiation of human mesenchymal dental-pulp-derived stem cells (DPSCs) cultured with and without osteogenic differentiation factors in the medium (ODM). Increasing the inter-pillar gap size from 1 to 6 μm for surfaces with small pillar sizes of 1 and 2 μm resulted in decreased proliferation and in more elongated cells with long pseudopodial protrusions. The same alterations of pillar topography, up to an inter-pillar gap size of 4 μm, also resulted in enhanced mineralization of DPSCs cultured without ODM, while no significant trend was observed for DPSCs cultured with ODM. Generally, cells cultured without ODM had a larger deposition of osteogenic markers on structured surfaces relative to the unstructured surfaces than what was found when culturing with ODM. We conclude that the topographical design of biomaterials can be optimized for the regulation of DPSC differentiation and speculate that the inclusion of ODM alters the ability of the cells to sense surface topographical cues. These results are essential in order to transfer the use of this highly proliferative, easily accessible stem cell into the clinic for use in cell therapy and regenerative medicine. Copyright © 2013 Acta Materialia Inc. Published by Elsevier Ltd. All rights reserved.

  9. Effect of gamma-hydroxybutyrate on keratinocytes proliferation: A preliminary prospective controlled study in severe burn patients

    Science.gov (United States)

    Rousseau, Anne-Françoise; Bargues, Laurent; Bever, Hervé Le; Vest, Philippe; Cavalier, Etienne; Ledoux, Didier; Piérard, Gérald E.; Damas, Pierre

    2014-01-01

    Background: Hypermetabolism and hyposomatotropism related to severe burns lead to impaired wound healing. Growth hormone (GH) boosts wound healing notably following stimulation of the production of insulin-like growth factor-1 (IGF1), a mitogen factor for keratinocytes. Gamma-hydroxybutyrate (GHB) stimulates endogenous GH secretion. Aim: To assess effects of GHB sedation on keratinocytes proliferation (based on immunohistochemical techniques). Design: Monocentric, prospective, controlled trial. Materials and Methods: Patients (aging 18-65 years, burn surface area >30%, expected to be sedated for at least one month) were alternately allocated, at the 5th day following injury, in three groups according to the intravenous GHB dose administered for 21 days: Evening bolus of 50 mg/kg (Group B), continuous infusion at the rate of 10 mg/kg/h (Group C), or absence of GHB (Group P). They all received local standard cares. Immunohistochemistry (Ki67/MIB-1, Ulex europaeus agglutinin-1 and Mac 387 antibodies) was performed at D21 on adjacent unburned skin sample for assessing any keratinocyte activation. Serum IGF1 levels were measured at initiation and completion of the protocol. Statistical Analysis: Categorical variables were compared with Chi-square test. Comparisons of medians were made using Kruskal-Wallis test. Post hoc analyses were performed using Mann-Whitney test with Bonferroni correction for multiple comparisons. A P study (Group B: n = 5, Group C: n = 5, Group P: n = 4). Continuous administration of GHB was associated with a significant higher Ki67 immunolabeling at D21 (P = 0.049) and with a significant higher increase in the IGF1 concentrations at D21 (P = 0.024). No adverse effects were disclosed. Conclusions: Our preliminary data support a positive effect of GHB on keratinocyte proliferation and are encouraging enough to warrant large prospective studies. PMID:25024938

  10. Control of intestinal bacterial proliferation in regulation of lifespan in Caenorhabditis elegans

    Directory of Open Access Journals (Sweden)

    Portal-Celhay Cynthia

    2012-03-01

    Full Text Available Abstract Background A powerful approach to understanding complex processes such as aging is to use model organisms amenable to genetic manipulation, and to seek relevant phenotypes to measure. Caenorhabditis elegans is particularly suited to studies of aging, since numerous single-gene mutations have been identified that affect its lifespan; it possesses an innate immune system employing evolutionarily conserved signaling pathways affecting longevity. As worms age, bacteria accumulate in the intestinal tract. However, quantitative relationships between worm genotype, lifespan, and intestinal lumen bacterial load have not been examined. We hypothesized that gut immunity is less efficient in older animals, leading to enhanced bacterial accumulation, reducing longevity. To address this question, we evaluated the ability of worms to control bacterial accumulation as a functional marker of intestinal immunity. Results We show that as adult worms age, several C. elegans genotypes show diminished capacity to control intestinal bacterial accumulation. We provide evidence that intestinal bacterial load, regulated by gut immunity, is an important causative factor of lifespan determination; the effects are specified by bacterial strain, worm genotype, and biologic age, all acting in concert. Conclusions In total, these studies focus attention on the worm intestine as a locus that influences longevity in the presence of an accumulating bacterial population. Further studies defining the interplay between bacterial species and host immunity in C. elegans may provide insights into the general mechanisms of aging and age-related diseases.

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

    Energy Technology Data Exchange (ETDEWEB)

    Okko, O [ed.

    2012-07-01

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

  12. Data feedback and behavioural change intervention to improve primary care prescribing safety (EFIPPS): multicentre, three arm, cluster randomised controlled trial.

    Science.gov (United States)

    Guthrie, Bruce; Kavanagh, Kimberley; Robertson, Chris; Barnett, Karen; Treweek, Shaun; Petrie, Dennis; Ritchie, Lewis; Bennie, Marion

    2016-08-18

     To evaluate the effectiveness of feedback on safety of prescribing compared with moderately enhanced usual care.  Three arm, highly pragmatic cluster randomised trial.  262/278 (94%) primary care practices in three Scottish health boards.  Practices were randomised to: "usual care," consisting of emailed educational material with support for searching to identify patients (88 practices at baseline, 86 analysed); usual care plus feedback on practice's high risk prescribing sent quarterly on five occasions (87 practices, 86 analysed); or usual care plus the same feedback incorporating a behavioural change component (87 practices, 86 analysed).  The primary outcome was a patient level composite of six prescribing measures relating to high risk use of antipsychotics, non-steroidal anti-inflammatories, and antiplatelets. Secondary outcomes were the six individual measures. The primary analysis compared high risk prescribing in the two feedback arms against usual care at 15 months. Secondary analyses examined immediate change and change in trend of high risk prescribing associated with implementation of the intervention within each arm.  In the primary analysis, high risk prescribing as measured by the primary outcome fell from 6.0% (3332/55 896) to 5.1% (2845/55 872) in the usual care arm, compared with 5.9% (3341/56 194) to 4.6% (2587/56 478) in the feedback only arm (odds ratio 0.88 (95% confidence interval 0.80 to 0.96) compared with usual care; P=0.007) and 6.2% (3634/58 569) to 4.6% (2686/58 582) in the feedback plus behavioural change component arm (0.86 (0.78 to 0.95); P=0.002). In the pre-specified secondary analysis of change in trend within each arm, the usual care educational intervention had no effect on the existing declining trend in high risk prescribing. Both types of feedback were associated with significantly more rapid decline in high risk prescribing after the intervention compared with before.  Feedback of prescribing safety data

  13. Aven-mediated checkpoint kinase control regulates proliferation and resistance to chemotherapy in conventional osteosarcoma.

    Science.gov (United States)

    Baranski, Zuzanna; Booij, Tijmen H; Cleton-Jansen, Anne-Marie; Price, Leo S; van de Water, Bob; Bovée, Judith V M G; Hogendoorn, Pancras C W; Danen, Erik H J

    2015-07-01

    Conventional high-grade osteosarcoma is the most common primary bone sarcoma, with relatively high incidence in young people. In this study we found that expression of Aven correlates inversely with metastasis-free survival in osteosarcoma patients and is increased in metastases compared to primary tumours. Aven is an adaptor protein that has been implicated in anti-apoptotic signalling and serves as an oncoprotein in acute lymphoblastic leukaemia. In osteosarcoma cells, silencing Aven triggered G2 cell-cycle arrest; Chk1 protein levels were attenuated and ATR-Chk1 DNA damage response signalling in response to chemotherapy was abolished in Aven-depleted osteosarcoma cells, while ATM, Chk2 and p53 activation remained intact. Osteosarcoma is notoriously difficult to treat with standard chemotherapy, and we examined whether pharmacological inhibition of the Aven-controlled ATR-Chk1 response could sensitize osteosarcoma cells to genotoxic compounds. Indeed, pharmacological inhibitors targeting Chk1/Chk2 or those selective for Chk1 synergized with standard chemotherapy in 2D cultures. Likewise, in 3D extracellular matrix-embedded cultures, Chk1 inhibition led to effective sensitization to chemotherapy. Together, these findings implicate Aven in ATR-Chk1 signalling and point towards Chk1 inhibition as a strategy to sensitize human osteosarcomas to chemotherapy. Copyright © 2015 Pathological Society of Great Britain and Ireland. Published by John Wiley & Sons, Ltd.

  14. Electroacupuncture to treat painful diabetic neuropathy: study protocol for a three-armed, randomized, controlled pilot trial.

    Science.gov (United States)

    Lee, Seunghoon; Kim, Joo-Hee; Shin, Kyung-Min; Kim, Jung-Eun; Kim, Tae-Hun; Kang, Kyung-Won; Lee, Minhee; Jung, So-Young; Shin, Mi-Suk; Kim, Ae-Ran; Park, Hyo-Ju; Hong, Kwon-Eui; Choi, Sun-Mi

    2013-07-18

    The purpose of this study is to conduct a basic analysis of the effectiveness and safety of electroacupuncture in the treatment of painful diabetic neuropathy (PDN) as compared to placebo and usual care and to evaluate the feasibility of large-scale clinical research. This study is a protocol for a three-armed, randomized, patient-assessor-blinded (to the type of treatment), controlled pilot trial. Forty-five participants with a ≥ six month history of PDN and a mean weekly pain score of ≥ 4 on the 11-point Pain Intensity Numerical Rating Scale (PI-NRS) will be assigned to the electroacupuncture group (n = 15), sham group (n = 15) or usual care group (n = 15). The participants assigned to the electroacupuncture group will receive electroacupuncture (remaining for 30 minutes with a mixed current of 2 Hz/120 Hz and 80% of the bearable intensity) at 12 standard acupuncture points (bilateral ST36, GB39, SP9, SP6, LR3 and GB41) twice per week for eight weeks (a total of 16 sessions) as well as the usual care. The participants in the sham group will receive sham electroacupuncture (no electrical current will be passed to the needle, but the light will be seen, and the sound of the pulse generator will be heard by the participants) at non-acupuncture points as well as the usual care. The participants in the usual care group will not receive electroacupuncture treatment during the study period and will receive only the usual care. The follow-up will be in the 5th, 9th and 17th weeks after random allocation. The PI-NRS score assessed at the ninth week will be the primary outcome measurement used in this study. The Short-Form McGill Pain Questionnaire (SF-MPQ), a sleep disturbance score (11-point Likert scale), the Short-Form 36v2 Health Survey (SF-36), the Beck Depression Inventory (BDI) and the Patient Global Impression of Change (PGIC) will be used as outcome variables to evaluate the effectiveness of the acupuncture. Safety will be assessed at every visit. The result

  15. Homeopathy for Depression - DEP-HOM: study protocol for a randomized, partially double-blind, placebo controlled, four armed study

    Science.gov (United States)

    2011-01-01

    Background Homeopathy is often sought by patients with depression. In classical homeopathy, the treatment consists of two main elements: the case history and the prescription of an individually selected homeopathic remedy. Previous data suggest that individualized homeopathic Q-potencies were not inferior to the antidepressant fluoxetine in a sample of patients with moderate to severe depression. However, the question remains whether individualized homeopathic Q-potencies and/or the type of the homeopathic case history have a specific therapeutical effect in acute depression as this has not yet been investigated. The study aims to assess the two components of individualized homeopathic treatment for acute depression, i.e., to investigate the specific effect of individualized Q-potencies versus placebo and to investigate the effect of different approaches to the homeopathic case history. Methods/Design A randomized, partially double-blind, placebo-controlled, four-armed trial using a 2 × 2 factorial design with a six-week study duration per patient will be performed. 228 patients diagnosed with major depression (moderate episode) by a psychiatrist will be included. The primary endpoint is the total score on the 17-item Hamilton Depression Rating Scale after six weeks. Secondary end points are: Hamilton Depression Rating Scale total score after two and four weeks; response and remission rates, Beck Depression inventory total score, quality of life and safety at two, four and six weeks. Statistical analyses will be by intention-to-treat. The main endpoint will be analysed by a two-factorial analysis of covariance. Within this model generalized estimation equations will be used to estimate differences between verum and placebo, and between both types of case history. Discussion For the first time this study evaluates both the specific effect of homeopathic medicines and of a homeopathic case taking in patients with depression. It is an attempt to deal with the

  16. Brain-Computer Interface-based robotic end effector system for wrist and hand rehabilitation: results of a three-armed randomized controlled trial for chronic stroke

    Directory of Open Access Journals (Sweden)

    Kai Keng eAng

    2014-07-01

    Full Text Available The objective of this study was to investigate the efficacy of an Electroencephalography (EEG-based Motor Imagery (MI Brain-Computer Interface (BCI coupled with a Haptic Knob (HK robot for arm rehabilitation in stroke patients. In this three-arm, single-blind, randomized controlled trial; 21 chronic hemiplegic stroke patients (Fugl-Meyer Motor Assessment (FMMA score 10-50, recruited after pre-screening for MI BCI ability, were randomly allocated to BCI-HK, HK or Standard Arm Therapy (SAT groups. All groups received 18 sessions of intervention over 6 weeks, 3 sessions per week, 90 minutes per session. The BCI-HK group received 1 hour of BCI coupled with HK intervention, and the HK group received 1 hour of HK intervention per session. Both BCI-HK and HK groups received 120 trials of robot-assisted hand grasping and knob manipulation followed by 30 minutes of therapist-assisted arm mobilization. The SAT group received 1.5 hours of therapist-assisted arm mobilization and forearm pronation-supination movements incorporating wrist control and grasp-release functions. In all, 14 males, 7 females, mean age 54.2 years, mean stroke duration 385.1 days, with baseline FMMA score 27.0 were recruited. The primary outcome measure was upper-extremity FMMA scores measured mid-intervention at week 3, end-intervention at week 6, and follow-up at weeks 12 and 24. Seven, 8 and 7 subjects underwent BCI-HK, HK and SAT interventions respectively. FMMA score improved in all groups, but no intergroup differences were found at any time points. Significantly larger motor gains were observed in the BCI-HK group compared to the SAT group at weeks 3, 12 and 24, but motor gains in the HK group did not differ from the SAT group at any time point. In conclusion, BCI-HK is effective, safe, and may have the potential for enhancing motor recovery in chronic stroke when combined with therapist-assisted arm mobilization.

  17. Maintained physical activity and physiotherapy in the management of distal upper limb pain - a protocol for a randomised controlled trial (the arm pain trial).

    Science.gov (United States)

    Jones, Gareth T; Mertens, Kathrin; Macfarlane, Gary J; Palmer, Keith T; Coggon, David; Walker-Bone, Karen; Burton, Kim; Heine, Peter J; McCabe, Candy; McNamee, Paul; McConnachie, Alex

    2014-03-10

    Distal upper limb pain (pain affecting the elbow, forearm, wrist, or hand) can be non-specific, or can arise from specific musculoskeletal disorders. It is clinically important and costly, the best approach to clinical management is unclear. Physiotherapy is the standard treatment and, while awaiting treatment, advice is often given to rest and avoid strenuous activities, but there is no evidence base to support these strategies. This paper describes the protocol of a randomised controlled trial to determine, among patients awaiting physiotherapy for distal arm pain, (a) whether advice to remain active and maintain usual activities results in a long-term reduction in arm pain and disability, compared with advice to rest; and (b) whether immediate physiotherapy results in a long-term reduction in arm pain and disability, compared with physiotherapy delivered after a seven week waiting list period. Between January 2012 and January 2014, new referrals to 14 out-patient physiotherapy departments were screened for potential eligibility. Eligible and consenting patients were randomly allocated to one of the following three groups in equal numbers: 1) advice to remain active, 2) advice to rest, 3) immediate physiotherapy. Patients were and followed up at 6, 13, and 26 weeks post-randomisation by self-complete postal questionnaire and, at six weeks, patients who had not received physiotherapy were offered it at this time. The primary outcome is the proportion of patients free of disability at 26 weeks, as determined by the modified DASH (Disabilities of the Arm, Shoulder and Hand) questionnaire.We hypothesise (a) that advice to maintain usual activities while awaiting physiotherapy will be superior than advice to rest the arm; and (b) that fast-track physiotherapy will be superior to normal (waiting list) physiotherapy. These hypotheses will be examined using an intention-to-treat analysis. Results from this trial will contribute to the evidence base underpinning the

  18. Brain-computer interface-based robotic end effector system for wrist and hand rehabilitation: results of a three-armed randomized controlled trial for chronic stroke.

    Science.gov (United States)

    Ang, Kai Keng; Guan, Cuntai; Phua, Kok Soon; Wang, Chuanchu; Zhou, Longjiang; Tang, Ka Yin; Ephraim Joseph, Gopal J; Kuah, Christopher Wee Keong; Chua, Karen Sui Geok

    2014-01-01

    The objective of this study was to investigate the efficacy of an Electroencephalography (EEG)-based Motor Imagery (MI) Brain-Computer Interface (BCI) coupled with a Haptic Knob (HK) robot for arm rehabilitation in stroke patients. In this three-arm, single-blind, randomized controlled trial; 21 chronic hemiplegic stroke patients (Fugl-Meyer Motor Assessment (FMMA) score 10-50), recruited after pre-screening for MI BCI ability, were randomly allocated to BCI-HK, HK or Standard Arm Therapy (SAT) groups. All groups received 18 sessions of intervention over 6 weeks, 3 sessions per week, 90 min per session. The BCI-HK group received 1 h of BCI coupled with HK intervention, and the HK group received 1 h of HK intervention per session. Both BCI-HK and HK groups received 120 trials of robot-assisted hand grasping and knob manipulation followed by 30 min of therapist-assisted arm mobilization. The SAT group received 1.5 h of therapist-assisted arm mobilization and forearm pronation-supination movements incorporating wrist control and grasp-release functions. In all, 14 males, 7 females, mean age 54.2 years, mean stroke duration 385.1 days, with baseline FMMA score 27.0 were recruited. The primary outcome measure was upper extremity FMMA scores measured mid-intervention at week 3, end-intervention at week 6, and follow-up at weeks 12 and 24. Seven, 8 and 7 subjects underwent BCI-HK, HK and SAT interventions respectively. FMMA score improved in all groups, but no intergroup differences were found at any time points. Significantly larger motor gains were observed in the BCI-HK group compared to the SAT group at weeks 3, 12, and 24, but motor gains in the HK group did not differ from the SAT group at any time point. In conclusion, BCI-HK is effective, safe, and may have the potential for enhancing motor recovery in chronic stroke when combined with therapist-assisted arm mobilization.

  19. Study of factors controlling exposure dose and image quality of C-arm in operation room according to detector size of it (Mainly L-Spine AP study)

    Energy Technology Data Exchange (ETDEWEB)

    Chui, Sung Hyun; Jo, Hwang Woo [Dept. of Radiology, Kyung Hee University Hospital at Gangdong, Seoul (Korea, Republic of); Chun, Woon Kwan; Song, Ha Jin [Dept. of Nuclear Engineering, Chosun University, Gwangju (Korea, Republic of); Dong, Kyung Rae [Dept. of Radiological Technology, Gwangju Health University, Gwangju (Korea, Republic of); Choi, Eun Jin [Dept. of Public Health and Medicine, Dongshin University, Naju (Korea, Republic of)

    2015-02-15

    Time of operation has been reduced and accuracy of operation has been improved since C-arm, which offer real-time image of patient, was introduced in operation room. However, because of the contamination of patient, C-arm could not be used more appropriately. Therefore, this study is to know factors of controlling exposure dose, image quality and the exposed dose of health professional in operation room. Height of Wilson frame (bed for operation) was fixed at 130 cm. Then, Model 76-2 Phantom, which was set by assembling manual of Fluke Company, was set on the bed. Head/Spine Fluoroscopy AEC mode was set for exposure condition. According to detector size of C-arm, the absorbed dose per min was measured in the 7 steps OFD (cm) from 10 cm to 40 cm (10, 15, 20, 25, 30, 35, 40 cm). In each step of OFD, the absorbed dose per min of same diameter of collimation was measured. Moreover, using Nero MAX Model 8000, exposure dose per min was measured according to 3 step of distance from detector (20 cm, 60 cm, 100 cm). Finally, resolution was measured by CDRH Disc Phantom and magnification of each OFD was measured by aluminum stick bar. According to detector size of C-arm, difference of absorbed dose shows that the dose of 20 cm OFD is 1.750 times higher than the dose of 40 cm OFD. It means that the C-arm, which has smaller size of detector, shows the bigger difference of absorbed dose per min (p<0.05). In the difference of absorbed dose in the same step of OFD (from 20 cm to 40 cm), the absorbed dose of 9 inch detect or C-arm was 1.370 times higher than 12 inch' s (p<0.05). When OFD was set to 20 cm OFD, the absorbed dose of non-collimation case was approximately 0.816 times lower than the absorbed dose of collimation cases (p<0.05). When the distance was 20 cm from detector, exposed does includes first-ray and scatter-ray. When the distance was 60 cm and 100 cm from detector, exposed does includes just scatter-ray. So, there was the 2.200 times difference of absorbed

  20. Nuclear disarmament and non-proliferation in Northeast Asia

    International Nuclear Information System (INIS)

    Han Yong-Sup

    1995-01-01

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