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Sample records for reliable manipulators final

  1. Research on reconfigurable and reliable manipulators: Final report, August 14, 1994--August 14, 1996

    Energy Technology Data Exchange (ETDEWEB)

    Khosla, P.K.; Kanade, Takeo

    1996-12-31

    To address the need for a more flexible and reliable manipulator, the authors propose the concept of a rapidly deployable fault tolerant manipulator system. Such a system combines a Reconfigurable Modular Manipulator System (RMMS) with support software for rapid programming, trajectory planning, and control. This allows the user to rapidly configure a fault tolerant manipulator custom-tailored for a given task. This thesis investigates all aspects involved in such a system. It describes an RMMS prototype which consists of seven manipulator modules with a total of four degrees-of-freedom. The reconfigurability of the hardware is made transparent to the user by the supporting control software that automatically adapts itself to the current manipulator configuration. To achieve high reliability, a global fault tolerant trajectory planning algorithm is introduced. This algorithm guarantees that a manipulator can continue its task even when one of the manipulator joints fails and is immobilized. Finally, all these aspects are considered simultaneously in the task based design software, that determines the manipulator configuration, its base position, and the fault tolerant joint space trajectory that are optimally suited to perform a given task. The most important contribution of this thesis is a novel agent-based approach to solve the task based design problem. The approach is based on a genetic algorithm for which the modification and evaluation operations are implemented as autonomous asynchronous agents. Finally, the thesis presents a performance analysis of the agent-based design framework by comparing its results with those of exhaustive search, random search, and multiple restart statistical hill-climbing.

  2. Research on Control Method Based on Real-Time Operational Reliability Evaluation for Space Manipulator

    Directory of Open Access Journals (Sweden)

    Yifan Wang

    2014-05-01

    Full Text Available A control method based on real-time operational reliability evaluation for space manipulator is presented for improving the success rate of a manipulator during the execution of a task. In this paper, a method for quantitative analysis of operational reliability is given when manipulator is executing a specified task; then a control model which could control the quantitative operational reliability is built. First, the control process is described by using a state space equation. Second, process parameters are estimated in real time using Bayesian method. Third, the expression of the system's real-time operational reliability is deduced based on the state space equation and process parameters which are estimated using Bayesian method. Finally, a control variable regulation strategy which considers the cost of control is given based on the Theory of Statistical Process Control. It is shown via simulations that this method effectively improves the operational reliability of space manipulator control system.

  3. Optimization and Mechanical Accuracy Reliability of a New Type of Forging Manipulator

    Institute of Scientific and Technical Information of China (English)

    CHEN Kang; MA Chunxiang; ZHENG Maoqi; GAO Feng

    2015-01-01

    Researches on forging manipulator have enormous influence on the development of the forging industry and national economy. Clamp device and lifting mechanism are the core parts of forging manipulator, and have been studied for longer time. However, the optimization and mechanical accuracy reliability of them are less analyzed. Based on General Function(GF) set and parallel mechanism theory, proper configuration of 10t forging manipulator is selected firstly. A new type of forging manipulator driven by cylinders is proposed. After solved mechanical analysis of manipulator’s core mechanisms, expressions of force of cylinders are carried out. In order to achieve smaller force afforded by cylinders and better mechanical characteristics, some particular sizes of core mechanisms are optimized intuitively through the combined use of the genetic algorithms(GA) and GUI interface in MATLAB. Comparing with the original mechanisms, optimized clamp saves at least 8 percent efforts and optimized lifting mechanism 20 percent under maximum working condition. Finally, considering the existed manufacture error of components, mechanical accuracy reliability of optimized clamp, lifting mechanism and whole manipulator are demonstrated respectively based on fuzzy reliability theory. Obtained results show that the accuracy reliability of optimized clamp is bigger than 0.991 and that of optimized lifting mechanism is 0.995. To the whole manipulator under maximum working condition, that value exceeds 0.986 4, which means that optimized manipulator has high motion accuracy and is reliable. A new intuitive method is created to optimize forging manipulator sizes efficiently and more practical theory is utilized to analyze mechanical accuracy reliability of forging manipulator precisely.

  4. Manipulative physiotherapists can reliably palpate nominated lumbar spinal levels.

    Science.gov (United States)

    Downey, B J; Taylor, N F; Niere, K R

    1999-08-01

    Palpating a nominated spinal level is a prerequisite to more complex tasks such as palpating the level most likely to be the source of the patient's symptoms. The aim of this study was to investigate the reliability of physiotherapists with a post-graduate qualification in manipulation (manipulative physiotherapists) in palpating the lumbar spines of patients in a clinical setting. Three pairs of manipulative physiotherapists palpated the randomly-nominated lumbar spinal levels of 20 patients presenting to their practices for treatment of low-back pain. Each therapist marked the skin overlying the spinous process of the nominated spinal level with an ultraviolet pen and these marks were transcribed onto transparencies for analysis. The therapists obtained an overall weighted kappa of 0.92 indicating almost perfect agreement for locating the nominated spinal level. The results of this study indicate that manipulative physiotherapists can reliably palpate nominated lumbar spinal levels, suggesting further training in spinal therapy enhances the palpatory skills of physiotherapists in palpating nominated lumbar spinal levels.

  5. PV Systems Reliability Final Technical Report.

    Energy Technology Data Exchange (ETDEWEB)

    Lavrova, Olga [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Flicker, Jack David [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Johnson, Jay [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Armijo, Kenneth Miguel [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Gonzalez, Sigifredo [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Schindelholz, Eric John [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Sorensen, Neil R. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Yang, Benjamin Bing-Yeh [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

    2015-12-01

    The continued exponential growth of photovoltaic technologies paves a path to a solar-powered world, but requires continued progress toward low-cost, high-reliability, high-performance photovoltaic (PV) systems. High reliability is an essential element in achieving low-cost solar electricity by reducing operation and maintenance (O&M) costs and extending system lifetime and availability, but these attributes are difficult to verify at the time of installation. Utilities, financiers, homeowners, and planners are demanding this information in order to evaluate their financial risk as a prerequisite to large investments. Reliability research and development (R&D) is needed to build market confidence by improving product reliability and by improving predictions of system availability, O&M cost, and lifetime. This project is focused on understanding, predicting, and improving the reliability of PV systems. The two areas being pursued include PV arc-fault and ground fault issues, and inverter reliability.

  6. Learning reliable manipulation strategies without initial physical models

    Science.gov (United States)

    Christiansen, Alan D.; Mason, Matthew T.; Mitchell, Tom M.

    1990-01-01

    A description is given of a robot, possessing limited sensory and effectory capabilities but no initial model of the effects of its actions on the world, that acquires such a model through exploration, practice, and observation. By acquiring an increasingly correct model of its actions, it generates increasingly successful plans to achieve its goals. In an apparently nondeterministic world, achieving reliability requires the identification of reliable actions and a preference for using such actions. Furthermore, by selecting its training actions carefully, the robot can significantly improve its learning rate.

  7. Final report on reliability and lifetime prediction.

    Energy Technology Data Exchange (ETDEWEB)

    Gillen, Kenneth T; Wise, Jonathan; Jones, Gary D.; Causa, Al G.; Terrill, Edward R.; Borowczak, Marc

    2012-12-01

    This document highlights the important results obtained from the subtask of the Goodyear CRADA devoted to better understanding reliability of tires and to developing better lifetime prediction methods. The overall objective was to establish the chemical and physical basis for the degradation of tires using standard as well as unique models and experimental techniques. Of particular interest was the potential application of our unique modulus profiling apparatus for assessing tire properties and for following tire degradation. During the course of this complex investigation, extensive relevant information was generated, including experimental results, data analyses and development of models and instruments. Detailed descriptions of the findings are included in this report.

  8. Analysis of the Kinematic Accuracy Reliability of a 3-DOF Parallel Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Guohua Cui

    2015-02-01

    Full Text Available Kinematic accuracy reliability is an important performance index in the evaluation of mechanism quality. By using a 3- DOF 3-PUU parallel robot manipulator as the research object, the position and orientation error model was derived by mapping the relation between the input and output of the mechanism. Three error sensitivity indexes that evaluate the kinematic accuracy of the parallel robot manipulator were obtained by adapting the singular value decomposition of the error translation matrix. Considering the influence of controllable and uncontrollable factors on the kinematic accuracy, the mathematical model of reliability based on random probability was employed. The measurement and calculation method for the evaluation of the mechanism’s kinematic reliability level was also provided. By analysing the mechanism’s errors and reliability, the law of surface error sensitivity for the location and structure parameters was obtained. The kinematic reliability of the parallel robot manipulator was statistically computed on the basis of the Monte Carlo simulation method. The reliability analysis of kinematic accuracy provides a theoretical basis for design optimization and error compensation.

  9. A reliable and flexible gene manipulation strategy in posthatch zebra finch brain

    Science.gov (United States)

    Ahmadiantehrani, Somayeh; London, Sarah E.

    2017-01-01

    Songbird models meaningfully contribute to many fields including learned vocal communication, the neurobiology of social interactions, brain development, and ecology. The value of investigating gene-brain-behavior relationships in songbirds is therefore high. Viral infections typically used in other lab animals to deliver gene editing constructs have been less effective in songbirds, likely due to immune system properties. We therefore leveraged the in vivo electroporation strategy used in utero in rodents and in ovo in poultry, and apply it to posthatch zebra finch songbird chicks. We present a series of experiments with a combination of promoters, fluorescent protein genes, and piggyBac transposase vectors to demonstrate that this can be a reliable, efficient, and flexible strategy for genome manipulation. We discuss options for gene delivery experiments to test circuit and behavioral hypotheses using a variety of manipulations, including gene overexpression, CRISPR/Cas9 gene editing, inducible technologies, optogenetic or DREADD cellular control, and cell type-specific expression. PMID:28233828

  10. Practical reliability and uncertainty quantification in complex systems : final report.

    Energy Technology Data Exchange (ETDEWEB)

    Grace, Matthew D.; Ringland, James T.; Marzouk, Youssef M. (Massachusetts Institute of Technology, Cambridge, MA); Boggs, Paul T.; Zurn, Rena M.; Diegert, Kathleen V. (Sandia National Laboratories, Albuquerque, NM); Pebay, Philippe Pierre; Red-Horse, John Robert (Sandia National Laboratories, Albuquerque, NM)

    2009-09-01

    The purpose of this project was to investigate the use of Bayesian methods for the estimation of the reliability of complex systems. The goals were to find methods for dealing with continuous data, rather than simple pass/fail data; to avoid assumptions of specific probability distributions, especially Gaussian, or normal, distributions; to compute not only an estimate of the reliability of the system, but also a measure of the confidence in that estimate; to develop procedures to address time-dependent or aging aspects in such systems, and to use these models and results to derive optimal testing strategies. The system is assumed to be a system of systems, i.e., a system with discrete components that are themselves systems. Furthermore, the system is 'engineered' in the sense that each node is designed to do something and that we have a mathematical description of that process. In the time-dependent case, the assumption is that we have a general, nonlinear, time-dependent function describing the process. The major results of the project are described in this report. In summary, we developed a sophisticated mathematical framework based on modern probability theory and Bayesian analysis. This framework encompasses all aspects of epistemic uncertainty and easily incorporates steady-state and time-dependent systems. Based on Markov chain, Monte Carlo methods, we devised a computational strategy for general probability density estimation in the steady-state case. This enabled us to compute a distribution of the reliability from which many questions, including confidence, could be addressed. We then extended this to the time domain and implemented procedures to estimate the reliability over time, including the use of the method to predict the reliability at a future time. Finally, we used certain aspects of Bayesian decision analysis to create a novel method for determining an optimal testing strategy, e.g., we can estimate the 'best' location to

  11. A Hierarchical Reliability Control Method for a Space Manipulator Based on the Strategy of Autonomous Decision-Making

    Directory of Open Access Journals (Sweden)

    Xin Gao

    2016-01-01

    Full Text Available In order to maintain and enhance the operational reliability of a robotic manipulator deployed in space, an operational reliability system control method is presented in this paper. First, a method to divide factors affecting the operational reliability is proposed, which divides the operational reliability factors into task-related factors and cost-related factors. Then the models describing the relationships between the two kinds of factors and control variables are established. Based on this, a multivariable and multiconstraint optimization model is constructed. Second, a hierarchical system control model which incorporates the operational reliability factors is constructed. The control process of the space manipulator is divided into three layers: task planning, path planning, and motion control. Operational reliability related performance parameters are measured and used as the system’s feedback. Taking the factors affecting the operational reliability into consideration, the system can autonomously decide which control layer of the system should be optimized and how to optimize it using a control level adjustment decision module. The operational reliability factors affect these three control levels in the form of control variable constraints. Simulation results demonstrate that the proposed method can achieve a greater probability of meeting the task accuracy requirements, while extending the expected lifetime of the space manipulator.

  12. Reliability of associative recall based on data manipulations in phase encoded volume holographic storage systems

    Science.gov (United States)

    Berger, G.; Stumpe, M.; Höhne, M.; Denz, C.

    2005-10-01

    We investigate the characteristics of correlation signals accomplished by content addressing in a phase encoded volume holographic storage system under different realistic conditions. In particular, we explore two crucial cases with respect to the structure of the data. The first one deals with a scenario where only partial or defective data are available for content addressing. The second case takes similarities among the stored data sets into account, which significantly differ from their statistical correlation. For both the cases we provide, for the first time, a theoretical approach and present experimental results when employing phase-code multiplexing. Finally, we discuss the reliability of the employed methods.

  13. Final Report for the Virtual Reliability Realization System LDRD

    Energy Technology Data Exchange (ETDEWEB)

    DELLIN, THEODORE A.; HENDERSON, CHRISTOPHER L.; O' TOOLE, EDWARD J.

    2000-12-01

    Current approaches to reliability are not adequate to keep pace with the need for faster, better and cheaper products and systems. This is especially true in high consequence of failure applications. The original proposal for the LDRD was to look at this challenge and see if there was a new paradigm that could make reliability predictions, along with a quantitative estimate of the risk in that prediction, in a way that was faster, better and cheaper. Such an approach would be based on the underlying science models that are the backbone of reliability predictions. The new paradigm would be implemented in two software tools: the Virtual Reliability Realization System (VRRS) and the Reliability Expert System (REX). The three-year LDRD was funded at a reduced level for the first year ($120K vs. $250K) and not renewed. Because of the reduced funding, we concentrated on the initial development of the expertise system. We developed an interactive semiconductor calculation tool needed for reliability analyses. We also were able to generate a basic functional system using Microsoft Siteserver Commerce Edition and Microsoft Sequel Server. The base system has the capability to store Office documents from multiple authors, and has the ability to track and charge for usage. The full outline of the knowledge model has been incorporated as well as examples of various types of content.

  14. Automated Energy Distribution and Reliability System (AEDR): Final Report

    Energy Technology Data Exchange (ETDEWEB)

    Buche, D. L.

    2008-07-01

    This report describes Northern Indiana Public Service Co. project efforts to develop an automated energy distribution and reliability system. The purpose of this project was to implement a database-driven GIS solution that would manage all of the company's gas, electric, and landbase objects.

  15. Final report : testing and evaluation for solar hot water reliability.

    Energy Technology Data Exchange (ETDEWEB)

    Caudell, Thomas P. (University of New Mexico, Albuquerque, NM); He, Hongbo (University of New Mexico, Albuquerque, NM); Menicucci, David F. (Building Specialists, Inc., Albuquerque, NM); Mammoli, Andrea A. (University of New Mexico, Albuquerque, NM); Burch, Jay (National Renewable Energy Laboratory, Golden CO)

    2011-07-01

    Solar hot water (SHW) systems are being installed by the thousands. Tax credits and utility rebate programs are spurring this burgeoning market. However, the reliability of these systems is virtually unknown. Recent work by Sandia National Laboratories (SNL) has shown that few data exist to quantify the mean time to failure of these systems. However, there is keen interest in developing new techniques to measure SHW reliability, particularly among utilities that use ratepayer money to pay the rebates. This document reports on an effort to develop and test new, simplified techniques to directly measure the state of health of fielded SHW systems. One approach was developed by the National Renewable Energy Laboratory (NREL) and is based on the idea that the performance of the solar storage tank can reliably indicate the operational status of the SHW systems. Another approach, developed by the University of New Mexico (UNM), uses adaptive resonance theory, a type of neural network, to detect and predict failures. This method uses the same sensors that are normally used to control the SHW system. The NREL method uses two additional temperature sensors on the solar tank. The theories, development, application, and testing of both methods are described in the report. Testing was performed on the SHW Reliability Testbed at UNM, a highly instrumented SHW system developed jointly by SNL and UNM. The two methods were tested against a number of simulated failures. The results show that both methods show promise for inclusion in conventional SHW controllers, giving them advanced capability in detecting and predicting component failures.

  16. Final report for CCS cross-layer reliability visioning study

    Energy Technology Data Exchange (ETDEWEB)

    Quinn, Heather M [Los Alamos National Laboratory; Dehon, Andre [U. PENN; Carter, Nicj [INTEL

    2010-12-20

    The geometric rate of improvement of transistor size and integrated circuit performance known as Moore's Law has been an engine of growth for our economy, enabling new products and services, creating new value and wealth, increasing safety, and removing menial tasks from our daily lives. Affordable, highly integrated components have enabled both life-saving technologies and rich entertainment applications. Anti-lock brakes, insulin monitors, and GPS-enabled emergency response systems save lives. Cell phones, internet appliances, virtual worlds, realistic video games, and mp3 players enrich our lives and connect us together. Over the past 40 years of silicon scaling, the increasing capabilities of inexpensive computation have transformed our society through automation and ubiquitous communications. Looking forward, increasing unpredictability threatens our ability to continue scaling integrated circuits at Moore's Law rates. As the transistors and wires that make up integrated circuits become smaller, they display both greater differences in behavior among devices designed to be identical and greater vulnerability to transient and permanent faults. Conventional design techniques expend energy to tolerate this unpredictability by adding safety margins to a circuit's operating voltage, clock frequency or charge stored per bit. However, the rising energy costs needed to compensate for increasing unpredictability are rapidly becoming unacceptable in today's environment where power consumption is often the limiting factor on integrated circuit performance and energy efficiency is a national concern. Reliability and energy consumption are both reaching key inflection points that, together, threaten to reduce or end the benefits of feature size reduction. To continue beneficial scaling, we must use a cross-layer, Jull-system-design approach to reliability. Unlike current systems, which charge every device a substantial energy tax in order to guarantee

  17. Puget Sound Area Electric Reliability Plan : Final Environmental Impact Statement.

    Energy Technology Data Exchange (ETDEWEB)

    United States. Bonneville Power Administration.

    1992-04-01

    A specific need exists in the Puget Sound area for balance between east-west transmission capacity and the increasing demand to import power generated east of the Cascades. At certain times of the year, and during certain conditions, there is more demand for power in the Puget Sound area than the transmission system and existing generation can reliably supply. This high demand, called peak demand occurs during the winter months when unusually cold weather increases electricity use for heating. The existing power system can supply enough power if no emergencies occur. However, during emergencies the system will not operate properly. As demand grows, the system becomes more strained. To meet demand, the rate of growth of demand must be reduced or the ability to serve the demand must be increased, or both.

  18. Final report for CCS cross-layer reliability visioning study

    Energy Technology Data Exchange (ETDEWEB)

    Quinn, Heather M [Los Alamos National Laboratory; Dehon, Andre [U. PENN; Carter, Nicj [INTEL

    2010-12-20

    The geometric rate of improvement of transistor size and integrated circuit performance known as Moore's Law has been an engine of growth for our economy, enabling new products and services, creating new value and wealth, increasing safety, and removing menial tasks from our daily lives. Affordable, highly integrated components have enabled both life-saving technologies and rich entertainment applications. Anti-lock brakes, insulin monitors, and GPS-enabled emergency response systems save lives. Cell phones, internet appliances, virtual worlds, realistic video games, and mp3 players enrich our lives and connect us together. Over the past 40 years of silicon scaling, the increasing capabilities of inexpensive computation have transformed our society through automation and ubiquitous communications. Looking forward, increasing unpredictability threatens our ability to continue scaling integrated circuits at Moore's Law rates. As the transistors and wires that make up integrated circuits become smaller, they display both greater differences in behavior among devices designed to be identical and greater vulnerability to transient and permanent faults. Conventional design techniques expend energy to tolerate this unpredictability by adding safety margins to a circuit's operating voltage, clock frequency or charge stored per bit. However, the rising energy costs needed to compensate for increasing unpredictability are rapidly becoming unacceptable in today's environment where power consumption is often the limiting factor on integrated circuit performance and energy efficiency is a national concern. Reliability and energy consumption are both reaching key inflection points that, together, threaten to reduce or end the benefits of feature size reduction. To continue beneficial scaling, we must use a cross-layer, Jull-system-design approach to reliability. Unlike current systems, which charge every device a substantial energy tax in order to guarantee

  19. NDT Reliability - Final Report. Reliability in non-destructive testing (NDT) of the canister components

    Energy Technology Data Exchange (ETDEWEB)

    Pavlovic, Mato; Takahashi, Kazunori; Mueller, Christina; Boehm, Rainer (BAM, Federal Inst. for Materials Research and Testing, Berlin (Germany)); Ronneteg, Ulf (Swedish Nuclear Fuel and Waste Management Co., Stockholm (Sweden))

    2008-12-15

    This report describes the methodology of the reliability investigation performed on the ultrasonic phased array NDT system, developed by SKB in collaboration with Posiva, for inspection of the canisters for permanent storage of nuclear spent fuel. The canister is composed of a cast iron insert surrounded by a copper shell. The shell is composed of the tube and the lid/base which are welded to the tube after the fuel has been place, in the tube. The manufacturing process of the canister parts and the welding process are described. Possible defects, which might arise in the canister components during the manufacturing or in the weld during the welding, are identified. The number of real defects in manufactured components have been limited. Therefore the reliability of the NDT system has been determined using a number of test objects with artificial defects. The reliability analysis is based on the signal response analysis. The conventional signal response analysis is adopted and further developed before applied on the modern ultrasonic phased-array NDT system. The concept of multi-parameter a, where the response of the NDT system is dependent on more than just one parameter, is introduced. The weakness of use of the peak signal response in the analysis is demonstrated and integration of the amplitudes in the C-scan is proposed as an alternative. The calculation of the volume POD, when the part is inspected with more configurations, is also presented. The reliability analysis is supported by the ultrasonic simulation based on the point source synthesis method

  20. Downwell pump reliability: Geothermal experience update: Final report

    Energy Technology Data Exchange (ETDEWEB)

    Ellis, P.F.

    1988-01-01

    Geothermal resources with temperatures between 250/sup 0/ and 360/sup 0/F (121/sup 0/C and 182/sup 0/C) are prime candidates for binary-cycle power generation, and constitute about 80% of the power-capable resources in the United States. The successful exploitation of these resources requires reliable high-capacity downwell brine production pumps, but earlier experience showed that high-capacity, high-temperature geothermal production pumps had many problems which resulted in a mean time-to-failure (MTTF) of less than 1000 h. However, steady progress has been made since 1981, and a large body of experience has been acquired by three geothermal binary plants. This survey of high-temperature geothermal downwell pump users and manufacturers updates a prior survey (AP-3572) completed in early 1983. This survey traces the development of lineshaft pump technology from the late 1970s to the present (mid-1987), detailing the advances in design, materials selection, and operating practices. Case histories of 72 lineshaft pumps installed at three geothermal binary plants since late 1981 are documented, including some detailed cause of failure reports. In the recent past, pump lives in excess of 7000 h have become common, but a high continuing rate of premature failures resulted in a mean time-to-failure (MTTF) of about 5000 h. Based on recent advances which appear likely to eliminate most premature failures, the estimated near-term MTTF will be on the order of 8000 h. The survey found almost no development of high-temperature geothermal electric submersible pumps (ESP's) or close-coupled downwell hydraulic turbopumps, and concluded that considerable development and demonstration will be needed before these technologies are able to compete with existing high-temperature geothermal lineshaft pump technology. 36 refs., 10 figs., 25 tabs.

  1. Diagnostic Instrument Manipulator (DIM) upgrades for reliability and operational efficiency in a radiological contamination environment at the National Ignition Facility (NIF)

    Science.gov (United States)

    Plummer, Robert

    2013-09-01

    The Diagnostic Instrument Manipulators (DIMs) are two-staged, telescoping systems that allow the precise alignment and positioning of various x-ray, optical, nuclear, and other diagnostics in the National Ignition Facility (NIF) Target Chamber. Designed to be reconfigurable and exchangeable between NIF experiments, the second stage of the DIM is referred to as the Diagnostic Load Package (DLP), which is most often comprised of a cart, diagnostic, and detachable snout. As experiments continue to increase radiation levels, various upgrades have been made to the DIMs to improve reliability and operational efficiency. These upgrades reduce worker exposure and increase experimental shot rates. Specific to this paper, the design and operation of dedicated DLP handling and storage units (DHUs and DSUs) are discussed in addition to their transport equipment. Hardware and process improvements for reduced worker exposure during general DIM access are also featured. Finally, the DLP limit switches have been upgraded to magneticallyactuated proximity sensors for reliability, improved shot rate, and increased user flexibility.

  2. Indicating spinal joint mobilisations or manipulations in patients with neck or low-back pain: Protocol of an inter-examiner reliability study among manual therapists

    NARCIS (Netherlands)

    E. van Trijffel (Emiel); R. Lindeboom (Robert); P.M.M. Bossuyt (Patrick); M.A. Schmitt (Maarten); C. Lucas (Cees); B.W. Koes (Bart); R.A. Oostendorp (Robert)

    2014-01-01

    textabstractBackground: Manual spinal joint mobilisations and manipulations are widely used treatments in patients with neck and low-back pain. Inter-examiner reliability of passive intervertebral motion assessment of the cervical and lumbar spine, perceived as important for indicating these interve

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

    Energy Technology Data Exchange (ETDEWEB)

    D.R. Jackson; G.R. Kiebel

    1999-08-24

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

  4. Incentives for an adequate, economic and reliable Swiss transmission grid. Final version

    Energy Technology Data Exchange (ETDEWEB)

    Twomey, P.; Neuhoff, K.; Newbery, D.

    2006-11-15

    This comprehensive final report for the Swiss Federal Office of Energy (SFOE) discusses incentives necessary for the implementation of an adequate, economic and reliable Swiss electricity transmission grid. As Switzerland moves towards a more liberalised and competitive electricity market, an essential task of policy makers will be to ensure that incentives are in place for the construction, maintenance and operation of adequate, economic and reliable transmission infrastructure. As well as continuing to serve the domestic market, the location of Switzerland at the centre of Europe also means that policy should embrace opportunities in servicing the developing European Internal Market by providing transit and other services. Topics discussed include the economic evaluation of transmission investment proposals, regulated transmission investment, investments in transmission lines by power merchants, power auctions and congestion management as well as inter-TSO compensation mechanisms. European regulations and practice are discussed as are access questions and transmission charges. Developments in interconnection management and harmonisation are examined. The particular characteristics of the Swiss energy system, its prices and its legal frameworks are discussed. Cross-border trading and security of supply are also discussed

  5. The Final 24-Item Early Onset Scoliosis Questionnaires (EOSQ-24): Validity, Reliability and Responsiveness.

    Science.gov (United States)

    Matsumoto, Hiroko; Williams, Brendan; Park, Howard Y; Yoshimachi, Julie Y; Roye, Benjamin D; Roye, David P; Akbarnia, Behrooz A; Emans, John; Skaggs, David; Smith, John T; Vitale, Michael G

    2016-06-13

    The goal of early-onset scoliosis (EOS) treatment is to improve health-related quality of life (HRQoL) for patients and to reduce the burden on their parents or caregivers. The purpose of this study is to develop and finalize the 24-item Early-Onset Scoliosis Questionnaire (EOSQ-24), and examine the validity, reliability, and responsiveness of the EOSQ-24 in measuring patients' HRQoL, the burden on their caregivers, and the burden on their caregiver's finances. The study also established aged-matched normative values for the EOSQ-24. The EOSQ-24 was administered to caregivers of male and female patients aged 0 to 18 years with EOS. Patients with EOS are diagnosed before 10 years of age. Criterion validity was investigated by measuring agreement between its scores and pulmonary function testing. Construct validity was established by comparing values across different etiology groups using the known-group method, and measuring internal consistency reliability. Content validity was confirmed by reviewing caregiver and health provider ratings for the relativity and clarity of the EOSQ-24 questions. Test-retest reliability was examined through intraclass correlation coefficients. Responsiveness of the EOSQ-24 before and after surgical interventions was also investigated. Age-matched, healthy patients, without spinal deformity, were enrolled to establish normative EOSQ-24 values. The pulmonary function subdomain score in the EOSQ-24 was positively correlated with pulmonary function testing values, establishing criterion validity. The EOSQ-24 scores for neuromuscular patients were significantly decreased compared with idiopathic or congenital/structural patients, demonstrating known-group validity. Internal consistency reliability of patients' HRQoL was excellent (0.92), but Family Burden was questionable (0.64) indicating that Parental Burden and Financial Burden should be in separate domains. All 24 EOSQ items were rated as essential and clear, confirming content

  6. Blooms' separation of the final exam of Engineering Mathematics II: Item reliability using Rasch measurement model

    Science.gov (United States)

    Fuaad, Norain Farhana Ahmad; Nopiah, Zulkifli Mohd; Tawil, Norgainy Mohd; Othman, Haliza; Asshaari, Izamarlina; Osman, Mohd Hanif; Ismail, Nur Arzilah

    2014-06-01

    In engineering studies and researches, Mathematics is one of the main elements which express physical, chemical and engineering laws. Therefore, it is essential for engineering students to have a strong knowledge in the fundamental of mathematics in order to apply the knowledge to real life issues. However, based on the previous results of Mathematics Pre-Test, it shows that the engineering students lack the fundamental knowledge in certain topics in mathematics. Due to this, apart from making improvements in the methods of teaching and learning, studies on the construction of questions (items) should also be emphasized. The purpose of this study is to assist lecturers in the process of item development and to monitor the separation of items based on Blooms' Taxonomy and to measure the reliability of the items itself usingRasch Measurement Model as a tool. By using Rasch Measurement Model, the final exam questions of Engineering Mathematics II (Linear Algebra) for semester 2 sessions 2012/2013 were analysed and the results will provide the details onthe extent to which the content of the item providesuseful information about students' ability. This study reveals that the items used in Engineering Mathematics II (Linear Algebra) final exam are well constructed but the separation of the items raises concern as it is argued that it needs further attention, as there is abig gap between items at several levels of Blooms' cognitive skill.

  7. Procedure for conducting a human-reliability analysis for nuclear power plants. Final report

    Energy Technology Data Exchange (ETDEWEB)

    Bell, B.J.; Swain, A.D.

    1983-05-01

    This document describes in detail a procedure to be followed in conducting a human reliability analysis as part of a probabilistic risk assessment when such an analysis is performed according to the methods described in NUREG/CR-1278, Handbook for Human Reliability Analysis with Emphasis on Nuclear Power Plant Applications. An overview of the procedure describing the major elements of a human reliability analysis is presented along with a detailed description of each element and an example of an actual analysis. An appendix consists of some sample human reliability analysis problems for further study.

  8. Understanding and predicting metallic whisker growth and its effects on reliability : LDRD final report.

    Energy Technology Data Exchange (ETDEWEB)

    Michael, Joseph Richard; Grant, Richard P.; Rodriguez, Mark Andrew; Pillars, Jamin; Susan, Donald Francis; McKenzie, Bonnie Beth; Yelton, William Graham

    2012-01-01

    Tin (Sn) whiskers are conductive Sn filaments that grow from Sn-plated surfaces, such as surface finishes on electronic packages. The phenomenon of Sn whiskering has become a concern in recent years due to requirements for lead (Pb)-free soldering and surface finishes in commercial electronics. Pure Sn finishes are more prone to whisker growth than their Sn-Pb counterparts and high profile failures due to whisker formation (causing short circuits) in space applications have been documented. At Sandia, Sn whiskers are of interest due to increased use of Pb-free commercial off-the-shelf (COTS) parts and possible future requirements for Pb-free solders and surface finishes in high-reliability microelectronics. Lead-free solders and surface finishes are currently being used or considered for several Sandia applications. Despite the long history of Sn whisker research and the recently renewed interest in this topic, a comprehensive understanding of whisker growth remains elusive. This report describes recent research on characterization of Sn whiskers with the aim of understanding the underlying whisker growth mechanism(s). The report is divided into four sections and an Appendix. In Section 1, the Sn plating process is summarized. Specifically, the Sn plating parameters that were successful in producing samples with whiskers will be reviewed. In Section 2, the scanning electron microscopy (SEM) of Sn whiskers and time-lapse SEM studies of whisker growth will be discussed. This discussion includes the characterization of straight as well as kinked whiskers. In Section 3, a detailed discussion is given of SEM/EBSD (electron backscatter diffraction) techniques developed to determine the crystallography of Sn whiskers. In Section 4, these SEM/EBSD methods are employed to determine the crystallography of Sn whiskers, with a statistically significant number of whiskers analyzed. This is the largest study of Sn whisker crystallography ever reported. This section includes a

  9. Reliability of optical fibres and components final report of COST 246

    CERN Document Server

    Griffioen, Willem; Gadonna, Michel; Limberger, Hans; Heens, Bernard; Knuuttila, Hanna; Kurkjian, Charles; Mirza, Shehzad; Opacic, Aleksandar; Regio, Paola; Semjonov, Sergei

    1999-01-01

    Reliability of Optical Fibres and Components reports the findings of COST 246 (1993-1998) - European research initiative in the field of optical telecommunications. Experts in the materials and reliability field of optical fibres and components have contributed to this unique study programme. The results, conclusions and achievements of their work have been obtained through joint experimentation and discussion with representatives from manufacturing and research groups. Topics covered include: Lifetime estimation; Failure mechanisms; Ageing test methods; Field data and service environments for components. For the first time the reader can explore the reliability of products and examine the results and conclusions in published form. This comprehensive volume is intended to provide a deeper understanding of the reliability of optical fibres and components. The book will be extremely useful to all scientists and practitioners involved in the industry.

  10. Uncertainty Quantification in the Reliability and Risk Assessment of Generation IV Reactors: Final Scientific/Technical Report

    Energy Technology Data Exchange (ETDEWEB)

    Vierow, Karen; Aldemir, Tunc

    2009-09-10

    The project entitled, “Uncertainty Quantification in the Reliability and Risk Assessment of Generation IV Reactors”, was conducted as a DOE NERI project collaboration between Texas A&M University and The Ohio State University between March 2006 and June 2009. The overall goal of the proposed project was to develop practical approaches and tools by which dynamic reliability and risk assessment techniques can be used to augment the uncertainty quantification process in probabilistic risk assessment (PRA) methods and PRA applications for Generation IV reactors. This report is the Final Scientific/Technical Report summarizing the project.

  11. Digital Avionics Information System (DAIS): Reliability and Maintainability Model. Final Report.

    Science.gov (United States)

    Czuchry, Andrew J.; And Others

    The reliability and maintainability (R&M) model described in this report represents an important portion of a larger effort called the Digital Avionics Information System (DAIS) Life Cycle Cost (LCC) Study. The R&M model is the first of three models that comprise a modeling system for use in LCC analysis of avionics systems. The total…

  12. Handbook of human-reliability analysis with emphasis on nuclear power plant applications. Final report

    Energy Technology Data Exchange (ETDEWEB)

    Swain, A D; Guttmann, H E

    1983-08-01

    The primary purpose of the Handbook is to present methods, models, and estimated human error probabilities (HEPs) to enable qualified analysts to make quantitative or qualitative assessments of occurrences of human errors in nuclear power plants (NPPs) that affect the availability or operational reliability of engineered safety features and components. The Handbook is intended to provide much of the modeling and information necessary for the performance of human reliability analysis (HRA) as a part of probabilistic risk assessment (PRA) of NPPs. Although not a design guide, a second purpose of the Handbook is to enable the user to recognize error-likely equipment design, plant policies and practices, written procedures, and other human factors problems so that improvements can be considered. The Handbook provides the methodology to identify and quantify the potential for human error in NPP tasks.

  13. Finalizing the Dtag: implementation and testing of design improvements for reliability and availability

    Science.gov (United States)

    2016-10-14

    PROJECT NUMBER K. Alex Shorter, University of Michigan 13039100 Tom Hurst, Woods Hole Oceanographic Institution Se. TASK NUMBER Mark Johnson...uu 18. NUMBER OF PAGES 10 19a. NAME OF RESPONSIBLE PERSON Tom Hurst 19b. TELEPHONE NUMBER (Include area code) 508-289-2906 Standard Form 298...of design improvements for reliability and availability K. Alex Shorter, University of Michigan, Ann Arbor, Ml481 04 Tom Hurst, Woods Hole

  14. Reliability of CGA/LGA/HDI Package Board/Assembly (Final Report)

    Science.gov (United States)

    Ghaffaroam. Reza

    2014-01-01

    Package manufacturers are now offering commercial-off-the-shelf column grid array (COTS CGA) packaging technologies in high-reliability versions. Understanding the process and quality assurance (QA) indicators for reliability are important for low-risk insertion of these advanced electronics packages. The previous reports, released in January of 2012 and January of 2013, presented package test data, assembly information, and reliability evaluation by thermal cycling for CGA packages with 1752, 1517, 1509, and 1272 inputs/outputs (I/Os) and 1-mm pitch. It presented the thermal cycling (-55C either 100C or 125C) test results for up to 200 cycles. This report presents up to 500 thermal cycles with quality assurance and failure analysis evaluation represented by optical photomicrographs, 2D real time X-ray images, dye-and-pry photomicrographs, and optical/scanning electron Microscopy (SEM) cross-sectional images. The report also presents assembly challenge using reflowing by either vapor phase or rework station of CGA and land grid array (LGA) versions of three high I/O packages both ceramic and plastic configuration. A new test vehicle was designed having high density interconnect (HDI) printed circuit board (PCB) with microvia-in-pad to accommodate both LGA packages as well as a large number of fine pitch ball grid arrays (BGAs). The LGAs either were assembled onto HDI PCB as an LGA or were solder paste print and reflow first to form solder dome on pads before assembly. Both plastic BGAs with 1156 I/O and ceramic LGAs were assembled. It also presented the X-ray inspection results as well as failures due to 200 thermal cycles. Lessons learned on assembly of ceramic LGAs are also presented.

  15. Finalizing the DTAG: Implementation and Testing of Design Improvements for Reliability and Availability

    Science.gov (United States)

    2014-09-30

    USB Interface (integrated with electronics box)  A new USB PCB design has been design and fabricated i. Salt water testing to examine...bench, we will then move to testing at pressure. Figure 4 (A) New PCB connector and (B) Experimental setup to test performance in sea water...1 DISTRIBUTION STATEMENT A. Approved for public release; distribution is unlimited. Finalizing the DTAG: Implementation and Testing of Design

  16. Field Operations Program Chevrolet S-10 (Lead-Acid) Accelerated Reliability Testing - Final Report

    Energy Technology Data Exchange (ETDEWEB)

    J. Francfort (INEEL); J. Argueta; M. Wehrey (Southern California Edison); D. Karner; L. Tyree (Electric Transportation Applications)

    1999-07-01

    This report summarizes the Accelerated Reliability testing of five lead-acid battery-equipped Chevrolet S-10 electric vehicles by the US Department of Energy's Field Operations Program and the Program's testing partners, Electric Transportation Applications (ETA) and Southern California Edison (SCE). ETA and SCE operated the S-10s with the goal of placing 25,000 miles on each vehicle within 1 year, providing an accelerated life-cycle analysis. The testing was performed according to established and published test procedures. The S-10s' average ranges were highest during summer months; changes in ambient temperature from night to day and from season-to-season impacted range by as much as 10 miles. Drivers also noted that excessive use of power during acceleration also had a dramatic effect on vehicle range. The spirited performance of the S-10s created a great temptation to inexperienced electric vehicle drivers to ''have a good time'' and to fully utilize the S-10's acceleration capability. The price of injudicious use of power is greatly reduced range and a long-term reduction in battery life. The range using full-power accelerations followed by rapid deceleration in city driving has been 20 miles or less.

  17. STRUCTURAL FLUCTUATIONS, ELECTRICAL RESPONSE AND THE RELIABILITY OF NANOSTRUCTURES (FINAL REPORT)

    Energy Technology Data Exchange (ETDEWEB)

    Philip J. Rous; Ellen D. Williams; Michael S. Fuhrer

    2006-07-31

    The goal of the research supported by DOE-FG02-01ER45939 was to synthesize a number of experimental and theoretical approaches to understand the relationship between morphological fluctuations, the electrical response and the reliability (failure) of metallic nanostructures. The primary focus of our work was the study of metallic nanowires which we regard as prototypical of nanoscale interconnects. Our research plan has been to link together these materials properties and behaviors by understanding the phenomenon of, and the effects of electromigration at nanometer length scales. The thrust of our research has been founded on the concept that, for nanostructures where the surface-to-volume ratio is necessarily high, surface diffusion is the dominant mass transport mechanism that governs the fluctuations, electrical properties and failure modes of nanostructures. Our approach has been to develop experimental methods that permit the direct imaging of the electromagnetic distributions within nanostructures, their structural fluctuations and their electrical response. This experimental research is complemented by a parallel theoretical and computational program that describes the temporal evolution of nanostructures in response to current flow.

  18. Turbine Reliability and Operability Optimization through the use of Direct Detection Lidar Final Technical Report

    Energy Technology Data Exchange (ETDEWEB)

    Johnson, David K; Lewis, Matthew J; Pavlich, Jane C; Wright, Alan D; Johnson, Kathryn E; Pace, Andrew M

    2013-02-01

    The goal of this Department of Energy (DOE) project is to increase wind turbine efficiency and reliability with the use of a Light Detection and Ranging (LIDAR) system. The LIDAR provides wind speed and direction data that can be used to help mitigate the fatigue stress on the turbine blades and internal components caused by wind gusts, sub-optimal pointing and reactionary speed or RPM changes. This effort will have a significant impact on the operation and maintenance costs of turbines across the industry. During the course of the project, Michigan Aerospace Corporation (MAC) modified and tested a prototype direct detection wind LIDAR instrument; the resulting LIDAR design considered all aspects of wind turbine LIDAR operation from mounting, assembly, and environmental operating conditions to laser safety. Additionally, in co-operation with our partners, the National Renewable Energy Lab and the Colorado School of Mines, progress was made in LIDAR performance modeling as well as LIDAR feed forward control system modeling and simulation. The results of this investigation showed that using LIDAR measurements to change between baseline and extreme event controllers in a switching architecture can reduce damage equivalent loads on blades and tower, and produce higher mean power output due to fewer overspeed events. This DOE project has led to continued venture capital investment and engagement with leading turbine OEMs, wind farm developers, and wind farm owner/operators.

  19. Intelligent systems for pipeline infrastructure reliability ISPIR progress report 9 : final report

    Energy Technology Data Exchange (ETDEWEB)

    Gu, G.P.; Doiron, A.; Mohapatra, B.; Papavinasam, S.; Revie, R.W. [Natural Resources Canada, Ottawa, ON (Canada). CANMET Materials Technology Laboratory

    2004-05-15

    This paper described a multifunctional pipeline monitoring system that used fiber optic sensors and a microbiologically influenced corrosion (MIC) sensor designed by researchers at Natural Resources Canada's CANMET laboratory. The intelligent system for pipeline infrastructure reliability (ISPIR) was developed to monitor pressure and temperature changes; corrosion; cracking and crack propagation; third party intrusion; and pH and dissolved carbon dioxide (CO{sub 2}) concentrations. The ISPIR is also capable of detecting and inspecting leaks, buckling, bending, soil movement, and microbial activity. The fiber optics system measures chemical and microbiological environmental conditions on external pipe surfaces. A structural integrity monitoring software system was used to provide a user-friendly interface for modelling and developing decision-making algorithms. The paper included the results of laboratory tests conducted to evaluate the system's fiber optic pH and CO{sub 2} sensors as well as to assess the accuracy of long gauge monitoring data. Further research is being conducted to develop methods of monitoring disbondment; the development of high axial stresses; and the absence of protective cathodic potential. 11 refs., 9 figs., 1 appendix.

  20. Final Scientific/ Technical Report. Playas Grid Reliability and Distributed Energy Research

    Energy Technology Data Exchange (ETDEWEB)

    Romero, Van [New Mexico Institute Of Mining And Technology, Socorro, NM (United States); Weinkauf, Don [New Mexico Institute Of Mining And Technology, Socorro, NM (United States); Khan, Mushtaq [New Mexico Institute Of Mining And Technology, Socorro, NM (United States); Helgeson, Wes [New Mexico Institute Of Mining And Technology, Socorro, NM (United States); Weedeward, Kevin [New Mexico Institute Of Mining And Technology, Socorro, NM (United States); LeClerc, Corey [New Mexico Institute Of Mining And Technology, Socorro, NM (United States); Fuierer, Paul [New Mexico Institute Of Mining And Technology, Socorro, NM (United States)

    2012-06-30

    The future looks bright for solar and renewable energies in the United States. Recent studies claim that by 2050, solar power could supply a third of all electricity demand in the country’s western states. Technology advances, soft policy changes, and increased energy consciousness will all have to happen to achieve this goal. But the larger question is, what would it take to do more throughout the United States? The studies tie future solar and renewable growth in the United States to programs that aim to lower the soft costs of solar adoption, streamline utility interconnections, and increase technology advances through research and development. At the state and local levels, the most important steps are; Net metering: Net metering policies lets customers offset their electric bills with onsite solar and receive reliable and fair compensation for the excess electricity they provide to the grid. Not surprisingly, what utilities consider fair is not necessarily a rate that’s favorable to solar customers; Renewable portfolio standards (RPS): RPS policies require utilities to provide a certain amount of their power from renewable sources; some set specific targets for solar and other renewables. California’s aggressive RPS of 33% renewable energy by 2020 is not bankrupting the state, or its residents; Strong statewide interconnection policies: Solar projects can experience significant delays and hassles just to get connected to the grid. Streamlined feasibility and impact analysis are needed. Good interconnection policies are crucial to the success of solar or renewable energy development; Financing options: Financing is often the biggest obstacle to solar adoption. Those obstacles can be surmounted with policies that support creative financing options like third-party ownership (TPO) and property assessed clean energy (PACE). Attesting to the significance of TPO is the fact that in Arizona, it accounted for 86% of all residential photovoltaic (PV

  1. Final Scientific/ Technical Report. Playas Grid Reliability and Distributed Energy Research

    Energy Technology Data Exchange (ETDEWEB)

    Romero, Van [New Mexico Institute Of Mining And Technology, Socorro, NM (United States); Weinkauf, Don [New Mexico Institute Of Mining And Technology, Socorro, NM (United States); Khan, Mushtaq [New Mexico Institute Of Mining And Technology, Socorro, NM (United States); Helgeson, Wes [New Mexico Institute Of Mining And Technology, Socorro, NM (United States); Weedeward, Kevin [New Mexico Institute Of Mining And Technology, Socorro, NM (United States); LeClerc, Corey [New Mexico Institute Of Mining And Technology, Socorro, NM (United States); Fuierer, Paul [New Mexico Institute Of Mining And Technology, Socorro, NM (United States)

    2012-06-30

    The future looks bright for solar and renewable energies in the United States. Recent studies claim that by 2050, solar power could supply a third of all electricity demand in the country’s western states. Technology advances, soft policy changes, and increased energy consciousness will all have to happen to achieve this goal. But the larger question is, what would it take to do more throughout the United States? The studies tie future solar and renewable growth in the United States to programs that aim to lower the soft costs of solar adoption, streamline utility interconnections, and increase technology advances through research and development. At the state and local levels, the most important steps are; Net metering: Net metering policies lets customers offset their electric bills with onsite solar and receive reliable and fair compensation for the excess electricity they provide to the grid. Not surprisingly, what utilities consider fair is not necessarily a rate that’s favorable to solar customers; Renewable portfolio standards (RPS): RPS policies require utilities to provide a certain amount of their power from renewable sources; some set specific targets for solar and other renewables. California’s aggressive RPS of 33% renewable energy by 2020 is not bankrupting the state, or its residents; Strong statewide interconnection policies: Solar projects can experience significant delays and hassles just to get connected to the grid. Streamlined feasibility and impact analysis are needed. Good interconnection policies are crucial to the success of solar or renewable energy development; Financing options: Financing is often the biggest obstacle to solar adoption. Those obstacles can be surmounted with policies that support creative financing options like third-party ownership (TPO) and property assessed clean energy (PACE). Attesting to the significance of TPO is the fact that in Arizona, it accounted for 86% of all residential photovoltaic (PV

  2. In Situ Redox Manipulation Proof-of-Principle Test at the Fort Lewis Logistics Center: Final Report

    Energy Technology Data Exchange (ETDEWEB)

    Vermeul, Vincent R.; Williams, Mark D.; Evans, John C.; Szecsody, James E.; Bjornstad, Bruce N.; Liikala, Terry L.

    2000-10-25

    Pacific Northwest National Laboratory conducted a proof-of-principle test at the Fort Lewis Logistics Center to determine the feasibility of using the innovative remedial technology In Situ Redox Manipulation (ISRM) to treat groundwater contaminated with dissolved TCE. ISRM creates a permeable treatment zone in the subsurface to remediate redox-sensitive contaminants in groundwater. The permeable treatment zone is created by injecting a chemical reducing agent (sodium dithionite with pH buffers) into the aquifer through a well to chemically reduce the naturally occurring ferric iron in the sediments to ferrous iron. Once the reducing agent has been given sufficient time to react with aquifer sediments, residual chemicals and reaction products are withdrawn through the same well. Redox-sensitive contaminants such as TCE, moving in a dissolved-phase plume through the treatment zone, are destroyed. TCE is degraded via reductive dechlorination within the treatment zone to benign degradation products (acetylene, ehtylene). Analyses of sediment samples collected from post-test boreholes showed a high degree of iron reduction, which confirmed the effectiveness of the treatment zone.

  3. In Situ Redox Manipulation Proof-of-Principle Test at the Fort Lewis Logistics Center: Final Report

    Energy Technology Data Exchange (ETDEWEB)

    VR Vermeul; MD Williams; JC Evans; JE Szecsody; BN Bjornstad; TL Liikala

    2000-10-25

    Pacific Northwest National Laboratory (PNNL) conducted a proof-of-principle test at the Fort Lewis Logistics Center to determine the feasibility of using the In Situ Redox Manipulation (ISRM) technology for remediating groundwater contaminated with dissolved trichloroethylene (TCE). ISRM creates a permeable treatment zone in the subsurface to remediate redox-sensitive contaminants in groundwater. The permeable treatment zone is formed by injecting a chemical reducing agent (sodium dithionite with pH buffers) into the aquifer through a well to reduce the naturally occurring ferric iron in the sediments to ferrous iron. Once the reducing agent is injected and given sufficient time to react with aquifer sediments, residual chemicals and reaction products are withdrawn from the aquifer through the same well used for the injection. Redox-sensitive contaminants such as TCE, moving through the treatment zone under natural groundwater flow conditions, are destroyed. TCE is degraded via reductive dechlorination within the ISRM treatment zone to benign degradation products (i.e., acetylene, ethylene). Prior to the proof-of-principle field test, the ISRM technology was successfully demonstrated in laboratory experiments for the reductive dechlorination of dissolved TCE using sediments from the Fort Lewis site. The Logistics Center was placed on the National Priorities List in December 1989 because of TCE contamination in groundwater beneath the site. A Federal Facilities Agreement between the Army, the U.S. Environmental Protection Agency, and the Washington State Department of Ecology became effective in January 1990, and a Record of Decision (ROD) was signed in September 1990. The major components of the ROD included installation of two pump-and-treat systems for the upper aquifer and further investigation of the lower aquifer and other potential sources of contamination. The pump-and-treat systems became operational in August 1995. Fort Lewis asked PNNL to provide

  4. In Situ Redox Manipulation Proof-of-Principle Test at the Fort Lewis Logistics Center: Final Report

    Energy Technology Data Exchange (ETDEWEB)

    VR Vermeul; MD Williams; JC Evans; JE Szecsody; BN Bjornstad; TL Liikala

    2000-10-25

    Pacific Northwest National Laboratory (PNNL) conducted a proof-of-principle test at the Fort Lewis Logistics Center to determine the feasibility of using the In Situ Redox Manipulation (ISRM) technology for remediating groundwater contaminated with dissolved trichloroethylene (TCE). ISRM creates a permeable treatment zone in the subsurface to remediate redox-sensitive contaminants in groundwater. The permeable treatment zone is formed by injecting a chemical reducing agent (sodium dithionite with pH buffers) into the aquifer through a well to reduce the naturally occurring ferric iron in the sediments to ferrous iron. Once the reducing agent is injected and given sufficient time to react with aquifer sediments, residual chemicals and reaction products are withdrawn from the aquifer through the same well used for the injection. Redox-sensitive contaminants such as TCE, moving through the treatment zone under natural groundwater flow conditions, are destroyed. TCE is degraded via reductive dechlorination within the ISRM treatment zone to benign degradation products (i.e., acetylene, ethylene). Prior to the proof-of-principle field test, the ISRM technology was successfully demonstrated in laboratory experiments for the reductive dechlorination of dissolved TCE using sediments from the Fort Lewis site. The Logistics Center was placed on the National Priorities List in December 1989 because of TCE contamination in groundwater beneath the site. A Federal Facilities Agreement between the Army, the U.S. Environmental Protection Agency, and the Washington State Department of Ecology became effective in January 1990, and a Record of Decision (ROD) was signed in September 1990. The major components of the ROD included installation of two pump-and-treat systems for the upper aquifer and further investigation of the lower aquifer and other potential sources of contamination. The pump-and-treat systems became operational in August 1995. Fort Lewis asked PNNL to provide

  5. Role of design complexity in forecasting reliability and availability for electric-power-generating units. Final report

    Energy Technology Data Exchange (ETDEWEB)

    Berkey, D.M.; Balaban, H.S.

    1982-10-01

    This report examines the relationship between design complexity and reliability and availability performance for fossil-fueled electric-power-generating units. Multivariate regression analysis was applied to design complexity and reliability and availability performance data gathered from a representative sample of electric-power-generating units. Twelve predictive relationships or equations were developed as a result of employing this statistical procedure. Each equation was verified and assessed. Guidelines for applying the predictive relationships, including confidence limits, were also developed and are presented in this report. A major result of this examination is a quantitative predictive tool that should be useful to the electric-power industry.

  6. Cuspidal and Noncuspidal Robot Manipulators

    CERN Document Server

    Wenger, Philippe

    2010-01-01

    This article synthezises the most important results on the kinematics of cuspidal manipulators i.e. nonredundant manipulators that can change posture without meeting a singularity. The characteristic surfaces, the uniqueness domains and the regions of feasible paths in the workspace are defined. Then, several sufficient geometric conditions for a manipulator to be noncuspidal are enumerated and a general necessary and sufficient condition for a manipulator to be cuspidal is provided. An explicit DH-parameter-based condition for an orthogonal manipulator to be cuspidal is derived. The full classification of 3R orthogonal manipulators is provided and all types of cuspidal and noncuspidal orthogonal manipulators are enumerated. Finally, some facts about cuspidal and noncuspidal 6R manipulators are reported.

  7. High Performance Packaging Solutions for Low Cost, Reliable PV Modules: Final Subcontract Report, 26 May 2005 - 30 November 2008

    Energy Technology Data Exchange (ETDEWEB)

    Keotla, B. M.; Marinik, B. J.

    2009-06-01

    During this research effort, Dow Corning Corporation has addressed the PV manufacturing goals of: (i) improving PV manufacturing processes and equipment; (ii) accelerating manufacturing cost reductions of PV modules; (iii) increasing commercial product performance and reliability; and (iv) scaling up U.S. manufacturing capacity.

  8. Digital Avionics Information System (DAIS): Reliability and Maintainability Model Users Guide. Final Report, May 1975-July 1977.

    Science.gov (United States)

    Czuchry, Andrew J.; And Others

    This report provides a complete guide to the stand alone mode operation of the reliability and maintenance (R&M) model, which was developed to facilitate the performance of design versus cost trade-offs within the digital avionics information system (DAIS) acquisition process. The features and structure of the model, its input data…

  9. Dielectrophoresis for Bioparticle Manipulation

    Directory of Open Access Journals (Sweden)

    Cheng Qian

    2014-10-01

    Full Text Available As an ideal method to manipulate biological particles, the dielectrophoresis (DEP technique has been widely used in clinical diagnosis, disease treatment, drug development, immunoassays, cell sorting, etc. This review summarizes the research in the field of bioparticle manipulation based on DEP techniques. Firstly, the basic principle of DEP and its classical theories are introduced in brief; Secondly, a detailed introduction on the DEP technique used for bioparticle manipulation is presented, in which the applications are classified into five fields: capturing bioparticles to specific regions, focusing bioparticles in the sample, characterizing biomolecular interaction and detecting microorganism, pairing cells for electrofusion and separating different kinds of bioparticles; Thirdly, the effect of DEP on bioparticle viability is analyzed; Finally, the DEP techniques are summarized and future trends in bioparticle manipulation are suggested.

  10. Enlightenment on Computer Network Reliability From Transportation Network Reliability

    OpenAIRE

    Hu Wenjun; Zhou Xizhao

    2011-01-01

    Referring to transportation network reliability problem, five new computer network reliability definitions are proposed and discussed. They are computer network connectivity reliability, computer network time reliability, computer network capacity reliability, computer network behavior reliability and computer network potential reliability. Finally strategies are suggested to enhance network reliability.

  11. Hydrogen Compressor Reliability Investigation and Improvement. Cooperative Research and Development Final Report, CRADA Number CRD-13-514

    Energy Technology Data Exchange (ETDEWEB)

    Terlip, Danny [National Renewable Energy Lab. (NREL), Golden, CO (United States)

    2016-03-28

    Diaphragm compressors have become the primary source of on-site hydrogen compression for hydrogen fueling stations around the world. NREL and PDC have undertaken two studies aimed at improving hydrogen compressor operation and reducing the cost contribution to dispensed fuel. The first study identified the failure mechanisms associated with mechanical compression to reduce the maintenance and down-time. The second study will investigate novel station configurations to maximize hydrogen usage and compressor lifetime. This partnership will allow for the simulation of operations in the field and a thorough analysis of the component failure to improve the reliability of diaphragm compression.

  12. Underwater manipulator

    Science.gov (United States)

    Schrum, P.B.; Cohen, G.H.

    1993-04-20

    Self-contained, waterproof, water-submersible, remote-controlled apparatus is described for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer [plus minus]45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer [plus minus]10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.

  13. Automotive gas turbine ceramic regenerator design and reliability program. Final annual report, July 1, 1975--September 30, 1976

    Energy Technology Data Exchange (ETDEWEB)

    Cook, J.A.; Fucinari, C.A.; Lingscheit, J.N.; Rahnke, C.J.

    1976-10-01

    The primary objective of the ERDA/Ford Ceramic Regenerator Design and Reliability Program is to develop ceramic regenerator cores that can be used in passenger car gas turbine engines, Stirling engines, and industrial/truck gas turbine engines. Specific durability objectives are defined as achieving a B/sub 10/ life of 10,000 hours on a truck/industrial gas turbine engine duty cycle. Previous reports, under this program, summarized operating experience on lithium aluminum silicate (LAS) ceramic regenerator cores obtained at Ford Motor Company. The primary cause of failure of these regenerators was determined to be chemical attack of the LAS material. Improved materials and design concepts aimed at reducing or eliminating chemical attack were placed on durability test in Ford 707 industrial gas turbine engines late in 1974. A description is given of the results of 18,500 hours of turbine engine durability testing accumulated during the period from July 1, 1975 to Sept. 30, 1976. Two materials, aluminum silicate and magnesium aluminum silicate continue to show promise toward achieving the durability objectives of this program. Regenerator cores made from aluminum silicate show no evidence of chemical attack damage after 5600 hours of engine test.

  14. Test manipulačních funkcí ve fyzioterapii pomocí stavebnice Ministav a ověření jeho reliability A test of manipulation functions using the constructional set

    Directory of Open Access Journals (Sweden)

    František Vaverka

    2007-02-01

    Full Text Available Hlavním cílem studie bylo ověření reliability nově vytvořeného "testu manipulačních funkcí" pomocí stavebnice Ministav (TMF, určeného k testování poruch funkcí ruky. TMF zahrnuje celkem 17 subtestů, prováděných pomocí pěti stavebnicových objektů. Test absolvovalo 417 zdravých osob (245 žen, 172 mužů, rozdělených podle věku do čtyř kategorií: děti 9–10leté, dospělí ve věku 20–25 let, dospělí ve věkové kategorii 40–50 let a senioři ve věku nad 65 let. Testované osoby vykonaly celkem 17 subtestů. Provedení každého subtestu spočívalo v 1 zácvičném pokusu a třech měřených pokusech. Měřila se doba trvání každého pokusu. Výsledné skóre tvořil průměr ze tří pokusů. Testovaným kritériem byl dosažený čas. U všech 4 věkových podskupin i celého souboru byly zjišťovány korelace mezi jednotlivými třemi pokusy u všech 17 subtestů. K posouzení reliability nového testu byl použit Pearsonův korelační koeficient. Byly vypočteny průměrné hodnoty koeficientů reliability pro každý subtest. Hodnoty koeficientů reliability se pohybují v jednotlivých subtestech u jednotlivých souborů v rozmezí od 0,14 do 0,94. Nejnižší průměrné hodnoty koeficientu reliability dosahuje soubor dětí (r = 0,54. Naopak nejvyšších hodnot dosahuje soubor seniorů (r = 0,82. Většina subtestů dosahuje hodnot nad 0,60. Tento nález se shoduje s nálezy jiných testů manuální dovednosti. Výsledky naznačují dobrou reliabilitu testu TMF pro soubory dospělých a seniorů. U těchto věkových skupin po prokázání validity testu bude moci být test TMF využíván v rehabilitační praxi. Subtesty, u kterých nebyla prokázána vyhovující reliabilita, budou z baterie subtestů TMF vyřazeny. Dále budou využívány jako terapeutický nástroj. The main goal of the study was to analyse the reliability of the "Test of manipulation functions" using the

  15. Reliability of Breast Ultrasound BI-RADS Final Assessment in Mammographically Negative Patients with Nipple Discharge and Radiologic Predictors of Malignancy

    Science.gov (United States)

    Park, Chae Jung; Kim, Eun-Kyung; Moon, Hee Jung; Yoon, Jung Hyun

    2016-01-01

    Purpose The purpose of this study was to retrospectively investigate the reliability of breast ultrasound (US) Breast Imaging Reporting and Data System (BI-RADS) final assessment in mammographically negative patients with pathologic nipple discharge, and to determine the clinical and ultrasonographic variables associated with malignancy in this group of patients. Methods A total of 65 patients with 67 mammographically negative breast lesions that were pathologically confirmed through US-guided biopsy were included. Results Of the 53 BI-RADS category 4 and 5 lesions, eight (15.1%) were malignant (six ductal carcinomas in situ, one invasive ductal carcinoma, and one solid papillary carcinoma). There was no malignancy among the remaining 14 category 3 lesions. Malignant lesions more frequently displayed a round or irregular shape (75.0%, 6/8; p=0.030) and nonparallel orientation (33.3%, 4/12; p=0.029) compared to the benign lesions. The increase in the BI-RADS category corresponded with a rise in the malignancy rate (p=0.004). Conclusion The BI-RADS lexicon and final assessment of breast US reliably detect and characterize malignancy in mammographically negative patients with pathologic nipple discharge. PMID:27721881

  16. Manipulation hardware for microgravity research

    Energy Technology Data Exchange (ETDEWEB)

    Herndon, J.N.; Glassell, R.L.; Butler, P.L.; Williams, D.M. (Oak Ridge National Lab., TN (USA)); Rohn, D.A. (National Aeronautics and Space Administration, Cleveland, OH (USA). Lewis Research Center); Miller, J.H. (Sverdrup Technology, Inc., Brook Park, OH (USA))

    1990-01-01

    The establishment of permanent low earth orbit occupation on the Space Station Freedom will present new opportunities for the introduction of productive flexible automation systems into the microgravity environment of space. The need for robust and reliable robotic systems to support experimental activities normally intended by astronauts will assume great importance. Many experimental modules on the space station are expected to require robotic systems for ongoing experimental operations. When implementing these systems, care must be taken not to introduce deleterious effects on the experiments or on the space station itself. It is important to minimize the acceleration effects on the experimental items being handled while also minimizing manipulator base reaction effects on adjacent experiments and on the space station structure. NASA Lewis Research Center has been performing research on these manipulator applications, focusing on improving the basic manipulator hardware, as well as developing improved manipulator control algorithms. By utilizing the modular manipulator concepts developed during the Laboratory Telerobotic Manipulator program, Oak Ridge National Laboratory has developed an experimental testbed system called the Microgravity Manipulator, incorporating two pitch-yaw modular positioners to provide a 4 dof experimental manipulator arm. A key feature in the design for microgravity manipulation research was the use of traction drives for torque transmission in the modular pitch-yaw differentials.

  17. Manipulating scattering features by metamaterials

    Directory of Open Access Journals (Sweden)

    Lu Cui

    2016-01-01

    Full Text Available We present a review on manipulations of electromagnetic scattering features by using metamaterials or metasurfaces. Several approaches in controlling the scattered fields of objects are presented, including invisibility cloaks and radar illusions based on transformation optics, carpet cloak using gradient metamaterials, dc cloaks, mantle cloaks based on scattering cancellation, “skin” cloaks using phase compensation, scattering controls with coding/programmable metasurfaces, and scattering reductions by multilayered structures. Finally, the future development of metamaterials on scattering manipulation is predicted.

  18. Manipulating scattering features by metamaterials

    Directory of Open Access Journals (Sweden)

    Lu Cui

    2016-01-01

    Full Text Available We present a review on manipulations of electromagnetic scattering features by using metamaterials or metasurfaces. Several approaches in controlling the scattered fields of objects are presented, including invisibility cloaks and radar illusions based on transformation optics, carpet cloak using gradient metamaterials, dc cloaks, mantle cloaks based on scattering cancellation, “skin” cloaks using phase compensation, scattering controls with coding/programmable metasurfaces, and scattering reductions by multilayered structures. Finally, the future development of metamaterials on scattering manipulation is predicted.

  19. Measurement System Reliability Assessment

    Directory of Open Access Journals (Sweden)

    Kłos Ryszard

    2015-06-01

    Full Text Available Decision-making in problem situations is based on up-to-date and reliable information. A great deal of information is subject to rapid changes, hence it may be outdated or manipulated and enforce erroneous decisions. It is crucial to have the possibility to assess the obtained information. In order to ensure its reliability it is best to obtain it with an own measurement process. In such a case, conducting assessment of measurement system reliability seems to be crucial. The article describes general approach to assessing reliability of measurement systems.

  20. Development of improved processing and evaluation methods for high reliability structural ceramics for advanced heat engine applications, Phase 1. Final report

    Energy Technology Data Exchange (ETDEWEB)

    Pujari, V.K.; Tracey, D.M.; Foley, M.R.; Paille, N.I.; Pelletier, P.J.; Sales, L.C.; Wilkens, C.A.; Yeckley, R.L. [Norton Co., Northboro, MA (United States)

    1993-08-01

    The program goals were to develop and demonstrate significant improvements in processing methods, process controls and non-destructive evaluation (NDE) which can be commercially implemented to produce high reliability silicon nitride components for advanced heat engine applications at temperatures to 1,370{degrees}C. The program focused on a Si{sub 3}N{sub 4}-4% Y{sub 2}O{sub 3} high temperature ceramic composition and hot-isostatic-pressing as the method of densification. Stage I had as major objectives: (1) comparing injection molding and colloidal consolidation process routes, and selecting one route for subsequent optimization, (2) comparing the performance of water milled and alcohol milled powder and selecting one on the basis of performance data, and (3) adapting several NDE methods to the needs of ceramic processing. The NDE methods considered were microfocus X-ray radiography, computed tomography, ultrasonics, NMR imaging, NMR spectroscopy, fluorescent liquid dye penetrant and X-ray diffraction residual stress analysis. The colloidal consolidation process route was selected and approved as the forming technique for the remainder of the program. The material produced by the final Stage II optimized process has been given the designation NCX 5102 silicon nitride. According to plan, a large number of specimens were produced and tested during Stage III to establish a statistically robust room temperature tensile strength database for this material. Highlights of the Stage III process demonstration and resultant database are included in the main text of the report, along with a synopsis of the NCX-5102 aqueous based colloidal process. The R and D accomplishments for Stage I are discussed in Appendices 1--4, while the tensile strength-fractography database for the Stage III NCX-5102 process demonstration is provided in Appendix 5. 4 refs., 108 figs., 23 tabs.

  1. Assuring reliability program effectiveness.

    Science.gov (United States)

    Ball, L. W.

    1973-01-01

    An attempt is made to provide simple identification and description of techniques that have proved to be most useful either in developing a new product or in improving reliability of an established product. The first reliability task is obtaining and organizing parts failure rate data. Other tasks are parts screening, tabulation of general failure rates, preventive maintenance, prediction of new product reliability, and statistical demonstration of achieved reliability. Five principal tasks for improving reliability involve the physics of failure research, derating of internal stresses, control of external stresses, functional redundancy, and failure effects control. A final task is the training and motivation of reliability specialist engineers.

  2. Final Report to the National Energy Technology Laboratory on FY09-FY13 Cooperative Research with the Consortium for Electric Reliability Technology Solutions

    Energy Technology Data Exchange (ETDEWEB)

    Vittal, Vijay [Arizona State Univ., Mesa, AZ (United States)

    2015-11-04

    The Consortium for Electric Reliability Technology Solutions (CERTS) was formed in 1999 in response to a call from U.S. Congress to restart a federal transmission reliability R&D program to address concerns about the reliability of the U.S. electric power grid. CERTS is a partnership between industry, universities, national laboratories, and government agencies. It researches, develops, and disseminates new methods, tools, and technologies to protect and enhance the reliability of the U.S. electric power system and the efficiency of competitive electricity markets. It is funded by the U.S. Department of Energy’s Office of Electricity Delivery and Energy Reliability (OE). This report provides an overview of PSERC and CERTS, of the overall objectives and scope of the research, a summary of the major research accomplishments, highlights of the work done under the various elements of the NETL cooperative agreement, and brief reports written by the PSERC researchers on their accomplishments, including research results, publications, and software tools.

  3. Understanding pharmaceutical research manipulation in the context of accounting manipulation.

    Science.gov (United States)

    Brown, Abigail

    2013-01-01

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

  4. Interpersonal Communicational Manipulations

    Directory of Open Access Journals (Sweden)

    Ştefan VLĂDUŢESCU

    2014-11-01

    Full Text Available Manipulation is a form of persuasive influence. According to the criterion of the influence type, persuasion is interpersonal, group or collectively-social. By derivation and according to the criterion of the target, in our opinion, manipulations may be of three types: interpersonal manipulations (when the target is one individual, group manipulations (when the target is a group and social-collective manipulations (when the target represents a large community. We consider as interpersonal communicational manipulations: foot in the door, door in the face, and law-balling. Classification-JEL: A23

  5. Selective Manipulation of Neural Circuits.

    Science.gov (United States)

    Park, Hong Geun; Carmel, Jason B

    2016-04-01

    Unraveling the complex network of neural circuits that form the nervous system demands tools that can manipulate specific circuits. The recent evolution of genetic tools to target neural circuits allows an unprecedented precision in elucidating their function. Here we describe two general approaches for achieving circuit specificity. The first uses the genetic identity of a cell, such as a transcription factor unique to a circuit, to drive expression of a molecule that can manipulate cell function. The second uses the spatial connectivity of a circuit to achieve specificity: one genetic element is introduced at the origin of a circuit and the other at its termination. When the two genetic elements combine within a neuron, they can alter its function. These two general approaches can be combined to allow manipulation of neurons with a specific genetic identity by introducing a regulatory gene into the origin or termination of the circuit. We consider the advantages and disadvantages of both these general approaches with regard to specificity and efficacy of the manipulations. We also review the genetic techniques that allow gain- and loss-of-function within specific neural circuits. These approaches introduce light-sensitive channels (optogenetic) or drug sensitive channels (chemogenetic) into neurons that form specific circuits. We compare these tools with others developed for circuit-specific manipulation and describe the advantages of each. Finally, we discuss how these tools might be applied for identification of the neural circuits that mediate behavior and for repair of neural connections.

  6. Digital Avionics Information System (DAIS): Life Cycle Cost Impact Modeling System Reliability, Maintainability, and Cost Model (RMCM)--Description. Users Guide. Final Report.

    Science.gov (United States)

    Goclowski, John C.; And Others

    The Reliability, Maintainability, and Cost Model (RMCM) described in this report is an interactive mathematical model with a built-in sensitivity analysis capability. It is a major component of the Life Cycle Cost Impact Model (LCCIM), which was developed as part of the DAIS advanced development program to be used to assess the potential impacts…

  7. Master-Slave Manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Goertz, R.C.

    1949-03-07

    A device for manipulating a pair of tongs behind a shielding barrier has been built and tested. It is called a Master-Slave Manipulator because the slave tongs move in exact correspondence with a master handle. The "slave hands" follow the master hands in complete synchronism. This is the first completely master-slave manipulator known to exist and has proved that this type of manipulation is very successful when the unit is prooperly engineered and built.

  8. Currency Manipulation versus Current Account Manipulation

    OpenAIRE

    Junning Cai

    2005-01-01

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

  9. Progress in nonprehensile manipulation

    Energy Technology Data Exchange (ETDEWEB)

    Mason, M.T.

    1999-11-01

    This paper reviews my recent research in robotic manipulation and speculates on potentially fruitful directions for future work. My recent work is focused on nonprehensile manipulation: manipulating objects without grasping them. In particular, the paper surveys work on a single joint robot that orients parts on a conveyor belt; a robot that uses dynamics to snatch, roll, or throw objects; hitting things to position them; manipulating things whose shapes are not completely known; and integration of manipulation with locomotion. In the future, a broad view of robotics will allow us to focus on fundamental principles and at the same time address a variety of new applications.

  10. Manipulating Tournaments in Cup and Round Robin Competitions

    CERN Document Server

    Russell, Tyrel; 10.1007/978-3-642-04428-1_3

    2009-01-01

    In sports competitions, teams can manipulate the result by, for instance, throwing games. We show that we can decide how to manipulate round robin and cup competitions, two of the most popular types of sporting competitions in polynomial time. In addition, we show that finding the minimal number of games that need to be thrown to manipulate the result can also be determined in polynomial time. Finally, we show that there are several different variations of standard cup competitions where manipulation remains polynomial.

  11. Development of improved processing and evaluation methods for high reliability structural ceramics for advanced heat engine applications Phase II. Final report

    Energy Technology Data Exchange (ETDEWEB)

    Pujari, V.J.; Tracey, D.M.; Foley, M.R. [and others

    1996-02-01

    The research program had as goals the development and demonstration of significant improvements in processing methods, process controls, and nondestructive evaluation (NDE) which can be commercially implemented to produce high reliability silicon nitride components for advanced heat engine applications at temperatures to 1370{degrees}C. In Phase I of the program a process was developed that resulted in a silicon nitride - 4 w% yttria HIP`ed material (NCX 5102) that displayed unprecedented strength and reliability. An average tensile strength of 1 GPa and a strength distribution following a 3-parameter Weibull distribution were demonstrated by testing several hundred buttonhead tensile specimens. The Phase II program focused on the development of methodology for colloidal consolidation producing green microstructure which minimizes downstream process problems such as drying, shrinkage, cracking, and part distortion during densification. Furthermore, the program focused on the extension of the process to gas pressure sinterable (GPS) compositions. Excellent results were obtained for the HIP composition processed for minimal density gradients, both with respect to room-temperature strength and high-temperature creep resistance. Complex component fabricability of this material was demonstrated by producing engine-vane prototypes. Strength data for the GPS material (NCX-5400) suggest that it ranks very high relative to other silicon nitride materials in terms of tensile/flexure strength ratio, a measure of volume quality. This high quality was derived from the closed-loop colloidal process employed in the program.

  12. MEMS reliability

    CERN Document Server

    Hartzell, Allyson L; Shea, Herbert R

    2010-01-01

    This book focuses on the reliability and manufacturability of MEMS at a fundamental level. It demonstrates how to design MEMs for reliability and provides detailed information on the different types of failure modes and how to avoid them.

  13. Dynamics of 3-DOF Hybrid Robot Manipulator

    Institute of Scientific and Technical Information of China (English)

    周兵; 毛泰祥; 杨汝清

    2004-01-01

    This paper introduces a 3-dof hybrid robotic manipulator which is constructed by combming a parallel mechanism and a pantograph to increase stiffness as well as workspace. And by analyzing its kinematics and dynamics with Lagrange's method, the dynamic model is obtained which is essential for feed-forward control of the manipulator. An explicit solution is given out. Finally, a simulation test is carried out on computers.

  14. Manipulating and Visualizing Proteins

    Energy Technology Data Exchange (ETDEWEB)

    Simon, Horst D.

    2003-12-05

    ProteinShop Gives Researchers a Hands-On Tool for Manipulating, Visualizing Protein Structures. The Human Genome Project and other biological research efforts are creating an avalanche of new data about the chemical makeup and genetic codes of living organisms. But in order to make sense of this raw data, researchers need software tools which let them explore and model data in a more intuitive fashion. With this in mind, researchers at Lawrence Berkeley National Laboratory and the University of California, Davis, have developed ProteinShop, a visualization and modeling program which allows researchers to manipulate protein structures with pinpoint control, guided in large part by their own biological and experimental instincts. Biologists have spent the last half century trying to unravel the ''protein folding problem,'' which refers to the way chains of amino acids physically fold themselves into three-dimensional proteins. This final shape, which resembles a crumpled ribbon or piece of origami, is what determines how the protein functions and translates genetic information. Understanding and modeling this geometrically complex formation is no easy matter. ProteinShop takes a given sequence of amino acids and uses visualization guides to help generate predictions about the secondary structures, identifying alpha helices and flat beta strands, and the coil regions that bind them. Once secondary structures are in place, researchers can twist and turn these pre-configurations until they come up with a number of possible tertiary structure conformations. In turn, these are fed into a computationally intensive optimization procedure that tries to find the final, three-dimensional protein structure. Most importantly, ProteinShop allows users to add human knowledge and intuition to the protein structure prediction process, thus bypassing bad configurations that would otherwise be fruitless for optimization. This saves compute cycles and accelerates

  15. Software reliability

    CERN Document Server

    Bendell, A

    1986-01-01

    Software Reliability reviews some fundamental issues of software reliability as well as the techniques, models, and metrics used to predict the reliability of software. Topics covered include fault avoidance, fault removal, and fault tolerance, along with statistical methods for the objective assessment of predictive accuracy. Development cost models and life-cycle cost models are also discussed. This book is divided into eight sections and begins with a chapter on adaptive modeling used to predict software reliability, followed by a discussion on failure rate in software reliability growth mo

  16. Giant optical manipulation.

    Science.gov (United States)

    Shvedov, Vladlen G; Rode, Andrei V; Izdebskaya, Yana V; Desyatnikov, Anton S; Krolikowski, Wieslaw; Kivshar, Yuri S

    2010-09-10

    We demonstrate a new principle of optical trapping and manipulation increasing more than 1000 times the manipulation distance by harnessing strong thermal forces while suppressing their stochastic nature with optical vortex beams. Our approach expands optical manipulation of particles into a gas media and provides a full control over trapped particles, including the optical transport and pinpoint positioning of ∼100  μm objects over a meter-scale distance with ±10  μm accuracy.

  17. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    Energy Technology Data Exchange (ETDEWEB)

    Joseph W. Geisinger, Ph.D.

    2001-07-31

    ARM Automation, Inc. is developing a framework of modular actuators that can address the DOE's wide range of robotics needs. The objective of this effort is to demonstrate the effectiveness of this technology by constructing a manipulator from these actuators within a glovebox for Automated Plutonium Processing (APP). At the end of the project, the system of actuators was used to construct several different manipulator configurations, which accommodate common glovebox tasks such as repackaging. The modular nature and quickconnects of this system simplify installation into ''hot'' boxes and any potential modifications or repair therein. This work focused on the development of self-contained robotic actuator modules including the embedded electronic controls for the purpose of building a manipulator system. Both of the actuators developed under this project contain the control electronics, sensors, motor, gear train, wiring, system communications and mechanical interfaces of a complete robotics servo device. Test actuators and accompanying DISC{trademark}s underwent validation testing at The University of Texas at Austin and ARM Automation, Inc. following final design and fabrication. The system also included custom links, an umbilical cord, an open architecture PC-based system controller, and operational software that permitted integration into a completely functional robotic manipulator system. The open architecture on which this system is based avoids proprietary interfaces and communication protocols which only serve to limit the capabilities and flexibility of automation equipment. The system was integrated and tested in the contractor's facility for intended performance and operations. The manipulator was tested using the full-scale equipment and process mock-ups. The project produced a practical and operational system including a quantitative evaluation of its performance and cost.

  18. In praise of manipulation

    NARCIS (Netherlands)

    Dowding, Keith; Van Hees, Martin

    2008-01-01

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

  19. In praise of manipulation

    NARCIS (Netherlands)

    Dowding, Keith; Van Hees, Martin

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

  20. Actuability of Underactuated Manipulators

    Science.gov (United States)

    1994-06-01

    of a manipulator with passive joints in operational space. IEEE Transactions on Robotics and Automation, 9(1), February 1993. [6] !irohiko Arai and...Susumu Tachi Position control of a manipulator with passive joints using dynamic coupling. IEEE Transactions on Robotics and Automation, 7(4), August

  1. Chapter 9: Reliability

    Energy Technology Data Exchange (ETDEWEB)

    Algora, Carlos; Espinet-Gonzalez, Pilar; Vazquez, Manuel; Bosco, Nick; Miller, David; Kurtz, Sarah; Rubio, Francisca; McConnell,Robert

    2016-04-15

    This chapter describes the accumulated knowledge on CPV reliability with its fundamentals and qualification. It explains the reliability of solar cells, modules (including optics) and plants. The chapter discusses the statistical distributions, namely exponential, normal and Weibull. The reliability of solar cells includes: namely the issues in accelerated aging tests in CPV solar cells, types of failure and failures in real time operation. The chapter explores the accelerated life tests, namely qualitative life tests (mainly HALT) and quantitative accelerated life tests (QALT). It examines other well proven and experienced PV cells and/or semiconductor devices, which share similar semiconductor materials, manufacturing techniques or operating conditions, namely, III-V space solar cells and light emitting diodes (LEDs). It addresses each of the identified reliability issues and presents the current state of the art knowledge for their testing and evaluation. Finally, the chapter summarizes the CPV qualification and reliability standards.

  2. Cell manipulation in microfluidics.

    Science.gov (United States)

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

    2013-06-01

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

  3. Osteopathic Manipulative Treatment

    Science.gov (United States)

    Campbell, Shannon M.; Walkowski, Stevan

    2012-01-01

    Dermatological diseases, such as dysesthesia syndromes, stasis dermatoses, and hyperhidrosis are difficult to treat due to their complex etiologies. Current theories suggest these diseases are caused by physiological imbalances, such as nerve impingement, localized tissue congestion, and impaired autonomic regulation. Osteopathic manipulative therapy targets these physiological dysfunctions and may serve as a beneficial therapeutic option. Osteopathic manipulative therapy techniques include high velocity low amplitude, muscle energy, counterstrain, myofascial release, craniosacral, and lymphatic drainage. An osteopathic manipulative therapy technique is chosen based on its physiological target for a particular disease. Osteopathic manipulative therapy may be useful alone or in combination with standard therapeutic options. However, due to the lack of standardized trials supporting the efficacy of osteopathic manipulative therapy treatment for dermatological disease, randomized, well-controlled studies are necessary to confirm its therapeutic value. PMID:23125887

  4. 76 FR 16240 - Mandatory Reliability Standards for Interconnection Reliability Operating Limits

    Science.gov (United States)

    2011-03-23

    ... Reliability Operating Limits AGENCY: Federal Energy Regulatory Commission, DOE. ACTION: Final rule. SUMMARY... instances of exceeding Interconnection Reliability. Operating Limits. The Commission also approves the... system operating limits other than interconnection reliability operating limits. DATES: Effective...

  5. ADVERTISING AS MEAN OF MANIPULATION OF PEOPLE

    Directory of Open Access Journals (Sweden)

    Camelia PAVEL

    2014-04-01

    Full Text Available The article provides a number of issues involved in defining manipulation, because both in the current language as in the specialty literature, the manipulation notion is used with multiple significations, often contradictory ones, and that it’s not firmly delimited by other notions from the same sphere, like persuasion or propaganda. The aim of the article will be, in the end, removing ambiguity that surrounds this concept and offering a better understanding of its very real effects on human lives. We advance and sustain the hypothesis that manipulation is an illegitimate process, justified by the structure of the human conscience and by the mechanisms of the social life. In addition, the paper provides a concrete example of manipulation of public through advertising contracts offered by Roşia Montană Gold Corporation. Finally conclusions were outlined.

  6. Sound visualization and manipulation

    CERN Document Server

    Kim, Yang-Hann

    2013-01-01

    Unique in addressing two different problems - sound visualization and manipulation - in a unified way Advances in signal processing technology are enabling ever more accurate visualization of existing sound fields and precisely defined sound field production. The idea of explaining both the problem of sound visualization and the problem of the manipulation of sound within one book supports this inter-related area of study.  With rapid development of array technologies, it is possible to do much in terms of visualization and manipulation, among other technologies involved with the spatial dis

  7. Reliability Engineering

    CERN Document Server

    Lazzaroni, Massimo

    2012-01-01

    This book gives a practical guide for designers and users in Information and Communication Technology context. In particular, in the first Section, the definition of the fundamental terms according to the international standards are given. Then, some theoretical concepts and reliability models are presented in Chapters 2 and 3: the aim is to evaluate performance for components and systems and reliability growth. Chapter 4, by introducing the laboratory tests, puts in evidence the reliability concept from the experimental point of view. In ICT context, the failure rate for a given system can be

  8. Manipulation by physiotherapists.

    Science.gov (United States)

    Cyriax, J

    1970-03-01

    Divergent opinions exist on whether or not physiotherapists should manipulate. The controversy can be simply resolved by pointing out that the past policy of withholding such tuition from physiotherapists has in no way diminished the public demand for manipulation; it has merely forced potential patients to the bonesetter. Even those doctors who resent the idea of physiotherapists manipulating must surely prefer its performance by trained personnel working under doctors' guidance to indiscriminate recourse to all sorts of largely untrained laymen without doctors' prior approval. Come what may, the patients are going to be manipulated; at least let this then be sought from trained physiotherapists who give treatment ethically to patients sent to them by doctors.

  9. Manipulating Strings in Python

    Directory of Open Access Journals (Sweden)

    William J. Turkel

    2012-07-01

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

  10. Clermont Ferrand uterine manipulator.

    Science.gov (United States)

    Nassif, Joseph; Wattiez, Arnaud

    2010-10-01

    Laparoscopy was considered marginal to surgical specialties before 1990. Rare innovations in instruments were done. With the realization of the first laparoscopic hysterectomy, this surgical route gained wide acceptance during the 1990s. Technical advances were made by instrument companies offering a wide variety of instruments to surgeons and by surgeons themselves to cope with problems during laparoscopic procedures. Manipulators are among the first instruments that surgeons suggested to ameliorate laparoscopic performance. Instruments that have multiple functions (i.e., grasping, cutting, coagulating) are more and more appreciated because surgeons can avoid changing instruments during surgery. Manipulators offer multifunctional assistance during gynecologic surgical procedures. They are useful for exposure purposes and also for reproductive surgery (and hysterectomy). This article explains the benefits and help that a manipulator can provide, especially in total laparoscopic hysterectomy. In the latter intervention, the manipulator will help to expose the pelvis by moving the uterus in any direction, to identify structures and find anatomical landmarks such as the vaginal fornices for culdotomy, and to avoid complications by pulling the ureter away from the operative field. Also, it is useful to avoid carbon dioxide leakage at the vaginal opening and to retrieve the surgical specimen. Each step is shown in a photograph with the specific hand movements corresponding to the manipulator's handling. We think that the use of manipulators during laparoscopic surgery is very useful and helps to reduce operative time.

  11. Assessment of in-hand manipulation: Tool development

    Directory of Open Access Journals (Sweden)

    Kavitha Raja

    2016-01-01

    Full Text Available Objective: The aim of this study is to develop an assessment tool for in-hand manipulation skills (IHMS and establish its psychometric properties. Design: Items are pooled based on literature and expert opinion. Content validation was performed by ten rehabilitation professionals. The test was administered to 123 typically developing, and 15 children with hand dysfunction-cerebral palsy (3, developmental coordination disorder (5, and Down syndrome (7. The latter group was given intervention, specific to upper extremity for 15 days, and test was readministered. Rasch analysis for rating scale structure, fit statistics, and dimension analysis was done. Results: Content validation was analyzed qualitatively. Suggestions were incorporated which consisted of instructions for scoring and test administration. The four-level ordinal rating scale was appropriate according to Rasch analysis. Of fifty items, three misfit items from translation subscale were removed based on fit statistics and clinical decision. The final test has 47 items. The tool had excellent inter-tester reliability and test stability and was responsive to change. Conclusion: Assessment of in-hand manipulation is a robust tool for clinical use in assessment IHMS.

  12. Atomic and molecular manipulation

    CERN Document Server

    Mayne, Andrew J

    2011-01-01

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

  13. Data manipulation with R

    CERN Document Server

    Abedin, Jaynal

    2014-01-01

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

  14. Data manipulation with R

    CERN Document Server

    Abedin, Jaynal

    2015-01-01

    This book is for all those who wish to learn about data manipulation from scratch and excel at aggregating data effectively. It is expected that you have basic knowledge of R and have previously done some basic administration work with R.

  15. Manipulating Combinatorial Structures.

    Science.gov (United States)

    Labelle, Gilbert

    This set of transparencies shows how the manipulation of combinatorial structures in the context of modern combinatorics can easily lead to interesting teaching and learning activities at every level of education from elementary school to university. The transparencies describe: (1) the importance and relations of combinatorics to science and…

  16. Microrobots to Manipulate Cells

    DEFF Research Database (Denmark)

    Glückstad, Jesper

    At DTU Fotonik we developed and harnessed the new and emerging research area of so-called Light Robotics including the 3D-printed micro-tools coined Wave-guided Optical Waveguides that can be real-time laser-manipulated in a 3D-volume with six-degrees-of-freedom. To be exploring the full potentia...

  17. Planar Serial Manipulator Motion Synthesis

    Institute of Scientific and Technical Information of China (English)

    Yanhui Wei; Han Han; Zepeng Wang; Xin Liu; Guangchun Li

    2015-01-01

    This paper deals with the universal serial manipulator on the inverse kinematics problem of plane type, the fast working space solution method, and the obstacle avoidance path planning method. With the vector projection as the main constraint condition of the target, it proposes a general form of the inverse kinematics solution which does not depend on the robot configuration of freedom degree. By identifying the target vector direction maximum and minimum workspace boundary and determining the destination vector by thick search on the workspace boundary method, an expressing method of the polar coordinate form of work space is then introduced. Finally, according to the form of plane trajectory planning for obstacle avoidance problem, the method of solving the inverse kinematics solution of the concave and convex forms of the safe obstacle avoidance area is improved. The simulation results verify that the proposed method has feasibility and generality.

  18. Microelectronics Reliability

    Science.gov (United States)

    2017-01-17

    convey any rights or permission to manufacture, use, or sell any patented invention that may relate to them. This report was cleared for public release...testing for reliability prediction of devices exhibiting multiple failure mechanisms. Also presented was an integrated accelerating and measuring ...13  Table 2  T, V, F and matrix versus  measured  FIT

  19. Kinematics at the Main Mechanism of a Railbound Forging Manipulator

    Directory of Open Access Journals (Sweden)

    Florian Ion Tiberiu Petrescu

    2015-09-01

    Full Text Available Normal 0 false false false EN-US X-NONE X-NONE MicrosoftInternetExplorer4 Heavy payload forging manipulators are mainly characterized by large load output and large capacitive load input. The relationship between outputs and inputs will greatly influence the control and the reliability. Forging manipulators have become more prevalent in the industry today. They are used to manipulate objects to be forged. The most common forging manipulators are moving on a railway to have a greater precision and stability. They have been called the railbound forging manipulators. In this paper we analyze the general kinematics of the main mechanism from a such manipulator. Kinematic scheme shows a typical forging manipulator, with the basic motions in operation process: walking, motion of the tong and buffering. The lifting mechanism consists of several parts including linkages, hydraulic drives and motion pairs. The principle of type design from the viewpoints of the relationship between output characteristics and actuator inputs is discussed. An idea of establishing the incidence relationship between output characteristics and actuator inputs is proposed. These novel forging manipulators which satisfy certain functional requirements provide an effective help for the design of forging manipulators.

  20. Manipulating colloids with charges and electric fields

    Science.gov (United States)

    Leunissen, M. E.

    2007-02-01

    This thesis presents the results of experimental investigations on a variety of colloidal suspensions. Colloidal particles are at least a hundred times larger than atoms or molecules, but suspended in a liquid they display the same phase behavior, including fluid and crystalline phases. Due to their relatively large size, colloids are much easier to investigate and manipulate, though. This makes them excellent condensed matter model systems. With this in mind, we studied micrometer-sized perspex (‘PMMA’) spheres, labeled with a fluorescent dye for high-resolution confocal microscopy imaging, and suspended in a low-polar mixture of the organic solvents cyclohexyl bromide and cis-decalin. This system offered us the flexibility to change the interactions between the particles from ‘hard-sphere-like’ to long-ranged repulsive (between like-charged particles), long-ranged attractive (between oppositely charged particles) and dipolar (in an electric field). We investigated the phase behavior of our suspensions as a function of the particle concentration, the ionic strength of the solvent and the particles’ charges. In this way, we obtained new insight in the freezing and melting behavior of like-charged and oppositely charged colloids. Interestingly, we found that the latter can readily form large crystals, thus defying the common belief that plus-minus interactions inevitably lead to aggregation. Moreover, we demonstrated that these systems can serve as a reliable model system for classical ionic matter (‘salts’), and that opposite-charge interactions can greatly facilitate the self-assembly of new structures with special properties for applications. On a slightly different note, we also studied electrostatic effects in mixtures of the cyclohexyl bromide solvent and water, both with and without colloidal particles present. This provided new insight in the stabilization mechanisms of oil-water emulsions and gave us control over the self-assembly of various

  1. Manipulation of quantum evolution

    Science.gov (United States)

    Cabera, David Jose Fernandez; Mielnik, Bogdan

    1994-01-01

    The free evolution of a non-relativistic charged particle is manipulated using time-dependent magnetic fields. It is shown that the application of a programmed sequence of magnetic pulses can invert the free evolution process, forcing an arbitrary wave packet to 'go back in time' to recover its past shape. The possibility of more general operations upon the Schrodinger wave packet is discussed.

  2. Genetic manipulation in biotechnology

    Energy Technology Data Exchange (ETDEWEB)

    Sherwood, R.; Atkinson, T.

    1981-04-04

    The role of genetic manipulation in opening up new possibilities in biotechnology is discussed and the basic steps in a recombinant DNA experiment are summarized. Some current and future applications of this technology in the fields of medicine, industry and agriculture are presented, including, conversion of wastes to SCP, chemicals and alcohols, plant improvement and the introduction of nitrogen fixation genes into plants as an alternative to the use of nitrogen fertilizers.

  3. Computer aided manipulator control

    Science.gov (United States)

    Bejczy, A. K.; Zawacki, R. L.

    1980-01-01

    This paper describes the hardware and software system of a dedicated mini- and microcomputer network developed at the JPL teleoperator project to aid the operator in real-time control of remote manipulators. The operator can be in series or in parallel with the control computer during operation. The purpose of the project is to develop, demonstrate and evaluate advanced supervisory control concepts and techniques for space applications. The paper concludes with a brief outline of future development plans and issues.

  4. Broodstock management and hormonal manipulations of fish reproduction.

    Science.gov (United States)

    Mylonas, Constantinos C; Fostier, Alexis; Zanuy, Silvia

    2010-02-01

    Control of reproductive function in captivity is essential for the sustainability of commercial aquaculture production, and in many fishes it can be achieved by manipulating photoperiod, water temperature or spawning substrate. The fish reproductive cycle is separated in the growth (gametogenesis) and maturation phase (oocyte maturation and spermiation), both controlled by the reproductive hormones of the brain, pituitary and gonad. Although the growth phase of reproductive development is concluded in captivity in most fishes-the major exemption being the freshwater eel (Anguilla spp.), oocyte maturation (OM) and ovulation in females, and spermiation in males may require exogenous hormonal therapies. In some fishes, these hormonal manipulations are used only as a management tool to enhance the efficiency of egg production and facilitate hatchery operations, but in others exogenous hormones are the only way to produce fertilized eggs reliably. Hormonal manipulations of reproductive function in cultured fishes have focused on the use of either exogenous luteinizing hormone (LH) preparations that act directly at the level of the gonad, or synthetic agonists of gonadotropin-releasing hormone (GnRHa) that act at the level of the pituitary to induce release of the endogenous LH stores, which, in turn act at the level of the gonad to induce steroidogenesis and the process of OM and spermiation. After hormonal induction of maturation, broodstock should spawn spontaneously in their rearing enclosures, however, the natural breeding behavior followed by spontaneous spawning may be lost in aquaculture conditions. Therefore, for many species it is also necessary to employ artificial gamete collection and fertilization. Finally, a common question in regards to hormonal therapies is their effect on gamete quality, compared to naturally maturing or spawning broodfish. The main factors that may have significant consequences on gamete quality-mainly on eggs-and should be considered

  5. Endocavity Ultrasound Probe Manipulators.

    Science.gov (United States)

    Stoianovici, Dan; Kim, Chunwoo; Schäfer, Felix; Huang, Chien-Ming; Zuo, Yihe; Petrisor, Doru; Han, Misop

    2013-06-01

    We developed two similar structure manipulators for medical endocavity ultrasound probes with 3 and 4 degrees of freedom (DoF). These robots allow scanning with ultrasound for 3-D imaging and enable robot-assisted image-guided procedures. Both robots use remote center of motion kinematics, characteristic of medical robots. The 4-DoF robot provides unrestricted manipulation of the endocavity probe. With the 3-DoF robot the insertion motion of the probe must be adjusted manually, but the device is simpler and may also be used to manipulate external-body probes. The robots enabled a novel surgical approach of using intraoperative image-based navigation during robot-assisted laparoscopic prostatectomy (RALP), performed with concurrent use of two robotic systems (Tandem, T-RALP). Thus far, a clinical trial for evaluation of safety and feasibility has been performed successfully on 46 patients. This paper describes the architecture and design of the robots, the two prototypes, control features related to safety, preclinical experiments, and the T-RALP procedure.

  6. A History of Manipulative Therapy

    OpenAIRE

    Pettman, Erland

    2007-01-01

    Manipulative therapy has known a parallel development throughout many parts of the world. The earliest historical reference to the practice of manipulative therapy in Europe dates back to 400 BCE. Over the centuries, manipulative interventions have fallen in and out of favor with the medical profession. Manipulative therapy also was initially the mainstay of the two leading alternative health care systems, osteopathy and chiropractic, both founded in the latter part of the 19th century in res...

  7. Reliability engineering theory and practice

    CERN Document Server

    Birolini, Alessandro

    2014-01-01

    This book shows how to build in, evaluate, and demonstrate reliability and availability of components, equipment, systems. It presents the state-of-theart of reliability engineering, both in theory and practice, and is based on the author's more than 30 years experience in this field, half in industry and half as Professor of Reliability Engineering at the ETH, Zurich. The structure of the book allows rapid access to practical results. This final edition extend and replace all previous editions. New are, in particular, a strategy to mitigate incomplete coverage, a comprehensive introduction to human reliability with design guidelines and new models, and a refinement of reliability allocation, design guidelines for maintainability, and concepts related to regenerative stochastic processes. The set of problems for homework has been extended. Methods & tools are given in a way that they can be tailored to cover different reliability requirement levels and be used for safety analysis. Because of the Appendice...

  8. Spatial manipulation with microfluidics

    Directory of Open Access Journals (Sweden)

    Benjamin eLin

    2015-04-01

    Full Text Available Biochemical gradients convey information through space, time, and concentration, and are ultimately capable of spatially resolving distinct cellular phenotypes, such as differentiation, proliferation, and migration. How these gradients develop, evolve, and function during development, homeostasis, and various disease states is a subject of intense interest across a variety of disciplines. Microfluidic technologies have become essential tools for investigating gradient sensing in vitro due to their ability to precisely manipulate fluids on demand in well controlled environments at cellular length scales. This minireview will highlight their utility for studying gradient sensing along with relevant applications to biology.

  9. Linear- rubbing Manipulation

    Institute of Scientific and Technical Information of China (English)

    SHEN Guo-quan; XIAO Yuan-chun

    2003-01-01

    @@ Linear-rubbing is a characteristic technique in the academic school of internal exercise massage in Shanghai. It was known as "flat pushing method" in the past times. The academic school of internal exercise Tuina finds, in the clinical practice of flat pushing, that if the internal exercise accumuhtes in the palm and one-way movement is replaced by two-way movement, the kinetic energy may be transformed into heat energy, bringing about a new unique manipulating technique, which is rather different from the usual flat pushing no longer and now called linear-rubbing therapy.

  10. Performance measurement of mobile manipulators

    Science.gov (United States)

    Bostelman, Roger; Hong, Tsai; Marvel, Jeremy

    2015-05-01

    This paper describes a concept for measuring the reproducible performance of mobile manipulators to be used for assembly or other similar tasks. An automatic guided vehicle with an onboard robot arm was programmed to repeatedly move to and stop at a novel, reconfigurable mobile manipulator artifact (RMMA), sense the RMMA, and detect targets on the RMMA. The manipulator moved a laser retroreflective sensor to detect small reflectors that can be reconfigured to measure various manipulator positions and orientations (poses). This paper describes calibration of a multi-camera, motion capture system using a 6 degree-of-freedom metrology bar and then using the camera system as a ground truth measurement device for validation of the reproducible mobile manipulator's experiments and test method. Static performance measurement of a mobile manipulator using the RMMA has proved useful for relatively high tolerance pose estimation and other metrics that support standard test method development for indexed and dynamic mobile manipulator applications.

  11. Grid reliability

    CERN Document Server

    Saiz, P; Rocha, R; Andreeva, J

    2007-01-01

    We are offering a system to track the efficiency of different components of the GRID. We can study the performance of both the WMS and the data transfers At the moment, we have set different parts of the system for ALICE, ATLAS, CMS and LHCb. None of the components that we have developed are VO specific, therefore it would be very easy to deploy them for any other VO. Our main goal is basically to improve the reliability of the GRID. The main idea is to discover as soon as possible the different problems that have happened, and inform the responsible. Since we study the jobs and transfers issued by real users, we see the same problems that users see. As a matter of fact, we see even more problems than the end user does, since we are also interested in following up the errors that GRID components can overcome by themselves (like for instance, in case of a job failure, resubmitting the job to a different site). This kind of information is very useful to site and VO administrators. They can find out the efficien...

  12. A spatial operator algebra for manipulator modeling and control

    Science.gov (United States)

    Rodriguez, G.; Kreutz, K.; Milman, M.

    1988-01-01

    A powerful new spatial operator algebra for modeling, control, and trajectory design of manipulators is discussed along with its implementation in the Ada programming language. Applications of this algebra to robotics include an operator representation of the manipulator Jacobian matrix; the robot dynamical equations formulated in terms of the spatial algebra, showing the complete equivalence between the recursive Newton-Euler formulations to robot dynamics; the operator factorization and inversion of the manipulator mass matrix which immediately results in O(N) recursive forward dynamics algorithms; the joint accelerations of a manipulator due to a tip contact force; the recursive computation of the equivalent mass matrix as seen at the tip of a manipulator; and recursive forward dynamics of a closed chain system. Finally, additional applications and current research involving the use of the spatial operator algebra are discussed in general terms.

  13. Adaptive Control of Flexible Redundant Manipulators Using Neural Networks

    Institute of Scientific and Technical Information of China (English)

    SONG Yimin; LI Jianxin; WANG Shiyu; LIU Jianping

    2006-01-01

    An investigation on the neural networks based active vibration control of flexible redundant manipulators was conducted.The smart links of the manipulator were synthesized with the flexible links to which were attached piezoceramic actuators and strain gauge sensors.A nonlinear adaptive control strategy named neural networks based indirect adaptive control (NNIAC) was employed to improve the dynamic performance of the manipulator.The mathematical model of the 4-layered dynamic recurrent neural networks (DRNN) was introduced.The neuro-identifier and the neurocontroller featuring the DRNN topology were designed off line so as to enhance the initial robustness of the NNIAC.By adjusting the neuro-identifier and the neuro-controller alternatively,the manipulator was controlled on line for achieving the desired dynamic performance.Finally,a planar 3R redundant manipulator with one smart link was utilized as an illustrative example.The simulation results proved the validity of the control strategy.

  14. The rigid-flexible nonlinear robotic manipulator: Modeling and control

    Science.gov (United States)

    Fenili, André; Balthazar, José Manoel

    2011-05-01

    The State-Dependent Riccati Equation (SDRE) control of a nonlinear rigid-flexible two link robotic manipulator is investigated. Different cases are considered assuming small deviations and large deviations from the desired final states. The nonlinear governing equations of motion are coupled, providing considerable excitation of all the nonlinear terms. The results present satisfactory final states but also undesirable overshoot.

  15. Hydraulic manipulator research at ORNL

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-03-01

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

  16. Software Reliability Experimentation and Control

    Institute of Scientific and Technical Information of China (English)

    Kai-Yuan Cai

    2006-01-01

    This paper classifies software researches as theoretical researches, experimental researches, and engineering researches, and is mainly concerned with the experimental researches with focus on software reliability experimentation and control. The state-of-the-art of experimental or empirical studies is reviewed. A new experimentation methodology is proposed, which is largely theory discovering oriented. Several unexpected results of experimental studies are presented to justify the importance of software reliability experimentation and control. Finally, a few topics that deserve future investigation are identified.

  17. Reliability-Based Code Calibration

    DEFF Research Database (Denmark)

    Faber, M.H.; Sørensen, John Dalsgaard

    2003-01-01

    The present paper addresses fundamental concepts of reliability based code calibration. First basic principles of structural reliability theory are introduced and it is shown how the results of FORM based reliability analysis may be related to partial safety factors and characteristic values....... Thereafter the code calibration problem is presented in its principal decision theoretical form and it is discussed how acceptable levels of failure probability (or target reliabilities) may be established. Furthermore suggested values for acceptable annual failure probabilities are given for ultimate...... and serviceability limit states. Finally the paper describes the Joint Committee on Structural Safety (JCSS) recommended procedure - CodeCal - for the practical implementation of reliability based code calibration of LRFD based design codes....

  18. Manipulation with molecules

    Directory of Open Access Journals (Sweden)

    M.D Barnes

    2002-09-01

    For many years now, researchers in materials and photonics have been keenly interested in the design and fabrication of structures that confine and manipulate electromagnetic fields on length scales comparable to optical wavelengths. The ultimate goal is an all-optical information processing and computation platform using photons in ways analogous to electrons in silicon devices on similar length scales. Specific focus areas such as wafer-scale integration, parallel processing, and frequency management (e.g. add-drop filters, on micron or sub-micron length scales are active areas of photonics research. While a great deal of progress has been made in the burgeoning field of microphotonics, we are still a long way off from realizing important goals such as the optical transistor and all-optical integrated circuits1.

  19. Interactive protein manipulation

    Energy Technology Data Exchange (ETDEWEB)

    SNCrivelli@lbl.gov

    2003-07-01

    We describe an interactive visualization and modeling program for the creation of protein structures ''from scratch''. The input to our program is an amino acid sequence -decoded from a gene- and a sequence of predicted secondary structure types for each amino acid-provided by external structure prediction programs. Our program can be used in the set-up phase of a protein structure prediction process; the structures created with it serve as input for a subsequent global internal energy minimization, or another method of protein structure prediction. Our program supports basic visualization methods for protein structures, interactive manipulation based on inverse kinematics, and visualization guides to aid a user in creating ''good'' initial structures.

  20. How to manipulate polls

    Directory of Open Access Journals (Sweden)

    Balăşescu. M.

    2011-01-01

    Full Text Available Every time you open a newspaper, listen to the radio, watch TV or browse the Internet, you will see some numbers and stats. All these numbers come from different sources like a national statistics office, an organization or an individual that has conducted research. These numbers can give a brief overview of the world surrounding us and are often used by people or organizations to strengthen their message. The way experts collect all the raw data to come up with all these clear-cut numbers is an important part of the process. In this respect, an experiment has been designed to see how a person can manipulate a poll to obtain the desired numbers and a lot of ways have been found.

  1. Modeling, Simulation and Position Control of 3DOF Articulated Manipulator

    Directory of Open Access Journals (Sweden)

    Hossein Sadegh Lafmejani

    2014-08-01

    Full Text Available In this paper, the modeling, simulation and control of 3 degrees of freedom articulated robotic manipulator have been studied. First, we extracted kinematics and dynamics equations of the mentioned manipulator by using the Lagrange method. In order to validate the analytical model of the manipulator we compared the model simulated in the simulation environment of Matlab with the model was simulated with the SimMechanics toolbox. A sample path has been designed for analyzing the tracking subject. The system has been linearized with feedback linearization and then a PID controller was applied to track a reference trajectory. Finally, the control results have been compared with a nonlinear PID controller.

  2. Control and user interface design for compact manipulators in minimally-invasive surgery

    OpenAIRE

    Berkelman, Peter; Boidard, Eric; Cinquin, Philippe; Troccaz, Jocelyne

    2005-01-01

    International audience; This paper describes the control system and user command interfaces developed for a lightweight, compact, endoscope camera manipulator prototype for robot-assistedminimally invasive surgery. A complete teleoperated minimallyinvasive surgical system in development is also based on using lightweight, compact manipulators with simple, reliable, and robust controllers. The endoscope manipulator is controlled by a single-board computer and individual motor controllers. The ...

  3. The manipulation of online newspapers

    OpenAIRE

    CONSTANTIN SCHIFIRNEŢ

    2008-01-01

    The paper studies the manipulation on comments from generalist online newspapers. It is analysed the contexts of interactivity between online media and public. The forums media are an alternative to tendencies of manipulation exerted by media. At the same time, some comments create an image or argument that favours their particular interests. The tactics of commentators may include the use of logical fallacies and propaganda techniques.They promote a manipulation of opinions, atitudes and be...

  4. Inverse Dynamics of Flexible Manipulators

    OpenAIRE

    Moberg, Stig; Hanssen, Sven

    2010-01-01

    High performance robot manipulators, in terms of cycle time and accuracy, require well designed control methods, based on accurate dynamic models. Robot manipulators are traditionally described by the flexible joint model or the flexible link model. These models only consider elasticity in the rotational direction. When these models are used for control or simulation, the accuracy can be limited due to the model simplifications, since a real manipulator has a distributed flexibility inall directi...

  5. Non-manipulation quantitative designs.

    Science.gov (United States)

    Rumrill, Phillip D

    2004-01-01

    The article describes non-manipulation quantitative designs of two types, correlational and causal comparative studies. Both of these designs are characterized by the absence of random assignment of research participants to conditions or groups and non-manipulation of the independent variable. Without random selection or manipulation of the independent variable, no attempt is made to draw causal inferences regarding relationships between independent and dependent variables. Nonetheless, non-manipulation studies play an important role in rehabilitation research, as described in this article. Examples from the contemporary rehabilitation literature are included. Copyright 2004 IOS Press

  6. HUMAN NATURE: BETWEEN PERSUASION AND MANIPULATION

    Directory of Open Access Journals (Sweden)

    CRISTINA LUCIA ȘUTIU

    2014-11-01

    Full Text Available Each word is an attempt to influence other persons, as Alex Mucchielli said. Communication, by using words, is a characteristic of human beings, and it plays an important role in everyday life. Communication can be seen as an attempt to share information through a process of symbolic interaction between human beings. It is an essential life process through which humans create, transmit and utilize information by words. Putting words in act, we can express feelings, we can share opinions and we can obtain whatever we want, finally. It is essential to take into account certain ethical rules whenever we start a communication process. As the main purpose of communication is to convince people, this goal can be achieved only by using persuasion and/or manipulation. The last century is a sort of witness as regards the use of words in order to persuade people to adhere to certain ideological precepts and to determine them to act in a certain desirable way by the initiators of the communication process. Practically, there is a fine line between persuasion and manipulation; and in this situation, it is hard for ordinary people to distinguish between them. Manipulation appears like a persuasive process and it hides its true aims. This is the only way by which it can operate and for that it is considered immoral and invasive in the mind and soul of people. Human beings are now in the position to look for a way to protect themselves against such an invasive act and to find a way to distinguish between correct and false information. What can we do? In this study we analyze persuasion and manipulation from an ethical point of view and we search for paths to protect ourselves from the manipulative techniques.

  7. Frontiers of reliability

    CERN Document Server

    Basu, Asit P; Basu, Sujit K

    1998-01-01

    This volume presents recent results in reliability theory by leading experts in the world. It will prove valuable for researchers, and users of reliability theory. It consists of refereed invited papers on a broad spectrum of topics in reliability. The subjects covered include Bayesian reliability, Bayesian reliability modeling, confounding in a series system, DF tests, Edgeworth approximation to reliability, estimation under random censoring, fault tree reduction for reliability, inference about changes in hazard rates, information theory and reliability, mixture experiment, mixture of Weibul

  8. Design and realization of sort manipulator of crystal-angle sort machine

    Science.gov (United States)

    Wang, Ming-shun; Chen, Shu-ping; Guan, Shou-ping; Zhang, Yao-wei

    2005-12-01

    It is a current tendency of development in automation technology to replace manpower with manipulators in working places where dangerous, harmful, heavy or repetitive work is involved. The sort manipulator is installed in a crystal-angle sort machine to take the place of manpower, and engaged in unloading and sorting work. It is the outcome of combing together mechanism, electric transmission, and pneumatic element and micro-controller control. The step motor makes the sort manipulator operate precisely. The pneumatic elements make the sort manipulator be cleverer. Micro-controller's software bestows some simple artificial intelligence on the sort manipulator, so that it can precisely repeat its unloading and sorting work. The combination of manipulator's zero position and step motor counting control puts an end to accumulating error in long time operation. A sort manipulator's design in the practice engineering has been proved to be correct and reliable.

  9. Elementary School Teachers' Manipulative Use

    Science.gov (United States)

    Uribe-Florez, Lida J.; Wilkins, Jesse L. M.

    2010-01-01

    Using data from 503 inservice elementary teachers, this study investigated the relationship between teachers' background characteristics, teachers' beliefs about manipulatives, and the frequency with which teachers use manipulatives as part of their mathematics instruction. Findings from the study show that teachers' grade level and beliefs about…

  10. Ideological Manipulation in Translation Practice

    Institute of Scientific and Technical Information of China (English)

    张靖

    2011-01-01

    Lefevere's rewriting theory states that translation is a rewriting of the original text,all rewritings reflect a certain ideology and a poetics and as such manipulate literature to function in a given society.Based on this theory,some translation examples are illustrated and analyzed here to show that political and aesthetic ideology will inevitably manipulate translation in different aspects.

  11. Thermoelectrical manipulation of nanomagnets

    Science.gov (United States)

    Kadigrobov, A. M.; Andersson, S.; Radić, D.; Shekhter, R. I.; Jonson, M.; Korenivski, V.

    2010-06-01

    We investigate the interplay between the thermodynamic properties and spin-dependent transport in a mesoscopic device based on a magnetic multilayer (F/f/F), in which two strongly ferromagnetic layers (F) are exchange-coupled through a weakly ferromagnetic spacer (f) with the Curie temperature in the vicinity of room temperature. We show theoretically that the Joule heating produced by the spin-dependent current allows a spin-thermoelectronic control of the ferromagnetic-to-paramagnetic (f/N) transition in the spacer and, thereby, of the relative orientation of the outer F-layers in the device (spin-thermoelectric manipulation of nanomagnets). Supporting experimental evidence of such thermally-controlled switching from parallel to antiparallel magnetization orientations in F/f(N)/F sandwiches is presented. Furthermore, we show theoretically that local Joule heating due to a high concentration of current in a magnetic point contact or a nanopillar can be used to reversibly drive the weakly ferromagnetic spacer through its Curie point and thereby exchange couple and decouple the two strongly ferromagnetic F-layers. For the devices designed to have an antiparallel ground state above the Curie point of the spacer, the associated spin-thermionic parallel to antiparallel switching causes magnetoresistance oscillations whose frequency can be controlled by proper biasing from essentially dc to GHz. We discuss in detail an experimental realization of a device that can operate as a thermomagnetoresistive switch or oscillator.

  12. Genetic Manipulations in Dermatophytes.

    Science.gov (United States)

    Alshahni, Mohamed Mahdi; Yamada, Tsuyoshi

    2017-02-01

    Dermatophytes are a group of closely related fungi that nourish on keratinized materials for their survival. They infect stratum corneum, nails, and hair of human and animals, accounting the largest portion of fungi causing superficial mycoses. Huge populations are suffering from dermatophytoses, though the biology of these fungi is largely unknown yet. Reasons are partially attributed to the poor amenability of dermatophytes to genetic manipulation. However, advancements in this field over the last decade made it possible to conduct genetic studies to satisfying extents. These included genetic transformation methods, indispensable molecular tools, i.e., dominant selectable markers, inducible promoter, and marker recycling system, along with improving homologous recombination frequency and gene silencing. Furthermore, annotated genome sequences of several dermatophytic species have recently been available, ensuring an optimal recruitment of the molecular tools to expand our knowledge on these fungi. In conclusion, the establishment of basic molecular tools and the availability of genomic data will open a new era that might change our understanding on the biology and pathogenicity of this fungal group.

  13. The Manipulative Discourse of Gandalf

    Directory of Open Access Journals (Sweden)

    Farid Mohammadi

    2014-07-01

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

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

    Directory of Open Access Journals (Sweden)

    Ioana POPESCU

    2015-12-01

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

  15. Final Report: Identification and Manipulation of Novel Topological Phases

    Science.gov (United States)

    2016-02-09

    5,7,9] in the limit of low temperatures. The structure of the ground state should then depend on the details of the extra term in the Hamiltonian...18/2012 Received Paper 1.00 D. Hsieh, F. Mahmood, D. H. Torchinsky, G. Cao, N. Gedik. Observation of a metal -to-insulator transition with both Mott...electronic structure of Sr2IrO4 . Taking advantage of qualitatively distinct relaxation dynamics of photoexcited carriers exhibited by gapped and gapless

  16. Delta-Reliability

    OpenAIRE

    Eugster, P.; Guerraoui, R.; Kouznetsov, P.

    2001-01-01

    This paper presents a new, non-binary measure of the reliability of broadcast algorithms, called Delta-Reliability. This measure quantifies the reliability of practical broadcast algorithms that, on the one hand, were devised with some form of reliability in mind, but, on the other hand, are not considered reliable according to the ``traditional'' notion of broadcast reliability [HT94]. Our specification of Delta-Reliability suggests a further step towards bridging the gap between theory and...

  17. Language of Transducer Manipulation: Codifying Terms for Effective Teaching.

    Science.gov (United States)

    Bahner, David P; Blickendorf, J Matthew; Bockbrader, Marcia; Adkins, Eric; Vira, Amar; Boulger, Creagh; Panchal, Ashish R

    2016-01-01

    There is a need for consistent, repetitive, and reliable terminology to describe the basic manipulations of the ultrasound transducer. Previously, 5 basic transducer motions have been defined and used in education. However, even with this effort, there is still a lack of consistency and clarity in describing transducer manipulation and motion. In this technical innovation, we describe an expanded definition of transducer motions, which include movements to change the transducer's angle of insonation to the target as well as the location on the body to optimize the ultrasound image. This new terminology may allow for consistent teaching and improved communication in the process of image acquisition.

  18. Particle Manipulation by Miniaturised Dielectrophoretic Devices

    Directory of Open Access Journals (Sweden)

    Francis E.H. Tay

    2009-11-01

    Full Text Available This paper presents a review of dielectrophoresis (DEP devices which provide an effective way to manipulate and separate micro- or nano-bioparticles automatically and quickly by polarisation effects in a nonuniform electric field. A detailed review for designs and operation principles of various microfabricated DEP devicesis given and some advantages and disadvantages of current devices are noted to the final system to attain the unprecedented levels of performance.Defence Science Journal, 2009, 59(6, pp.595-604, DOI:http://dx.doi.org/10.14429/dsj.59.1564

  19. Reliability computation from reliability block diagrams

    Science.gov (United States)

    Chelson, P. O.; Eckstein, E. Y.

    1975-01-01

    Computer program computes system reliability for very general class of reliability block diagrams. Four factors are considered in calculating probability of system success: active block redundancy, standby block redundancy, partial redundancy, and presence of equivalent blocks in the diagram.

  20. Omnidirectional Analysis of Spatial Manipulator

    Directory of Open Access Journals (Sweden)

    Yuquan Leng

    2015-01-01

    Full Text Available Space manipulators are mainly used in the spatial loading task. According to problems of the spatial loading diversity, the testing loading installing position, and the utilization ratio of a test platform, the space manipulator is asked to evaluate the position and attitude of itself. This paper proposes the Point Omnidirectional Coefficient (POC with unit attitude sphere/circle to describe attitude of the end-effector, which evaluates any points in the attainable space of the manipulators, in combination with the manipulation’s position message, and get relationships between its position and attitude of all points in the attainable space. It represents the mapping between sphere surface and plane for mission attitude constraints and the method for calculating volume of points space including attainable space, Omnidirectional space, and mission attitude space. Furthermore, the Manipulator Omnidirectional Coefficient based on mission or not is proposed for evaluating manipulator performance. Through analysis and simulation about 3D and 2D manipulators, the results show that the above theoretical approach is feasible and the relationships about link lengths, joints angles, attainable space, and Manipulator Omnidirectional Coefficient are drawn for guiding design.

  1. Reliability-Based Optimization in Structural Engineering

    DEFF Research Database (Denmark)

    Enevoldsen, I.; Sørensen, John Dalsgaard

    1994-01-01

    -based optimal inspection planning and reliability-based experiment planning. It is explained how these optimization problems can be solved by application of similar techniques. The reliability estimation is limited to first order reliability methods (FORM) for both component and systems reliability evaluation......, inclusion of the finite element method as the response evaluation tool and how the size of the problem can be made practicable. Finally, the important task of model evaluation and sensitivity analysis of the optimal solution is treated including a strategy for model-making with both pre and post-analysis.......In this paper reliability-based optimization problems in structural engineering are formulated on the basis of the classical decision theory. Several formulations are presented: Reliability-based optimal design of structural systems with component or systems reliability constraints, reliability...

  2. Manipulator control by exact linearization

    Science.gov (United States)

    Kruetz, K.

    1987-01-01

    Comments on the application to rigid link manipulators of geometric control theory, resolved acceleration control, operational space control, and nonlinear decoupling theory are given, and the essential unity of these techniques for externally linearizing and decoupling end effector dynamics is discussed. Exploiting the fact that the mass matrix of a rigid link manipulator is positive definite, a consequence of rigid link manipulators belonging to the class of natural physical systems, it is shown that a necessary and sufficient condition for a locally externally linearizing and output decoupling feedback law to exist is that the end effector Jacobian matrix be nonsingular. Furthermore, this linearizing feedback is easy to produce.

  3. Quantification of the reliability of personnel actions from the evaluation of actual German operational experience. Final report; Quantifizierung der Zuverlaessigkeit von Personalhandlungen durch Auswertung der aktuellen deutschen Betriebserfahrung. Abschlussbericht

    Energy Technology Data Exchange (ETDEWEB)

    Preischl, W.; Fassmann, W.

    2013-07-15

    The results and their uncertainty bounds of PSA studies are considerably impacted by the assessment of human reliability. But the amount of available, generic data is not sufficient to evaluate all human actions considered in a modern PSA study adequately. Further the data are not sufficiently validated and rely as well as the proposed uncertainty bounds on expert judgement. This research project as well as the preceding project /GRS 10/ validated data recommended by the German PSA Guidelines and enlarged the amount of available data. The findings may contribute to an update of the German PSA Guidelines. In a first step of the project information about reportable events in German nuclear power plants with observed human errors (event reports, expert statements, technical documents, interviews and plant walk downs with subject matter experts from the plants) were analysed. The investigation resulted in 67 samples describing personal activities, performance conditions, the number of observed errors and the number of action performance. In a second step a new methodology was developed and applied in a pilot plant. The objective was to identify undoubtedly error free safety relevant actions, their performance conditions, and frequency as well as to prove and demonstrate that probabilistic data can be derived from that operational experience (OE). The application in the pilot plant resulted in 18 ''error free'' samples characterizing human reliability. All available samples were evaluated by use of the method of Bayes. That commonly accepted methodology was applied in order to derive probabilistic data based on samples taken from operational experience. A thorough analysis of the obtained results shows that both data sources (OE reportable events, OE with undoubtedly error free action performance) provide data with comparable quality and validity. At the end of the research project the following products are available. - Methods to select samples

  4. Dominating Manipulations in Voting with Partial Information

    CERN Document Server

    Conitzer, Vincent; Xia, Lirong

    2011-01-01

    We consider manipulation problems when the manipulator only has partial information about the votes of the nonmanipulators. Such partial information is described by an information set, which is the set of profiles of the nonmanipulators that are indistinguishable to the manipulator. Given such an information set, a dominating manipulation is a non-truthful vote that the manipulator can cast which makes the winner at least as preferable (and sometimes more preferable) as the winner when the manipulator votes truthfully. When the manipulator has full information, computing whether or not there exists a dominating manipulation is in P for many common voting rules (by known results). We show that when the manipulator has no information, there is no dominating manipulation for many common voting rules. When the manipulator's information is represented by partial orders and only a small portion of the preferences are unknown, computing a dominating manipulation is NP-hard for many common voting rules. Our results t...

  5. Autonomous Industrial Mobile Manipulation (AIMM)

    DEFF Research Database (Denmark)

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

    2012-01-01

    Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper investiga......Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper......; sustainability, configuration, adaptation, autonomy, positioning, manipulation and grasping, robot-robot interaction, human-robot interaction, process quality, dependability, and physical properties. Findings - The concise yet comprehensive review provides both researchers (academia) and practitioners (industry...... Manipulation (AIMM)....

  6. VLSI Reliability in Europe

    NARCIS (Netherlands)

    Verweij, Jan F.

    1993-01-01

    Several issue's regarding VLSI reliability research in Europe are discussed. Organizations involved in stimulating the activities on reliability by exchanging information or supporting research programs are described. Within one such program, ESPRIT, a technical interest group on IC reliability was

  7. Manipulators inspired by the tongue of the chameleon.

    Science.gov (United States)

    Debray, Alexis

    2011-06-01

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

  8. Reliability Analysis of Tubular Joints in Offshore Structures

    DEFF Research Database (Denmark)

    Thoft-Christensen, Palle; Sørensen, John Dalsgaard

    1987-01-01

    Reliability analysis of single tubular joints and offshore platforms with tubular joints is" presented. The failure modes considered are yielding, punching, buckling and fatigue failure. Element reliability as well as systems reliability approaches are used and illustrated by several examples....... Finally, optimal design of tubular.joints with reliability constraints is discussed and illustrated by an example....

  9. CR reliability testing

    Science.gov (United States)

    Honeyman-Buck, Janice C.; Rill, Lynn; Frost, Meryll M.; Staab, Edward V.

    1998-07-01

    The purpose of this work was to develop a method for systematically testing the reliability of a CR system under realistic daily loads in a non-clinical environment prior to its clinical adoption. Once digital imaging replaces film, it will be very difficult to revert back should the digital system become unreliable. Prior to the beginning of the test, a formal evaluation was performed to set the benchmarks for performance and functionality. A formal protocol was established that included all the 62 imaging plates in the inventory for each 24-hour period in the study. Imaging plates were exposed using different combinations of collimation, orientation, and SID. Anthropomorphic phantoms were used to acquire images of different sizes. Each combination was chosen randomly to simulate the differences that could occur in clinical practice. The tests were performed over a wide range of times with batches of plates processed to simulate the temporal constraints required by the nature of portable radiographs taken in the Intensive Care Unit (ICU). Current patient demographics were used for the test studies so automatic routing algorithms could be tested. During the test, only three minor reliability problems occurred, two of which were not directly related to the CR unit. One plate was discovered to cause a segmentation error that essentially reduced the image to only black and white with no gray levels. This plate was removed from the inventory to be replaced. Another problem was a PACS routing problem that occurred when the DICOM server with which the CR was communicating had a problem with disk space. The final problem was a network printing failure to the laser cameras. Although the units passed the reliability test, problems with interfacing to workstations were discovered. The two issues that were identified were the interpretation of what constitutes a study for CR and the construction of the look-up table for a proper gray scale display.

  10. Control landscape for ultrafast manipulation by a qubit

    Science.gov (United States)

    Pechen, Alexander; Il'in, Nikolay

    2017-02-01

    In this work we study extrema of objective functionals for ultrafast manipulation by a qubit. Traps are extrema of the objective functionals which are optimal for manipulation by quantum systems only locally, not globally. Prior work has devoted a large amount of effort to the analysis of traps for quantum systems controlled by laser pulses which are long enough, and, for example, manipulation by a qubit with long control pulses was shown to be trap-free. Ultrafast femtosecond and attosecond control has now become widely applicable, which makes the analysis of traps on the ultrafast time scale a necessity. We complete such analysis for a qubit and show that ultrafast state transfer in a qubit remains trap-free for a wide range of the initial and final states of the qubit. We prove that for this range the probability of transition between the initial and the final states has a saddle but no traps.

  11. Optimal, Reliability-Based Code Calibration

    DEFF Research Database (Denmark)

    Sørensen, John Dalsgaard

    2002-01-01

    acceptable levels of failure probability (or target reliabilities) may be established. Furthermore suggested values for acceptable annual failure probabilities are given for the ultimate and the serviceability limit states. Finally the paper describes a procedure for the practical implementation...

  12. On the fail-safe design of tendon-driven manipulators with redundant tendons

    Energy Technology Data Exchange (ETDEWEB)

    Sheu, Jinn Biau; Liu, Tyng; Lee, Jyh Jone [National Taiwan University, Taipei (China)

    2012-06-15

    A tendon-driven manipulator having redundant tendons may possess more flexibility in operation, such as optimizing the performance of tendons, reducing the burden of each tendon, and providing fail-safe features. The purpose of this paper is to investigate the design of tendon-driven manipulators with a fail-safe feature, that is, to synthesize a system that may still remain controllable as any of the tendons have broken down or malfunctioned. Characteristics of tendon-driven manipulators are briefly discussed. Criteria for tendon-driven manipulators with redundant tendons and fail-safe feature are then established. Subsequently, constraints for such system are derived from the structure of tendon-driven manipulator. Associated with the criteria, manipulators can remain controllable when any of the tendons fails to function. Finally, a geometric method for determining the structure is developed. Examples of two-DOF and three-DOF tendondriven manipulators are demonstrated.

  13. Human-Manipulator Interface Using Particle Filter

    Directory of Open Access Journals (Sweden)

    Guanglong Du

    2014-01-01

    Full Text Available This paper utilizes a human-robot interface system which incorporates particle filter (PF and adaptive multispace transformation (AMT to track the pose of the human hand for controlling the robot manipulator. This system employs a 3D camera (Kinect to determine the orientation and the translation of the human hand. We use Camshift algorithm to track the hand. PF is used to estimate the translation of the human hand. Although a PF is used for estimating the translation, the translation error increases in a short period of time when the sensors fail to detect the hand motion. Therefore, a methodology to correct the translation error is required. What is more, to be subject to the perceptive limitations and the motor limitations, human operator is hard to carry out the high precision operation. This paper proposes an adaptive multispace transformation (AMT method to assist the operator to improve the accuracy and reliability in determining the pose of the robot. The human-robot interface system was experimentally tested in a lab environment, and the results indicate that such a system can successfully control a robot manipulator.

  14. Human-manipulator interface using particle filter.

    Science.gov (United States)

    Du, Guanglong; Zhang, Ping; Wang, Xueqian

    2014-01-01

    This paper utilizes a human-robot interface system which incorporates particle filter (PF) and adaptive multispace transformation (AMT) to track the pose of the human hand for controlling the robot manipulator. This system employs a 3D camera (Kinect) to determine the orientation and the translation of the human hand. We use Camshift algorithm to track the hand. PF is used to estimate the translation of the human hand. Although a PF is used for estimating the translation, the translation error increases in a short period of time when the sensors fail to detect the hand motion. Therefore, a methodology to correct the translation error is required. What is more, to be subject to the perceptive limitations and the motor limitations, human operator is hard to carry out the high precision operation. This paper proposes an adaptive multispace transformation (AMT) method to assist the operator to improve the accuracy and reliability in determining the pose of the robot. The human-robot interface system was experimentally tested in a lab environment, and the results indicate that such a system can successfully control a robot manipulator.

  15. KINEMATICS OF 3-DOF PYRAMID MANIPULATOR BY PRINCIPAL SCREWS

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    Kinematics of a 3-RPS parallel pyramid manipulator are investigated by principal screw. Firstly, the principal screws are identified by quadric degeneration. The planar conics representing the relations between the pitches and the three linear inputs are described, and the three-dimensional distribution of the axes of all the twists is illustrated. Finally, a numerical example is given successfully.

  16. Reliability Generalization: "Lapsus Linguae"

    Science.gov (United States)

    Smith, Julie M.

    2011-01-01

    This study examines the proposed Reliability Generalization (RG) method for studying reliability. RG employs the application of meta-analytic techniques similar to those used in validity generalization studies to examine reliability coefficients. This study explains why RG does not provide a proper research method for the study of reliability,…

  17. A bioinspired soft manipulator for minimally invasive surgery.

    Science.gov (United States)

    Ranzani, T; Gerboni, G; Cianchetti, M; Menciassi, A

    2015-05-13

    This paper introduces a novel, bioinspired manipulator for minimally invasive surgery (MIS). The manipulator is entirely composed of soft materials, and it has been designed to provide similar motion capabilities as the octopus's arm in order to reach the surgical target while exploiting its whole length to actively interact with the biological structures. The manipulator is composed of two identical modules (each of them can be controlled independently) with multi-directional bending and stiffening capabilities, like an octopus arm. In the authors' previous works, the design of the single module has been addressed. Here a two-module manipulator is presented, with the final aim of demonstrating the enhanced capabilities that such a structure can have in comparison with rigid surgical tools currently employed in MIS. The performances in terms of workspace, stiffening capabilities, and generated forces are characterized through experimental tests. The combination of stiffening capabilities and manipulation tasks is also addressed to confirm the manipulator potential employment in a real surgical scenario.

  18. Reliability Based Ship Structural Design

    DEFF Research Database (Denmark)

    Dogliani, M.; Østergaard, C.; Parmentier, G.;

    1996-01-01

    with developments of models of load effects and of structural collapse adopted in reliability formulations which aim at calibrating partial safety factors for ship structural design. New probabilistic models of still-water load effects are developed both for tankers and for containerships. New results are presented......This paper deals with the development of different methods that allow the reliability-based design of ship structures to be transferred from the area of research to the systematic application in current design. It summarises the achievements of a three-year collaborative research project dealing...... structure of several tankers and containerships. The results of the reliability analysis were the basis for the definition of a target safety level which was used to asses the partial safety factors suitable for in a new design rules format to be adopted in modern ship structural design. Finally...

  19. System Integration for Real-time Mobile Manipulation

    Directory of Open Access Journals (Sweden)

    Reza Oftadeh

    2014-03-01

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

  20. Learning Area and Perimeter with Virtual Manipulatives

    Science.gov (United States)

    Bouck, Emily; Flanagan, Sara; Bouck, Mary

    2015-01-01

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

  1. Advanced manipulation for autonomous mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Babcock, S.M.; Hamel, W.R.; Killough, S.M.

    1986-01-01

    This paper describes the development, mechanical configuration, and control system architecture of a lightweight, high performance, seven-degree-of-freedom manipulator at the Center for Engineering Systems Advanced Research (CESAR). Current activities focusing on modeling and parameter identification will provide a well-characterized manipulator for analytical and experimental research in manipulator dynamics and controls, coordinated manipulation, and autonomous mobile robotics.

  2. A six degrees of freedom mems manipulator

    NARCIS (Netherlands)

    de Jong, B.R.

    2006-01-01

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

  3. Adaptive output stabilization of manipulators

    Energy Technology Data Exchange (ETDEWEB)

    Colbaugh, R.; Glass, K.; Barany, E. [New Mexico State Univ., Las Cruces, NM (United States)

    1994-12-31

    This paper considers the position regulation problem for rigid robots for the case in which only joint position measurements are available, and proposes two adaptive controllers as solutions to this problem. The first controller is developed by assuming that the structure of the vector of gravity torques is known, but that the inertial parameters for the manipulator and payload are unknown; it is shown that this scheme ensures semiglobal stability and convergence of the position error to zero. Alternatively, the second adaptive strategy is derived under the assumption that no information is available concerning the manipulator model, and in this case it is shown that the controller provides uniform boundedness of all signals and exponential convergence of the position error to a set which can be made arbitrarily small. Experimental results are presented for a Zebra Zero manipulator and demonstrate that the proposed approach provides a simple and effective means of obtaining high performance position regulation.

  4. Manipulating complex light with metamaterials.

    Science.gov (United States)

    Zeng, Jinwei; Wang, Xi; Sun, Jingbo; Pandey, Apra; Cartwright, Alexander N; Litchinitser, Natalia M

    2013-10-02

    Recent developments in the field of metamaterials have revealed unparalleled opportunities for "engineering" space for light propagation; opening a new paradigm in spin- and quantum-related phenomena in optical physics. Here we show that unique optical properties of metamaterials (MMs) open unlimited prospects to "engineer" light itself. We propose and demonstrate for the first time a novel way of complex light manipulation in few-mode optical fibers using optical MMs. Most importantly, these studies highlight how unique properties of MMs, namely the ability to manipulate both electric and magnetic field components of electromagnetic (EM) waves, open new degrees of freedom in engineering complex polarization states of light at will, while preserving its orbital angular momentum (OAM) state. These results lay the first steps in manipulating complex light in optical fibers, likely providing new opportunities for high capacity communication systems, quantum information, and on-chip signal processing.

  5. New techniques on embryo manipulation.

    Science.gov (United States)

    Escribá, M J; Valbuena, D; Remohí, J; Pellicer, A; Simón, C

    2002-01-01

    For many years, experience has been accumulated on embryo and gamete manipulation in livestock animals. The present work is a review of these techniques and their possible application in human embryology in specific cases. It is possible to manipulate gametes at different levels, producing paternal or maternal haploid embryos (hemicloning), using different techniques including nuclear transfer. At the embryonic stage, considering practical, ethical and legal issues, techniques will be reviewed that include cloning and embryo splitting at the cleavage stage, morula, or blastocyst stage.

  6. Design for Reliability of Power Electronic Systems

    DEFF Research Database (Denmark)

    Wang, Huai; Ma, Ke; Blaabjerg, Frede

    2012-01-01

    Advances in power electronics enable efficient and flexible processing of electric power in the application of renewable energy sources, electric vehicles, adjustable-speed drives, etc. More and more efforts are devoted to better power electronic systems in terms of reliability to ensure high...... on a 2.3 MW wind power converter is discussed with emphasis on the reliability critical components IGBTs. Different aspects of improving the reliability of the power converter are mapped. Finally, the challenges and opportunities to achieve more reliable power electronic systems are addressed....

  7. A large workspace flexure hinge-based parallel manipulator system

    Institute of Scientific and Technical Information of China (English)

    Dong Wei; Du Zhijiang; Sun Lining

    2005-01-01

    Parallel manipulator systems as promising precision devices are used widely in current researches. A novel large workspace flexure parallel manipulator system utilizing wide-range flexure hinges as passive joints is proposed in this paper, which can attain sub-micron-scale precision over the cubic centimeter motion range. This paper introduces the mechanical system architecture based on the wide-range flexure hinges, analyzes the kinematics via stiffness matrices, presents the control system configuration and control strategy, and finally gives the system performance test results.

  8. Photonic crystals, light manipulation, and imaging in complex nematic structures

    Science.gov (United States)

    Ravnik, Miha; Å timulak, Mitja; Mur, Urban; Čančula, Miha; Čopar, Simon; Žumer, Slobodan

    2016-03-01

    Three selected approaches for manipulation of light by complex nematic colloidal and non-colloidal structures are presented using different own custom developed theoretical and modelling approaches. Photonic crystals bands of distorted cholesteric liquid crystal helix and of nematic colloidal opals are presented, also revealing distinct photonic modes and density of states. Light propagation along half-integer nematic disclinations is shown with changes in the light polarization of various winding numbers. As third, simulated light transmission polarization micrographs of nematic torons are shown, offering a new insight into the complex structure characterization. Finally, this work is a contribution towards using complex soft matter in optics and photonics for advanced light manipulation.

  9. Finding the Generalized Forces of a Series-Parallel Manipulator

    Directory of Open Access Journals (Sweden)

    Mario Garcia-Murillo

    2013-01-01

    Full Text Available In this work the kinematic and dynamic analyses of a robot manipulator whose topology consists of parallel kinematic structures with linear actuators are approached by means of the theory of screws and the principle of virtual work. The input/output equations of velocity and acceleration are obtained by applying screw theory. Then the generalized forces of the manipulator are determined combining screw theory and the principle of virtual work. Finally, a case study, whose numerical results are compared with simulations generated with the aid of specialized software, is included.

  10. Dynamic Control of Kinematically Redundant Robotic Manipulators

    Directory of Open Access Journals (Sweden)

    Erling Lunde

    1987-07-01

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

  11. KINEMATIC ANALYSIS OF MODULAR, TRUSS-BASED MANIPULATOR UNITS

    Energy Technology Data Exchange (ETDEWEB)

    Salerno, R. J.

    1994-06-01

    Decontamination and Dismantling (D&D) activities within the U.S. Department of Energy (DOE) require a long reach manipulator with a large load capacity. Variable Geometry Trusses (VGTs) are a unique class of mechanical structures which allow the advantages of truss structures for large scale applications to be applied to large robotic manipulators. Individual VGT units may be assembled to create a modular, long-reach, truss-type manipulator. Each module of such a manipulator system is either a static truss section or one of several possible VGT geometries. While many potential applications exist for this technology, the present work is largely motivated by the need for generic robotic systems for remote manipulation. A manipulator system based on VGT modules provides several advantages. The reconfigurable nature of the manipulator system allows it to be adapted on site to unforeseen conditions. The kinematic redundancy of the manipulator enables it to work effectively even in a highly obstructed workspace. The parallel structure of the truss modules enables the manipulator to be withdrawn in the event of a structural failure. Finally, the open framework of the modules provides a clear, protected passageway for control and power cabling, waste conveyance, or other services required at the end effector. As is implied in a truss structure, all primary members of a VGT are ideally loaded in pure tension or compression. This results in an extremely stiff and strong manipulator system with minimal overall weight. Careful design of the joints of a VGT is very important to the overall stiffness and accuracy of the structure, as several links (as many as six) are joined together at each joint. The greatest disadvantage to this approach to manipulator design has traditionally been that the kinematics of VGT structures are complex and poorly understood. This report specifically addresses the kinematics of several possible geometries for the individual VGT units. Equations and

  12. Manipulation and Motion of Organelles and Single Molecules in Living Cells

    DEFF Research Database (Denmark)

    Norregaard, Kamilla; Metzler, Ralf; Ritter, Christine M.

    2017-01-01

    used force spectroscopy techniques, namely optical tweezers, magnetic tweezers, and atomic force microscopy, are described in detail, and their strength and limitations related to in vivo experiments are discussed. Finally, recent exciting discoveries within the field of in vivo manipulation...

  13. Kinematics analysis of a novel planar parallel manipulator with kinematic redundancy

    Energy Technology Data Exchange (ETDEWEB)

    Qu, Haibo; Guo, Sheng [Beijing Jiaotong University, Beijing (China)

    2017-04-15

    In this paper, a novel planar parallel manipulator with kinematic redundancy is proposed. First, the Degrees of freedom (DOF) of the whole parallel manipulator and the Relative DOF (RDOF) between the moving platform and fixed base are studied. The results indicate that the proposed mechanism is kinematically redundant. Then, the kinematics, Jacobian matrices and workspace of this proposed parallel manipulator with kinematic redundancy are analyzed. Finally, the statics simulation of the proposed parallel manipulator is performed. The obtained stress and displacement distribution can be used to determine the easily destroyed place in the mechanism configurations.

  14. The Accelerator Reliability Forum

    CERN Document Server

    Lüdeke, Andreas; Giachino, R

    2014-01-01

    A high reliability is a very important goal for most particle accelerators. The biennial Accelerator Reliability Workshop covers topics related to the design and operation of particle accelerators with a high reliability. In order to optimize the over-all reliability of an accelerator one needs to gather information on the reliability of many different subsystems. While a biennial workshop can serve as a platform for the exchange of such information, the authors aimed to provide a further channel to allow for a more timely communication: the Particle Accelerator Reliability Forum [1]. This contribution will describe the forum and advertise it’s usage in the community.

  15. Optical manipulation of valley pseudospin

    Science.gov (United States)

    Ye, Ziliang; Sun, Dezheng; Heinz, Tony F.

    2017-01-01

    The coherent manipulation of spin and pseudospin underlies existing and emerging quantum technologies, including quantum communication and quantum computation. Valley polarization, associated with the occupancy of degenerate, but quantum mechanically distinct valleys in momentum space, closely resembles spin polarization and has been proposed as a pseudospin carrier for the future quantum electronics. Valley exciton polarization has been created in the transition metal dichalcogenide monolayers using excitation by circularly polarized light and has been detected both optically and electrically. In addition, the existence of coherence in the valley pseudospin has been identified experimentally. The manipulation of such valley coherence has, however, remained out of reach. Here we demonstrate all-optical control of the valley coherence by means of the pseudomagnetic field associated with the optical Stark effect. Using below-bandgap circularly polarized light, we rotate the valley exciton pseudospin in monolayer WSe2 on the femtosecond timescale. Both the direction and speed of the rotation can be manipulated optically by tuning the dynamic phase of excitons in opposite valleys. This study unveils the possibility of generation, manipulation, and detection of the valley pseudospin by coupling to photons.

  16. Mapping and Manipulating Facial Expression

    Science.gov (United States)

    Theobald, Barry-John; Matthews, Iain; Mangini, Michael; Spies, Jeffrey R.; Brick, Timothy R.; Cohn, Jeffrey F.; Boker, Steven M.

    2009-01-01

    Nonverbal visual cues accompany speech to supplement the meaning of spoken words, signify emotional state, indicate position in discourse, and provide back-channel feedback. This visual information includes head movements, facial expressions and body gestures. In this article we describe techniques for manipulating both verbal and nonverbal facial…

  17. How to manipulate the microbiota

    NARCIS (Netherlands)

    Fuentes Enriquez de Salamanca, Susana; Vos, de Willem M.

    2016-01-01

    Fecal microbiota transplantation (FMT) is a rather straightforward therapy that manipulates the human gastrointestinal (GI) microbiota, by which a healthy donor microbiota is transferred into an existing but disturbed microbial ecosystem. This is a natural process that occurs already at birth; in

  18. Manipulating Genetic Material in Bacteria

    Science.gov (United States)

    1998-01-01

    Lisa Crawford, a graduate research assistant from the University of Toledo, works with Laurel Karr of Marshall Space Flight Center (MSFC) in the molecular biology laboratory. They are donducting genetic manipulation of bacteria and yeast for the production of large amount of desired protein. Photo credit: NASA/Marshall Space Flight Center (MSFC)

  19. How to manipulate the microbiota

    NARCIS (Netherlands)

    Fuentes Enriquez de Salamanca, Susana; Vos, de Willem M.

    2016-01-01

    Fecal microbiota transplantation (FMT) is a rather straightforward therapy that manipulates the human gastrointestinal (GI) microbiota, by which a healthy donor microbiota is transferred into an existing but disturbed microbial ecosystem. This is a natural process that occurs already at birth; in

  20. Teaching Integration Applications Using Manipulatives

    Science.gov (United States)

    Bhatia, Kavita; Premadasa, Kirthi; Martin, Paul

    2014-01-01

    Calculus students' difficulties in understanding integration have been extensively studied. Research shows that the difficulty lies with students understanding of the definition of the definite integral as a limit of a Riemann sum and with the idea of accumulation inherent in integration. We have created a set of manipulatives and activities…

  1. Adaptive Control Of Remote Manipulator

    Science.gov (United States)

    Seraji, Homayoun

    1989-01-01

    Robotic control system causes remote manipulator to follow closely reference trajectory in Cartesian reference frame in work space, without resort to computationally intensive mathematical model of robot dynamics and without knowledge of robot and load parameters. System, derived from linear multivariable theory, uses relatively simple feedforward and feedback controllers with model-reference adaptive control.

  2. DYMAFLEX: DYnamic Manipulation FLight EXperiment

    Science.gov (United States)

    2013-09-03

    Moosavian. Learning- based Modified Transpose Jacobian control of robotic manipulators. In Proc. IEEE Conf. on Advanced Intelligent Mechatronics , pages...34Path planning for minimizing base reaction of space robot and its ground experimental study," in IEEE International Conference on Mechatronics

  3. The detection and prevention of manipulations in the balance sheet and the cash flow statement

    Directory of Open Access Journals (Sweden)

    Dragomir Dimitrijevic

    2015-08-01

    Full Text Available Financial statements which consist of objective, real and reliable information represent the key basis for making many business decisions. If, when writing financial statements, certain manipulation techniques are used for displaying the best possible results of transactions, the quality of financial reports will be endangered. Many financial frauds have led to a great mistrust in the system of financial reporting and the profession of accounting and auditing, which are often accused of the emergence of fraud and losing trust in the reliability of financial information by many users and economic decision makers. These are the reasons why the paper discusses the techniques of manipulation in financial statements, especially in balance sheets and cash flow statements, since these forms of manipulation are harder to detect and prevent when compared to manipulations of revenues and expenses in the income statement.

  4. A planar parallel manipulator based novel MEMS device bonding system

    Institute of Scientific and Technical Information of China (English)

    Ji Junhong; Sun Lining; Zhu Yuhong

    2006-01-01

    A novel MEMS device boning system is presented. Aiming at the high velocity, high precision and high flexibility requirements, a novel manipulator of planar parallel structure is developed to substitute ordinary X-Y table. In addition, the machine vision is implemented to improve the system's flexibility. The initial angular positions of the joints are estimated by the extended Kalman filter algorithm. As a result, the manipulator's absolute locating accuracy in its workspace is guaranteed indirectly. For any MEMS device, the bonding system itself can be used as measurement equipment to create the device's geometry model, which is the base to do off-line programming. A quite ideal trade-off between the system's flexibility and efficiency is got. Finally, some verified motion specification of the manipulator, the bonding experimental results and the verified qualities of the bonded devices are provided.

  5. Ultrasound-based servoing of manipulators for telesurgery

    Science.gov (United States)

    Stoll, Jeff; Dupont, Pierre; Howe, Robert D.

    2002-02-01

    Certain minimally invasive surgical procedures involve the treatment of highly precise target locations within deformable tissues. While preoperative MRI and CT models can be used for surgical planning, they provide only coarse guidance during surgery due to their limited resolution and owing to tissue deformation. Ultrasound imaging is a promising means of obtaining real-time intraoperative data for target localization that is particularly well suited to minimally invasive surgery due to its portability, speed, and safety. This paper presents a system, in which ultrasound images are used to guide a manipulator to a surgical site. Electromagnetic tracking of the ultrasound probe is used to orient the images. These are then segmented in real time to determine target locations. Finally, target coordinates are used to produce control inputs to drive the manipulator to the target site. The potential of the approach is demonstrated experimentally using a manipulator arm, phantom target, and commercial ultrasound machine.

  6. Rotor-Flying Manipulator: Modeling, Analysis, and Control

    Directory of Open Access Journals (Sweden)

    Bin Yang

    2014-01-01

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

  7. Human Reliability Program Overview

    Energy Technology Data Exchange (ETDEWEB)

    Bodin, Michael

    2012-09-25

    This presentation covers the high points of the Human Reliability Program, including certification/decertification, critical positions, due process, organizational structure, program components, personnel security, an overview of the US DOE reliability program, retirees and academia, and security program integration.

  8. Power electronics reliability analysis.

    Energy Technology Data Exchange (ETDEWEB)

    Smith, Mark A.; Atcitty, Stanley

    2009-12-01

    This report provides the DOE and industry with a general process for analyzing power electronics reliability. The analysis can help with understanding the main causes of failures, downtime, and cost and how to reduce them. One approach is to collect field maintenance data and use it directly to calculate reliability metrics related to each cause. Another approach is to model the functional structure of the equipment using a fault tree to derive system reliability from component reliability. Analysis of a fictitious device demonstrates the latter process. Optimization can use the resulting baseline model to decide how to improve reliability and/or lower costs. It is recommended that both electric utilities and equipment manufacturers make provisions to collect and share data in order to lay the groundwork for improving reliability into the future. Reliability analysis helps guide reliability improvements in hardware and software technology including condition monitoring and prognostics and health management.

  9. The optimization of global fault tolerant trajectory for redundant manipulator based on self-motion

    Directory of Open Access Journals (Sweden)

    Zhang Jian

    2015-01-01

    Full Text Available The redundancy feature of manipulators provides the possibility for the fault tolerant trajectory planning. Aiming at the completion of the specific task, an algorithm of global fault tolerant trajectory optimization for redundant manipulator based on the self-motion is proposed in this paper. Firstly, inverse kinematics equation of single redundancy manipulator based on self-motion variable and null-space velocity array of Jacobian are analyzed. Secondly, the mathematical description of fault tolerance criteria of the configuration of manipulator is established and the fault tolerance configuration group of manipulator is obtained by using iteration traversal under the fault tolerance criteria. Then, considering the joint limits and minimum the energy consumption as the optimization target, the global fault tolerant joint trajectory is achieved. Finally, simulation for 7 degree of freedom (DOF manipulator is performed, by which the effectiveness of the algorithm is validated.

  10. Subsection Evolution in GA for Trajectory Planning of a Space Manipulator

    Directory of Open Access Journals (Sweden)

    Cen Zeng

    2013-05-01

    Full Text Available A free‐floating space manipulator has outstanding advantages and wide application prospects compared with other categories. This paper discusses the concepts and categories of space robots and introduces the current trajectory‐planning algorithm for a space robot and its ground simulation system in the main countries of the world. This paper also constructs a system model for the space manipulator system and gives the kinematic equation of such a manipulator system. A dynamic equation of the manipulatorʹs joints is also developed by using Lagrange equations. Continuous Cartesian trajectory planning is also studied in this paper based on differential kinematical equations and momentum conservation equations. Finally, this paper presents the subsection evolution algorithm in GA to realize the trajectory tracking of a free‐floating space manipulator and a simulation about the free floating space manipulator and its corresponding analyses are given.

  11. Reliable Design Versus Trust

    Science.gov (United States)

    Berg, Melanie; LaBel, Kenneth A.

    2016-01-01

    This presentation focuses on reliability and trust for the users portion of the FPGA design flow. It is assumed that the manufacturer prior to hand-off to the user tests FPGA internal components. The objective is to present the challenges of creating reliable and trusted designs. The following will be addressed: What makes a design vulnerable to functional flaws (reliability) or attackers (trust)? What are the challenges for verifying a reliable design versus a trusted design?

  12. Viking Lander reliability program

    Science.gov (United States)

    Pilny, M. J.

    1978-01-01

    The Viking Lander reliability program is reviewed with attention given to the development of the reliability program requirements, reliability program management, documents evaluation, failure modes evaluation, production variation control, failure reporting and correction, and the parts program. Lander hardware failures which have occurred during the mission are listed.

  13. Further development of the structure mechanics analysis method for the calculation of the structure reliability of passive components, phase II. Final report; Weiterentwicklung der strukturmechanischen Analysemethodik zur Bestimmung der Strukturzuverlaessigkeit passiver Komponenten, Phase II. Abschlussbericht

    Energy Technology Data Exchange (ETDEWEB)

    Grebner, H.; Wang, Y.; Schmipfke, T.; Sievers, J.

    2010-06-15

    Within the framework of research project RS 1163 the computer code PROST for the quantitative assessment of the structural reliability of pipe components has been further developed. Thereby models were provided and tested for the consideration of the damage mechanism 'corrosion' to determine leak and break probabilities in cylindrical structures of ferritic and austenitic reactor steels. These models are now additionally available to the model for the consideration of the damage mechanism 'fatigue'. Furthermore, the application range of the code was extended to complex geometries in regards to loading and boundary conditions. Additional code modules were developed to be able to include the results of finite element (FE) calculations. The extended analysis method was tested, amongst others, in the context of calculations for a cracked feedwater nozzle of a steam generator under thermal-mechanical cyclic loading. The stress on cracks was calculated with the FE-method. For the determination of leak probabilities the crack growth due to fatigue was estimated taking into account the ''mixed-mode'' - loading within the J-integral vector approach. Altogether, the analyses show that with the provided flexible probabilistic analysis method quantitative determination of leak probabilities of a detected or postulated crack in a complex structure geometry under thermal-mechanical loading as function of the operating time in the range of very small probability values (<1.0 E-8) to large values (>1.0 E-2) are possible. The next development steps should comprise especially the improvement of the accuracy of the method to determine break probabilities and also the consideration of approaches on crack formation due to the damage mechanisms 'fatigue' and 'corrosion', based on evaluations of national and international operating experiences.

  14. Pulse voltage determination for electrostatic micro manipulation considering surface conductivity and adhesion of glass particle

    Directory of Open Access Journals (Sweden)

    Ryo Fujiwara

    2015-05-01

    Full Text Available A model with surface conductivity and adhesional force is proposed to investigate the mechanism for electrostatic micro manipulation of a dielectric object using a single probe. The manipulation system consists of three elements: a conductive probe as a manipulator, a conductive plate as a substrate, and a dielectric particle as the target object for manipulation. The particle can be successfully picked up/placed if a rectangular pulse voltage is applied between the probe and the plate. The reliability of the picking up/placing operation is improved by applying a pulse voltage that is determined by a theoretical model considering surface conductivity and adhesion. To verify the theoretical prediction, manipulation experiment is conducted using soda-lime glass particles with radii of 20 μm and 40 μm.

  15. Nonlinear Dynamics of Controlled Synchronizations of Manipulator System

    Directory of Open Access Journals (Sweden)

    Qingkai Han

    2014-01-01

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

  16. Manipulation and gender neutrality in stable marriage procedures

    CERN Document Server

    Pini, Maria; Venable, Brent; Walsh, Toby

    2009-01-01

    The stable marriage problem is a well-known problem of matching men to women so that no man and woman who are not married to each other both prefer each other. Such a problem has a wide variety of practical applications ranging from matching resident doctors to hospitals to matching students to schools. A well-known algorithm to solve this problem is the Gale-Shapley algorithm, which runs in polynomial time. It has been proven that stable marriage procedures can always be manipulated. Whilst the Gale-Shapley algorithm is computationally easy to manipulate, we prove that there exist stable marriage procedures which are NP-hard to manipulate. We also consider the relationship between voting theory and stable marriage procedures, showing that voting rules which are NP-hard to manipulate can be used to define stable marriage procedures which are themselves NP-hard to manipulate. Finally, we consider the issue that stable marriage procedures like Gale-Shapley favour one gender over the other, and we show how to us...

  17. Genetic manipulation of Francisella tularensis

    Directory of Open Access Journals (Sweden)

    Xhavit eZogaj

    2011-01-01

    Full Text Available Francisella tularensis is a facultative intracellular pathogen that causes the disease tularemia. F. tularensis subsp. tularensis causes the most severe disease in humans and has been classified as a select A agent and potential bioweapon. There is currently no vaccine approved for human use, making genetic manipulation of this organism critical to unraveling the genetic basis of pathogenesis and developing countermeasures against tularemia. The development of genetic techniques applicable to F. tularensis have lagged behind those routinely used for other bacteria, primarily due to lack of research and the restricted nature of the biocontainment required for studying this pathogen. However, in recent years, genetic techniques, such as transposon mutagenesis and targeted gene disruption, have been developed, that have had a dramatic impact on our understanding of the genetic basis of F. tularensis virulence. In this review, we describe some of the methods developed for genetic manipulation of F. tularensis.

  18. Accurate manipulation using laser technology

    Science.gov (United States)

    Hoving, Willem

    1997-08-01

    In the industrial production of electrical, optical, and micro-mechanical components, progress in miniaturization requires improved adjusting techniques. Sub-micrometer accuracy adjustment must be obtained within seconds, and the accuracy should be stable over many years. All methods that are presently applied for manipulation in sub-micron dimensions are cumbersome, time-consuming, and tedious, and require expensive equipment. A novel method, laser adjustment, is being explored in which permanent deformation of thin metal sheets are obtained by using thermo-mechanical stresses that occur when the sheets are locally heated using short, intense laser pulses. Manipulation along several degrees of freedom can be realized by both out-of-plane and in-plane laser adjustment or a combination thereof. Within the Brite-Euram project AMULET this new automated micro- manufacturing technology for mass production is developed in order to assemble components where tolerance conditions and accessibility are beyond human capability.

  19. List manipulation in Turbo Prolog

    Directory of Open Access Journals (Sweden)

    V.Cotelea

    1995-06-01

    Full Text Available The present paper is concerned with list processing in Turbo Prolog language. It doesn't claim to be an exhaustive description of operations which can be performed upon lists. Nevertheless adduced programs are most representative, more or less known to specialists in logic programming domain. By means of examples are explained the list manipulation techniques, use of recursion, declarative comparison of predicates, analysis and fixation of acceptable prototypes and some problems of predicates' inconsistency. Index terms. Prolog, list, recursion.

  20. Manipulation of Biofilm Microbial Ecology

    Energy Technology Data Exchange (ETDEWEB)

    White, D.C.; Palmer, R.J., Jr.; Zinn, M.; Smith, C.A.; Burkhalter, R.; Macnaughton, S.J.; Whitaker, K.W.; Kirkegaard, R.D.

    1998-08-15

    The biofilm mode of growth provides such significant advantages to the members of the consortium that most organisms in important habitats are found in biofilms. The study of factors that allow manipulation of biofilm microbes in the biofilm growth state requires that reproducible biofilms be generated. The most effective monitoring of biofilm formation, succession and desaturation is with on-line monitoring of microbial biofilms with flowcell for direct observation. The biofilm growth state incorporates a second important factor, the heterogeneity in distribution in time and space of the component members of the biofilm consortium. This heterogeneity is reflected not only in the cellular distribution but in the metabolic activity within a population of cells. Activity and cellular distribution can be mapped in four dimensions with confocal microscopy, and function can be ascertained by genetically manipulated reporter functions for specific genes or by vital stains. The methodology for understanding the microbial ecology of biofilms is now much more readily available and the capacity to manipulate biofilms is becoming an important feature of biotechnology.

  1. 76 FR 12271 - Human Reliability Program: Identification of Reviewing Official

    Science.gov (United States)

    2011-03-07

    ... Part 712 RIN 1992-AZ00 Human Reliability Program: Identification of Reviewing Official AGENCY: Department of Energy (DOE). ACTION: Final rule. SUMMARY: DOE is amending the Human Reliability Program (HRP... damage national security. To guard against such compromise, DOE established the Human Reliability...

  2. Tools for Manipulation and Characterisation of Nanostructures

    DEFF Research Database (Denmark)

    Mølhave, Kristian; Bøggild, Peter

    grippers, which were then successfully used for pick-and-place manipulation of silicon nanowires. For increased gripping force and control over the manipulation process, microfabricated grippers with integrated force-feedback were also demonstrated. Environmental electron beam deposition (EEBD...

  3. Search versus Decision for Election Manipulation Problems

    OpenAIRE

    Hemaspaandra, Edith; Hemaspaandra, Lane A.; Menton, Curtis

    2012-01-01

    Most theoretical definitions about the complexity of manipulating elections focus on the decision problem of recognizing which instances can be successfully manipulated, rather than the search problem of finding the successful manipulative actions. Since the latter is a far more natural goal for manipulators, that definitional focus may be misguided if these two complexities can differ. Our main result is that they probably do differ: If integer factoring is hard, then for election manipulati...

  4. Optoelectrofluidic Manipulation of Nanoparticles and Biomolecules

    Directory of Open Access Journals (Sweden)

    Hyundoo Hwang

    2011-01-01

    Full Text Available This paper presents optoelectrofluidic technologies for manipulation of nanoparticles and biomolecules. Optoelectrofluidics provides an elegant scheme for the programmable manipulation of particles or fluids in microenvironments based on optically induced electrokinetics. Recent progress on the optoelectrofluidic manipulation of nanoobjects, which include nanospheres, nanowires, nanotubes, and biomolecules, is introduced. Some potential applications of the optoelectrofluidic nanoparticle manipulation, such as nanoparticles separation, nanostructures manufacturing, molecular physics, and clinical diagnostics, and their future directions are also discussed.

  5. Robotic manipulation with flexible link fingers

    OpenAIRE

    Sur, Sudipto

    1997-01-01

    A robot manipulator is a spatial mechanism consisting essentially of a series of bodies, called "links", connected to each other at "joints". The joints can be of various types: revolute, rotary, planar, prismatic, telescopic or combinations of these. A serial connection of the links results in an open-chain manipulator. Closed-chain manipulators result from non-serial (or parallel) connections between links. Actuators at the joints of the manipulator provide power for motion. A rob...

  6. Why join groups? Lessons from parasite-manipulated Artemia.

    Science.gov (United States)

    Rode, Nicolas O; Lievens, Eva J P; Flaven, Elodie; Segard, Adeline; Jabbour-Zahab, Roula; Sanchez, Marta I; Lenormand, Thomas

    2013-04-01

    Grouping behaviours (e.g. schooling, shoaling and swarming) are commonly explicated through adaptive hypotheses such as protection against predation, access to mates or improved foraging. However, the hypothesis that aggregation can result from manipulation by parasites to increase their transmission has never been demonstrated. We investigated this hypothesis using natural populations of two crustacean hosts (Artemia franciscana and Artemia parthenogenetica) infected with one cestode and two microsporidian parasites. We found that swarming propensity increased in cestode-infected hosts and that red colour intensity was higher in swarming compared with non-swarming infected hosts. These effects likely result in increased cestode transmission to its final avian host. Furthermore, we found that microsporidian-infected hosts had both increased swarming propensity and surfacing behaviour. Finally, we demonstrated using experimental infections that these concurrent manipulations result in increased spore transmission to new hosts. Hence, this study suggests that parasites can play a prominent role in host grouping behaviours.

  7. Boolean networks with reliable dynamics

    CERN Document Server

    Peixoto, Tiago P

    2009-01-01

    We investigated the properties of Boolean networks that follow a given reliable trajectory in state space. A reliable trajectory is defined as a sequence of states which is independent of the order in which the nodes are updated. We explored numerically the topology, the update functions, and the state space structure of these networks, which we constructed using a minimum number of links and the simplest update functions. We found that the clustering coefficient is larger than in random networks, and that the probability distribution of three-node motifs is similar to that found in gene regulation networks. Among the update functions, only a subset of all possible functions occur, and they can be classified according to their probability. More homogeneous functions occur more often, leading to a dominance of canalyzing functions. Finally, we studied the entire state space of the networks. We observed that with increasing systems size, fixed points become more dominant, moving the networks close to the frozen...

  8. Managing collaboration in the nanoManipulator

    DEFF Research Database (Denmark)

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

    2003-01-01

    We designed, developed, deployed, and evaluated the Collaborative nanoManipulator (CnM), a system supporting remote collaboration between users of the nanoManipulator interface to atomic force microscopes. To be accepted by users, the shared nanoManipulator application had to have the same high...

  9. Managing collaboration in the nanoManipulator

    DEFF Research Database (Denmark)

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

    2003-01-01

    We designed, developed, deployed, and evaluated the Collaborative nanoManipulator (CnM), a system supporting remote collaboration between users of the nanoManipulator interface to atomic force microscopes. To be accepted by users, the shared nanoManipulator application had to have the same high l...

  10. Semantic 3D object maps for everyday robot manipulation

    CERN Document Server

    Rusu, Radu Bogdan

    2013-01-01

    The book written by Dr. Radu B. Rusu presents a detailed description of 3D Semantic Mapping in the context of mobile robot manipulation. As autonomous robotic platforms get more sophisticated manipulation capabilities, they also need more expressive and comprehensive environment models that include the objects present in the world, together with their position, form, and other semantic aspects, as well as interpretations of these objects with respect to the robot tasks.   The book proposes novel 3D feature representations called Point Feature Histograms (PFH), as well as frameworks for the acquisition and processing of Semantic 3D Object Maps with contributions to robust registration, fast segmentation into regions, and reliable object detection, categorization, and reconstruction. These contributions have been fully implemented and empirically evaluated on different robotic systems, and have been the original kernel to the widely successful open-source project the Point Cloud Library (PCL) -- see http://poi...

  11. Reliability and safety engineering

    CERN Document Server

    Verma, Ajit Kumar; Karanki, Durga Rao

    2016-01-01

    Reliability and safety are core issues that must be addressed throughout the life cycle of engineering systems. Reliability and Safety Engineering presents an overview of the basic concepts, together with simple and practical illustrations. The authors present reliability terminology in various engineering fields, viz.,electronics engineering, software engineering, mechanical engineering, structural engineering and power systems engineering. The book describes the latest applications in the area of probabilistic safety assessment, such as technical specification optimization, risk monitoring and risk informed in-service inspection. Reliability and safety studies must, inevitably, deal with uncertainty, so the book includes uncertainty propagation methods: Monte Carlo simulation, fuzzy arithmetic, Dempster-Shafer theory and probability bounds. Reliability and Safety Engineering also highlights advances in system reliability and safety assessment including dynamic system modeling and uncertainty management. Cas...

  12. Reliable knowledge discovery

    CERN Document Server

    Dai, Honghua; Smirnov, Evgueni

    2012-01-01

    Reliable Knowledge Discovery focuses on theory, methods, and techniques for RKDD, a new sub-field of KDD. It studies the theory and methods to assure the reliability and trustworthiness of discovered knowledge and to maintain the stability and consistency of knowledge discovery processes. RKDD has a broad spectrum of applications, especially in critical domains like medicine, finance, and military. Reliable Knowledge Discovery also presents methods and techniques for designing robust knowledge-discovery processes. Approaches to assessing the reliability of the discovered knowledge are introduc

  13. Reliability of fluid systems

    Directory of Open Access Journals (Sweden)

    Kopáček Jaroslav

    2016-01-01

    Full Text Available This paper focuses on the importance of detection reliability, especially in complex fluid systems for demanding production technology. The initial criterion for assessing the reliability is the failure of object (element, which is seen as a random variable and their data (values can be processed using by the mathematical methods of theory probability and statistics. They are defined the basic indicators of reliability and their applications in calculations of serial, parallel and backed-up systems. For illustration, there are calculation examples of indicators of reliability for various elements of the system and for the selected pneumatic circuit.

  14. Circuit design for reliability

    CERN Document Server

    Cao, Yu; Wirth, Gilson

    2015-01-01

    This book presents physical understanding, modeling and simulation, on-chip characterization, layout solutions, and design techniques that are effective to enhance the reliability of various circuit units.  The authors provide readers with techniques for state of the art and future technologies, ranging from technology modeling, fault detection and analysis, circuit hardening, and reliability management. Provides comprehensive review on various reliability mechanisms at sub-45nm nodes; Describes practical modeling and characterization techniques for reliability; Includes thorough presentation of robust design techniques for major VLSI design units; Promotes physical understanding with first-principle simulations.

  15. Optical manipulation for optogenetics: otoliths manipulation in zebrafish (Conference Presentation)

    Science.gov (United States)

    Favre-Bulle, Itia A.; Scott, Ethan; Rubinsztein-Dunlop, Halina

    2016-03-01

    Otoliths play an important role in Zebrafish in terms of hearing and sense of balance. Many studies have been conducted to understand its structure and function, however the encoding of its movement in the brain remains unknown. Here we developed a noninvasive system capable of manipulating the otolith using optical trapping while we image its behavioral response and brain activity. We'll also present our tools for behavioral response detection and brain activity mapping. Acceleration is sensed through movements of the otoliths in the inner ear. Because experimental manipulations involve movements, electrophysiology and fluorescence microscopy are difficult. As a result, the neural codes underlying acceleration sensation are poorly understood. We have developed a technique for optically trapping otoliths, allowing us to simulate acceleration in stationary larval zebrafish. By applying forces to the otoliths, we can elicit behavioral responses consistent with compensation for perceived acceleration. Since the animal is stationary, we can use calcium imaging in these animals' brains to identify the functional circuits responsible for mediating responses to acceleration in natural settings.

  16. Manipulability measure of dual-arm space robot and its application to design an optimal configuration

    Science.gov (United States)

    Zhang, Bo; Liang, Bin; Wang, Xueqian; Li, Gang; Chen, Zhang; Zhu, Xiaojun

    2016-11-01

    Coupling effect exists among different arms and the base in a multi-arm space robot. The manipulability measure of one arm can be affected by the base and the other arms, which has important effects on the configuration optimization, the singularity avoidance and the compliant control. The manipulability measure for a multi-arm space robot is more complex than that of a single-arm space robot. At present, the manipulability measure of a multi-arm space robot has not been studied. In the paper, a new concept of manipulability measure is applied to analyze the manipulability measure for a dual-arm space robot, especially for the manipulability measure of the mission arm subjecting to the influence from coupling effect of auxiliary arm and the base. Based on the manipulability measure of mission arm, a performance index is introduced and used to design and choose an optimization configuration for a dual-arm space robot. Finally, a plane dual-arm space robot is simulated, which is illustrated the influence of joint angles and the base attitude on mission arm's manipulability measure. Simulation results show that the proposed manipulability measure is useful for a multi-arm space robot and optimal configuration can be extended and applied to the coordinated soft rendezvous and docking and the target capture in the field of on-orbit servicing.

  17. Distribution of control decisions in remote manipulation

    Science.gov (United States)

    Bejczy, A. K.

    1975-01-01

    The particular characteristics of the problem of distributing control decisions between man and computer in remotely controlled manipulation are discussed. State of the art is reviewed from two viewpoints: (1) specifications of both control commands and control context of sensor signals the operator inputs to the manipulator control computer; (2) operations the manipulator control computer performs on operator commands and realtime sensor signals to control the manipulator for a specified task. JPL breadboard systems, system components, and control experiments are described related to the development and evaluation of manipulator control systems with capabilities of distributing control decisions between man and computer.

  18. Wave Manipulation by Topology Optimization

    DEFF Research Database (Denmark)

    Andkjær, Jacob Anders

    Sound and light propagate as waves and are scattered, reflected and change direction when encountering other media and obstacles. By optimizing the spatial placement and distribution of the media, which the waves encounter, one can obtain useful and interesting effects. This thesis describes how...... topology optimization can be used to design structures for manipulation of the electromagnetic and acoustic waves. The wave problems considered here fall within three classes. The first class concerns the design of cloaks, which when wrapped around an object will render the object undetectable...

  19. Querying and Manipulating Temporal Databases

    Directory of Open Access Journals (Sweden)

    Mohamed Mkaouar

    2011-03-01

    Full Text Available Many works have focused, for over twenty five years, on the integration of the time dimension indatabases (DB. However, the standard SQL3 does not yet allow easy definition, manipulation andquerying of temporal DBs. In this paper, we study how we can simplify querying and manipulatingtemporal facts in SQL3, using a model that integrates time in a native manner. To do this, we proposenew keywords and syntax to define different temporal versions for many relational operators andfunctions used in SQL. It then becomes possible to perform various queries and updates appropriate totemporal facts. We illustrate the use of these proposals on many examples from a real application.

  20. LED system reliability

    NARCIS (Netherlands)

    Driel, W.D. van; Yuan, C.A.; Koh, S.; Zhang, G.Q.

    2011-01-01

    This paper presents our effort to predict the system reliability of Solid State Lighting (SSL) applications. A SSL system is composed of a LED engine with micro-electronic driver(s) that supplies power to the optic design. Knowledge of system level reliability is not only a challenging scientific ex

  1. Principles of Bridge Reliability

    DEFF Research Database (Denmark)

    Thoft-Christensen, Palle; Nowak, Andrzej S.

    The paper gives a brief introduction to the basic principles of structural reliability theory and its application to bridge engineering. Fundamental concepts like failure probability and reliability index are introduced. Ultimate as well as serviceability limit states for bridges are formulated...

  2. Improving machinery reliability

    CERN Document Server

    Bloch, Heinz P

    1998-01-01

    This totally revised, updated and expanded edition provides proven techniques and procedures that extend machinery life, reduce maintenance costs, and achieve optimum machinery reliability. This essential text clearly describes the reliability improvement and failure avoidance steps practiced by best-of-class process plants in the U.S. and Europe.

  3. Hawaii Electric System Reliability

    Energy Technology Data Exchange (ETDEWEB)

    Loose, Verne William [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Silva Monroy, Cesar Augusto [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

    2012-08-01

    This report addresses Hawaii electric system reliability issues; greater emphasis is placed on short-term reliability but resource adequacy is reviewed in reference to electric consumers’ views of reliability “worth” and the reserve capacity required to deliver that value. The report begins with a description of the Hawaii electric system to the extent permitted by publicly available data. Electrical engineering literature in the area of electric reliability is researched and briefly reviewed. North American Electric Reliability Corporation standards and measures for generation and transmission are reviewed and identified as to their appropriateness for various portions of the electric grid and for application in Hawaii. Analysis of frequency data supplied by the State of Hawaii Public Utilities Commission is presented together with comparison and contrast of performance of each of the systems for two years, 2010 and 2011. Literature tracing the development of reliability economics is reviewed and referenced. A method is explained for integrating system cost with outage cost to determine the optimal resource adequacy given customers’ views of the value contributed by reliable electric supply. The report concludes with findings and recommendations for reliability in the State of Hawaii.

  4. Hawaii electric system reliability.

    Energy Technology Data Exchange (ETDEWEB)

    Silva Monroy, Cesar Augusto; Loose, Verne William

    2012-09-01

    This report addresses Hawaii electric system reliability issues; greater emphasis is placed on short-term reliability but resource adequacy is reviewed in reference to electric consumers' views of reliability %E2%80%9Cworth%E2%80%9D and the reserve capacity required to deliver that value. The report begins with a description of the Hawaii electric system to the extent permitted by publicly available data. Electrical engineering literature in the area of electric reliability is researched and briefly reviewed. North American Electric Reliability Corporation standards and measures for generation and transmission are reviewed and identified as to their appropriateness for various portions of the electric grid and for application in Hawaii. Analysis of frequency data supplied by the State of Hawaii Public Utilities Commission is presented together with comparison and contrast of performance of each of the systems for two years, 2010 and 2011. Literature tracing the development of reliability economics is reviewed and referenced. A method is explained for integrating system cost with outage cost to determine the optimal resource adequacy given customers' views of the value contributed by reliable electric supply. The report concludes with findings and recommendations for reliability in the State of Hawaii.

  5. Genetic manipulation of Methanosarcina spp.

    Directory of Open Access Journals (Sweden)

    Petra Regine Adelheid Kohler

    2012-07-01

    Full Text Available The discovery of the third domain of life, the Archaea, is one of the most exciting findings of the last century. These remarkable prokaryotes are well known for their adaptations to extreme environments; however, Archaea have also conquered moderate environments. Many of the archaeal biochemical processes, such as methane production, are unique in nature and therefore of great scientific interest. Although formerly restricted to biochemical and physiological studies, sophisticated systems for genetic manipulation have been developed during the last two decades for methanogenic archaea, halophilic archaea and thermophilic, sulfur-metabolizing archaea. The availability of these tools has allowed for more complete studies of archaeal physiology and metabolism and most importantly provides the basis for the investigation of gene expression, regulation and function. In this review we provide an overview of methods for genetic manipulation of Methanosarcina spp., a group of methanogenic archaea that are key players in the global carbon cycle and which can be found in a variety of anaerobic environments.

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

    Science.gov (United States)

    Patino, R.

    1997-01-01

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

  7. Dimensional synthesis of a 3-DOF parallel manipulator based on dimensionally homogeneous Jacobian matrix

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    A study of dimensional synthesis of a 3-DOF parallel manipulator with coupling of translation and rotation is carried out.The architecture of the manipulator is composed of a moving platform attached to a fixed base through three identical PRS(prismatic-revolute-spherical) serial limbs,whose unique topology leads to the physical unit inconsistency of the conventional Jacobian matrix and the emergence of the parasitic motion.Then this paper introduces a kinetostatic performance index of the manipulator based on the condition of a dimensionally homogeneous Jacobian matrix,later,the workspace of the aforementioned manipulator is searched and the influence of the crucial design variables on the workspace is analyzed.Finally,a dimensional synthesis method of the manipulator is proposed,which may be regarded as a nonlinear programming problem with subject to the parasitic motion and other several engineering constraints.

  8. Trajectory Planning of 7-DOF Space Manipulator for Minimizing Base Disturbance

    Directory of Open Access Journals (Sweden)

    Qiang Zhang

    2016-03-01

    Full Text Available In the free-floating mode, there is intense dynamic coupling existing between the space manipulator and the base, and the base attitude may change while performing a motion with its manipulator. Therefore, it is necessary to reduce the interference that resulted from the manipulator movement. For planning trajectories of the space manipulator with 7 degrees of freedom (7-DOF, simulated annealing particle swarm optimization (SAPSO algorithm is presented in the paper. Firstly, kinematics equations are setup. Secondly, the joint functions are parameterized by sinusoidal functions, and the objective function is defined according to the motion constraints of manipulator and accuracy requirements of the base attitude. Finally, SAPSO algorithm is used to search the optimal trajectory. The simulation results verify the proposed method.

  9. Trajectory Planning of 7-DOF Space Manipulator for Minimizing Base Disturbance

    Directory of Open Access Journals (Sweden)

    Qiang Zhang

    2016-03-01

    Full Text Available In the free-floating mode, there is intense dynamic coupling existing between the space manipulator and the base, and the base attitude may change while performing a motion with its manipulator. Therefore, it is necessary to reduce the interference that resulted from the manipulator movement. For planning trajectories of the space manipulator with 7 degrees of freedom (7-DOF, simulated annealing particle swarm optimization (SAPSO algorithm is presented in the paper. Firstly, kinematics equations are setup. Secondly, the joint functions are parameterized by sinusoidal functions, and the objective function is defined according to the motion constraints of manipulator and accuracy requirements of the base attitude. Finally, SAPSO algorithm is used to search the optimal trajectory. The simulation results verify the proposed method.

  10. Reliability engineering theory and practice

    CERN Document Server

    Birolini, Alessandro

    2017-01-01

    This book shows how to build in and assess reliability, availability, maintainability, and safety (RAMS) of components, equipment, and systems. It presents the state of the art of reliability (RAMS) engineering, in theory & practice, and is based on over 30 years author's experience in this field, half in industry and half as Professor of Reliability Engineering at the ETH, Zurich. The book structure allows rapid access to practical results. Methods & tools are given in a way that they can be tailored to cover different RAMS requirement levels. Thanks to Appendices A6 - A8 the book is mathematically self-contained, and can be used as a textbook or as a desktop reference with a large number of tables (60), figures (210), and examples / exercises^ 10,000 per year since 2013) were the motivation for this final edition, the 13th since 1985, including German editions. Extended and carefully reviewed to improve accuracy, it represents the continuous improvement effort to satisfy reader's needs and confidenc...

  11. Experiments evaluating compliance and force feedback effect on manipulator performance

    Science.gov (United States)

    Kugath, D. A.

    1972-01-01

    The performance capability was assessed of operators performing simulated space tasks using manipulator systems which had compliance and force feedback varied. Two manipulators were used, the E-2 electromechanical man-equivalent (force, reach, etc.) master-slave system and a modified CAM 1400 hydraulic master-slave with 100 lbs force capability at reaches of 24 ft. The CAM 1400 was further modified to operate without its normal force feedback. Several experiments and simulations were performed. The first two involved the E-2 absorbing the energy of a moving mass and secondly, guiding a mass thru a maze. Thus, both work and self paced tasks were studied as servo compliance was varied. Three simulations were run with the E-2 mounted on the CAM 1400 to evaluate the concept of a dexterous manipulator as an end effector of a boom-manipulator. Finally, the CAM 1400 performed a maze test and also simulated the capture of a large mass as the servo compliance was varied and with force feedback included and removed.

  12. Composite Fuzzy Logic Control Approach to a Flexible Joint Manipulator

    Directory of Open Access Journals (Sweden)

    Mohd Ashraf Ahmad

    2013-01-01

    Full Text Available The raised complicatedness of the dynamics of a robot manipulator considering joint elasticity makes conventional model‐based control strategies complex and hard to synthesize. This paper presents investigations into the development of hybrid intelligent control schemes for the trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a collocated proportional‐derivative (PD‐type Fuzzy Logic Controller (FLC is first developed for the tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non‐collocated Fuzzy Logic Controller, a non‐collocated proportional‐ integral‐derivative (PID and an input‐shaping scheme for the vibration reduction of the flexible joint system. The positive zero‐vibration‐derivative‐derivative (ZVDD shaper is designed based on the properties of the system. The implementation results of the response of the flexible joint manipulator with the controllers are presented in time and frequency domains. The performances of the hybrid control schemes are examined in terms of input tracking capability, level of vibration reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed.

  13. An Integrated Framework for Human-Robot Collaborative Manipulation.

    Science.gov (United States)

    Sheng, Weihua; Thobbi, Anand; Gu, Ye

    2015-10-01

    This paper presents an integrated learning framework that enables humanoid robots to perform human-robot collaborative manipulation tasks. Specifically, a table-lifting task performed jointly by a human and a humanoid robot is chosen for validation purpose. The proposed framework is split into two phases: 1) phase I-learning to grasp the table and 2) phase II-learning to perform the manipulation task. An imitation learning approach is proposed for phase I. In phase II, the behavior of the robot is controlled by a combination of two types of controllers: 1) reactive and 2) proactive. The reactive controller lets the robot take a reactive control action to make the table horizontal. The proactive controller lets the robot take proactive actions based on human motion prediction. A measure of confidence of the prediction is also generated by the motion predictor. This confidence measure determines the leader/follower behavior of the robot. Hence, the robot can autonomously switch between the behaviors during the task. Finally, the performance of the human-robot team carrying out the collaborative manipulation task is experimentally evaluated on a platform consisting of a Nao humanoid robot and a Vicon motion capture system. Results show that the proposed framework can enable the robot to carry out the collaborative manipulation task successfully.

  14. Toward automated cochlear implant insertion using tubular manipulators

    Science.gov (United States)

    Granna, Josephine; Rau, Thomas S.; Nguyen, Thien-Dang; Lenarz, Thomas; Majdani, Omid; Burgner-Kahrs, Jessica

    2016-03-01

    During manual cochlear implant electrode insertion the surgeon is at risk to damage the intracochlear fine-structure, as the electrode array is inserted through a small opening in the cochlea blindly with little force-feedback. This paper addresses a novel concept for cochlear electrode insertion using tubular manipulators to reduce risks of causing trauma during insertion and to automate the insertion process. We propose a tubular manipulator incorporated into the electrode array composed of an inner wire within a tube, both elastic and helically shaped. It is our vision to use this manipulator to actuate the initially straight electrode array during insertion into the cochlea by actuation of the wire and tube, i.e. translation and slight axial rotation. In this paper, we evaluate the geometry of the human cochlea in 22 patient datasets in order to derive design requirements for the manipulator. We propose an optimization algorithm to automatically determine the tube set parameters (curvature, torsion, diameter, length) for an ideal final position within the cochlea. To prove our concept, we demonstrate that insertion can be realized in a follow-the-leader fashion for 19 out of 22 cochleas. This is possible with only 4 different tube/wire sets.

  15. Photovoltaic system reliability

    Energy Technology Data Exchange (ETDEWEB)

    Maish, A.B.; Atcitty, C. [Sandia National Labs., NM (United States); Greenberg, D. [Ascension Technology, Inc., Lincoln Center, MA (United States)] [and others

    1997-10-01

    This paper discusses the reliability of several photovoltaic projects including SMUD`s PV Pioneer project, various projects monitored by Ascension Technology, and the Colorado Parks project. System times-to-failure range from 1 to 16 years, and maintenance costs range from 1 to 16 cents per kilowatt-hour. Factors contributing to the reliability of these systems are discussed, and practices are recommended that can be applied to future projects. This paper also discusses the methodology used to collect and analyze PV system reliability data.

  16. Structural Reliability Methods

    DEFF Research Database (Denmark)

    Ditlevsen, Ove Dalager; Madsen, H. O.

    of structural reliability, including the theoretical basis for these methods. Partial safety factor codes under current practice are briefly introduced and discussed. A probabilistic code format for obtaining a formal reliability evaluation system that catches the most essential features of the nature......The structural reliability methods quantitatively treat the uncertainty of predicting the behaviour and properties of a structure given the uncertain properties of its geometry, materials, and the actions it is supposed to withstand. This book addresses the probabilistic methods for evaluation...

  17. PARAMETRIC IDENTIFICATION OF PARALLEL MANIPULATOR WITH REDUNDANCY DRIVEN BY PNEUMATIC MUSCLES

    Institute of Scientific and Technical Information of China (English)

    ZHU Xiaocong; TAO Guoliang; CAO Jian

    2008-01-01

    A new parameter estimation algorithm is proposed for parametric identification of a parallel manipulator driven by pneumatic muscles with redundancy. Due to the special physical properties of the parallel manipulator studied, the regression model for parametric identification is characterized by multicollinearity, which will result in unreliable and inaccurate parameter estimations with large covariance if the conventional parameter estimation algorithm based on single error minimizing criterion is used. To improve the quality of parameter estimation and achieve high precise posture trajectory tracking control of the parallel manipulator, a new parameter estimation algorithm based on composite error minimizing criterion is developed in need of theoretical contractive forces of pneumatic muscles. The experimental results indicate that the proposed algorithm integrated with adaptive robust control could provide reliable parametric identification and greatly enhance the control accuracy in the trajectory tracking control of the parallel manipulator, and that the variation of known theoretical contractive forces of pneumatic muscles has slight influence on the control performance.

  18. A giant magnetoresistance ring-sensor based microsystem for magnetic bead manipulation and detection

    KAUST Repository

    Gooneratne, Chinthaka P.

    2011-03-28

    In this paper a novel spin valvegiant magnetoresistance(GMR) ring-sensor integrated with a microstructure is proposed for concentrating, trapping, and detecting superparamagnetic beads (SPBs). Taking advantage of the fact that SPBs can be manipulated by an external magnetic field, a unique arrangement of conducting microrings is utilized to manipulate the SPBs toward the GMR sensing area in order to increase the reliability of detection. The microrings are arranged and activated in such a manner so as to enable the detection of minute concentrations of SPBs in a sample. Precise manipulation is achieved by applying current sequentially to the microrings. The fabricated ring-shaped GMR element is located underneath the innermost ring and has a magnetoresistance of approximately 5.9%. By the performed experiments it was shown that SPBs could be successfully manipulated toward the GMR sensing zone.

  19. PV Systems Reliability Final Technical Report: Ground Fault Detection

    Energy Technology Data Exchange (ETDEWEB)

    Lavrova, Olga [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Flicker, Jack David [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Johnson, Jay [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

    2016-01-01

    We have examined ground faults in PhotoVoltaic (PV) arrays and the efficacy of fuse, current detection (RCD), current sense monitoring/relays (CSM), isolation/insulation (Riso) monitoring, and Ground Fault Detection and Isolation (GFID) using simulations based on a Simulation Program with Integrated Circuit Emphasis SPICE ground fault circuit model, experimental ground faults installed on real arrays, and theoretical equations.

  20. Task Space Tracking for Manipulators

    Directory of Open Access Journals (Sweden)

    Olav Egeland

    1985-04-01

    Full Text Available For the purpose of controlling a manipulator in the task space, a linear model with task space position and velocity as state variables can be developed. This is done by means of exact compensation of the state-space model non-linearities using non-linear feedback. In this paper, feedback control for this linear state space model is developed using optimal control theory. Integral action is included to compensate for unmodeled forces and torques. In the resulting control system, the problem of transforming the task space trajectory to the joint space is avoided, and the controller parameters can be chosen to satisfy requirements specified in the task space. Simulation experiments show promising results.

  1. Incretin manipulation in diabetes management

    Institute of Scientific and Technical Information of China (English)

    2015-01-01

    Incretin-based therapies have revolutionized the medicalmanagement of type 2 diabetes mellitus (T2DM)in the 21st century. Glucagon-like peptide-1 (GLP-1)suppresses appetite and gastric motility, and has trophiceffects on pancreas, cardio-protective and renal effects.GLP-1 analogues and dipeptidyl peptidase-4 inhibitorsform the incretin-based therapies. Significant reductionof hemoglobin A1c when used as monotherapy andin combination regimens, favorable effects on bodyweight, and low risk of hypoglycemia are their uniquetherapeutic benefits. Their safety and tolerability arecomparable to other anti-diabetic medications. Concernabout elevated risk of pancreatitis has been discardedby two recent meta-analyses. This article discussesthe therapeutic manipulation of incretin system for themanagement of T2DM.

  2. Multidiscipline simulation of elastic manipulators

    Directory of Open Access Journals (Sweden)

    T. Rølvåg

    1992-10-01

    Full Text Available This paper contributes to multidiscipline simulation of elastic robot manipulators in FEDEM. All developments presented in this paper are based on the formulations in FEDEM, a simulation system developed by the authors which combines finite element, mechanism and control analysis. In order to establish this general simulation system as an efficient multidiscipline robot design tool a robot control system including a high level robot programming language, interpolation algorithms, path generation algorithms, forward and inverse kinematics, control systems, gear and transmission models are implemented. These new features provide a high level of integration between traditionally separate design disciplines from the very beginning of the design and optimization process. Several simulations have shown that high fidelity mathematical models can be derived and used as a basis for dynamic analysis and controller design in FEDEM.

  3. Joint Manipulation Under Anesthesia for Arthrofibrosis After Hallux Valgus Surgery.

    Science.gov (United States)

    Feuerstein, Catherine; Weil, Lowell; Weil, Lowell Scott; Klein, Erin E; Argerakis, Nicholas; Fleischer, Adam E

    2016-01-01

    Arthrofibrosis is a known complication of hallux valgus surgery. Joint manipulation under anesthesia has been studied for adhesive capsulitis of the shoulder; however, a paucity of published data exists on the use of this modality in the foot and ankle. The purpose of the present study was to investigate the outcomes of first metatarsophalangeal joint manipulation for arthrofibrosis that occurred as a complication of bunion surgery. The study population consisted of patients attending a single foot and ankle specialty clinic who were evaluated for arthrofibrosis after bunion surgery. Patients who underwent joint manipulation under anesthesia were asked to complete a research visit in which a clinical examination was performed and the presence and severity of joint pain were assessed. A total of 38 patients (34 females, 4 males, 53 feet), with a mean age of 55.7 ± 11.8 (range 30 to 83) years, agreed to participate. The mean follow-up period was 6.5 ± 3.4 (range 1 to 17) years. The visual analog scale scores improved significantly from baseline to the final follow-up visit (baseline 6.5 ± 1.5, range 2 to 10; final follow-up visit 2.3 ± 1.5, range 0 to 6; p arthrofibrosis after surgical correction of hallux valgus. Copyright © 2016 American College of Foot and Ankle Surgeons. Published by Elsevier Inc. All rights reserved.

  4. Modeling, Simulation and Position Control of 3 Degree of Freedom Articulated Manipulator

    Directory of Open Access Journals (Sweden)

    Hossein Sadegh Lafmejani

    2013-09-01

    Full Text Available In this paper, the modeling, simulation and control of 3 degree of freedom articulated robotic manipulator have been studied. First, we extracted kinematics and dynamics equations of the mentioned manipulator by using the Lagrange method. In order to validate the analytical model of the manipulator we compared the model simulated in the simulation environment of Matlab with the model was simulated with the SimMechanics toolbox. A sample path has been designed for analyzing the tracking subject. The system has been linearized with feedback linearization and then a PID controller was applied to track a reference trajectory. Finally, the control results have been compared with a nonlinear PID controller.

  5. Final Report

    Energy Technology Data Exchange (ETDEWEB)

    Gurney, Kevin R

    2015-01-12

    This document constitutes the final report under DOE grant DE-FG-08ER64649. The organization of this document is as follows: first, I will review the original scope of the proposed research. Second, I will present the current draft of a paper nearing submission to Nature Climate Change on the initial results of this funded effort. Finally, I will present the last phase of the research under this grant which has supported a Ph.D. student. To that end, I will present the graduate student’s proposed research, a portion of which is completed and reflected in the paper nearing submission. This final work phase will be completed in the next 12 months. This final workphase will likely result in 1-2 additional publications and we consider the results (as exemplified by the current paper) high quality. The continuing results will acknowledge the funding provided by DOE grant DE-FG-08ER64649.

  6. Final Report

    Energy Technology Data Exchange (ETDEWEB)

    DeTar, Carleton [P.I.

    2012-12-10

    This document constitutes the Final Report for award DE-FC02-06ER41446 as required by the Office of Science. It summarizes accomplishments and provides copies of scientific publications with significant contribution from this award.

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

    Science.gov (United States)

    Yang, Zhan; Wang, Yaqiong; Yang, Bin; Li, Guanghui; Chen, Tao; Nakajima, Masahiro; Sun, Lining; Fukuda, Toshio

    2016-01-01

    Carbon nanotubes (CNT) have been developed in recent decades for nanodevices such as nanoradios, nanogenerators, carbon nanotube field effect transistors (CNTFETs) and so on, indicating that the application of CNTs for nanoscale electronics may play a key role in the development of nanotechnology. Nanorobotics manipulation systems are a promising method for nanodevice construction and assembly. For the purpose of constructing three-dimensional CNTFETs, a nanorobotics manipulation system with 16 DOFs was developed for nanomanipulation of nanometer-scale objects inside the specimen chamber of a scanning electron microscope (SEM). Nanorobotics manipulators are assembled into four units with four DOFs (X-Y-Z-θ) individually. The rotational one is actuated by a picomotor. That means a manipulator has four DOFs including three linear motions in the X, Y, Z directions and a 360-degree rotational one (X-Y-Z-θ stage, θ is along the direction rotating with X or Y axis). Manipulators are actuated by picomotors with better than 30 nm linear resolution and <1 micro-rad rotary resolution. Four vertically installed AFM cantilevers (the axis of the cantilever tip is vertical to the axis of electronic beam of SEM) served as the end-effectors to facilitate the real-time observation of the operations. A series of kinematic derivations of these four manipulators based on the Denavit-Hartenberg (D-H) notation were established. The common working space of the end-effectors is 2.78 mm by 4.39 mm by 6 mm. The manipulation strategy and vision feedback control for multi-manipulators operating inside the SEM chamber were been discussed. Finally, application of the designed nanorobotics manipulation system by successfully testing of the pickup-and-place manipulation of an individual CNT onto four probes was described. The experimental results have shown that carbon nanotubes can be successfully picked up with this nanorobotics manipulation system. PMID:27649180

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

    Science.gov (United States)

    Yang, Zhan; Wang, Yaqiong; Yang, Bin; Li, Guanghui; Chen, Tao; Nakajima, Masahiro; Sun, Lining; Fukuda, Toshio

    2016-09-14

    Carbon nanotubes (CNT) have been developed in recent decades for nanodevices such as nanoradios, nanogenerators, carbon nanotube field effect transistors (CNTFETs) and so on, indicating that the application of CNTs for nanoscale electronics may play a key role in the development of nanotechnology. Nanorobotics manipulation systems are a promising method for nanodevice construction and assembly. For the purpose of constructing three-dimensional CNTFETs, a nanorobotics manipulation system with 16 DOFs was developed for nanomanipulation of nanometer-scale objects inside the specimen chamber of a scanning electron microscope (SEM). Nanorobotics manipulators are assembled into four units with four DOFs (X-Y-Z-θ) individually. The rotational one is actuated by a picomotor. That means a manipulator has four DOFs including three linear motions in the X, Y, Z directions and a 360-degree rotational one (X-Y-Z-θ stage, θ is along the direction rotating with X or Y axis). Manipulators are actuated by picomotors with better than 30 nm linear resolution and <1 micro-rad rotary resolution. Four vertically installed AFM cantilevers (the axis of the cantilever tip is vertical to the axis of electronic beam of SEM) served as the end-effectors to facilitate the real-time observation of the operations. A series of kinematic derivations of these four manipulators based on the Denavit-Hartenberg (D-H) notation were established. The common working space of the end-effectors is 2.78 mm by 4.39 mm by 6 mm. The manipulation strategy and vision feedback control for multi-manipulators operating inside the SEM chamber were been discussed. Finally, application of the designed nanorobotics manipulation system by successfully testing of the pickup-and-place manipulation of an individual CNT onto four probes was described. The experimental results have shown that carbon nanotubes can be successfully picked up with this nanorobotics manipulation system.

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

    Directory of Open Access Journals (Sweden)

    Zhan Yang

    2016-09-01

    Full Text Available Carbon nanotubes (CNT have been developed in recent decades for nanodevices such as nanoradios, nanogenerators, carbon nanotube field effect transistors (CNTFETs and so on, indicating that the application of CNTs for nanoscale electronics may play a key role in the development of nanotechnology. Nanorobotics manipulation systems are a promising method for nanodevice construction and assembly. For the purpose of constructing three-dimensional CNTFETs, a nanorobotics manipulation system with 16 DOFs was developed for nanomanipulation of nanometer-scale objects inside the specimen chamber of a scanning electron microscope (SEM. Nanorobotics manipulators are assembled into four units with four DOFs (X-Y-Z-θ individually. The rotational one is actuated by a picomotor. That means a manipulator has four DOFs including three linear motions in the X, Y, Z directions and a 360-degree rotational one (X-Y-Z-θ stage, θ is along the direction rotating with X or Y axis. Manipulators are actuated by picomotors with better than 30 nm linear resolution and <1 micro-rad rotary resolution. Four vertically installed AFM cantilevers (the axis of the cantilever tip is vertical to the axis of electronic beam of SEM served as the end-effectors to facilitate the real-time observation of the operations. A series of kinematic derivations of these four manipulators based on the Denavit-Hartenberg (D-H notation were established. The common working space of the end-effectors is 2.78 mm by 4.39 mm by 6 mm. The manipulation strategy and vision feedback control for multi-manipulators operating inside the SEM chamber were been discussed. Finally, application of the designed nanorobotics manipulation system by successfully testing of the pickup-and-place manipulation of an individual CNT onto four probes was described. The experimental results have shown that carbon nanotubes can be successfully picked up with this nanorobotics manipulation system.

  10. Reliable Electronic Equipment

    Directory of Open Access Journals (Sweden)

    N. A. Nayak

    1960-05-01

    Full Text Available The reliability aspect of electronic equipment's is discussed. To obtain optimum results, close cooperation between the components engineer, the design engineer and the production engineer is suggested.

  11. Reliability prediction techniques

    Energy Technology Data Exchange (ETDEWEB)

    Whittaker, B.; Worthington, B.; Lord, J.F.; Pinkard, D.

    1986-01-01

    The paper demonstrates the feasibility of applying reliability assessment techniques to mining equipment. A number of techniques are identified and described and examples of their use in assessing mining equipment are given. These techniques include: reliability prediction; failure analysis; design audit; maintainability; availability and the life cycle costing. Specific conclusions regarding the usefulness of each technique are outlined. The choice of techniques depends upon both the type of equipment being assessed and its stage of development, with numerical prediction best suited for electronic equipment and fault analysis and design audit suited to mechanical equipment. Reliability assessments involve much detailed and time consuming work but it has been demonstrated that the resulting reliability improvements lead to savings in service costs which more than offset the cost of the evaluation.

  12. IMU-Based Online Kinematic Calibration of Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Guanglong Du

    2013-01-01

    Full Text Available Robot calibration is a useful diagnostic method for improving the positioning accuracy in robot production and maintenance. An online robot self-calibration method based on inertial measurement unit (IMU is presented in this paper. The method requires that the IMU is rigidly attached to the robot manipulator, which makes it possible to obtain the orientation of the manipulator with the orientation of the IMU in real time. This paper proposed an efficient approach which incorporates Factored Quaternion Algorithm (FQA and Kalman Filter (KF to estimate the orientation of the IMU. Then, an Extended Kalman Filter (EKF is used to estimate kinematic parameter errors. Using this proposed orientation estimation method will result in improved reliability and accuracy in determining the orientation of the manipulator. Compared with the existing vision-based self-calibration methods, the great advantage of this method is that it does not need the complex steps, such as camera calibration, images capture, and corner detection, which make the robot calibration procedure more autonomous in a dynamic manufacturing environment. Experimental studies on a GOOGOL GRB3016 robot show that this method has better accuracy, convenience, and effectiveness than vision-based methods.

  13. IMU-based online kinematic calibration of robot manipulator.

    Science.gov (United States)

    Du, Guanglong; Zhang, Ping

    2013-01-01

    Robot calibration is a useful diagnostic method for improving the positioning accuracy in robot production and maintenance. An online robot self-calibration method based on inertial measurement unit (IMU) is presented in this paper. The method requires that the IMU is rigidly attached to the robot manipulator, which makes it possible to obtain the orientation of the manipulator with the orientation of the IMU in real time. This paper proposed an efficient approach which incorporates Factored Quaternion Algorithm (FQA) and Kalman Filter (KF) to estimate the orientation of the IMU. Then, an Extended Kalman Filter (EKF) is used to estimate kinematic parameter errors. Using this proposed orientation estimation method will result in improved reliability and accuracy in determining the orientation of the manipulator. Compared with the existing vision-based self-calibration methods, the great advantage of this method is that it does not need the complex steps, such as camera calibration, images capture, and corner detection, which make the robot calibration procedure more autonomous in a dynamic manufacturing environment. Experimental studies on a GOOGOL GRB3016 robot show that this method has better accuracy, convenience, and effectiveness than vision-based methods.

  14. Development of a compact laparoscope manipulator (P-arm).

    Science.gov (United States)

    Sekimoto, Mitsugu; Nishikawa, Atsushi; Taniguchi, Kazuhiro; Takiguchi, Shuji; Miyazaki, Fumio; Doki, Yuichiro; Mori, Masaki

    2009-11-01

    Laparoscope manipulating robots are useful for maintaining a stable view during a laparoscopic operation and as a substitute for the surgeon who controls the laparoscope. However, there are several problems to be solved. A large apparatus sometimes interferes with the surgeon. The setting and repositioning is awkward. Furthermore, the initial and maintenance costs are expensive. This study was designed to develop a new laparoscope manipulating robot to overcome those problems. We developed a compact robot applicable for various types of laparoscopic surgery with less expensive materials. The robot was evaluated by performing an in vitro laparoscopic cholecystectomy using extracted swine organs. Then, the availability of the robot to various operations was validated by performing a laparoscopic cholecystectomy, anterior resection of the rectum, and distal gastrectomy using a living swine. The reliability of the system was tested by long-time continuous running. A compact and lightweight laparoscope manipulating robot by the name of P-arm was developed. The surgical time of an in vitro laparoscopic cholecystectomy with and without the P-arm was not different. The three types of operations were accomplished successfully. During the entire procedure, the P-arm worked without trouble and did not interfere with the surgeons. Continuous 8-h operating tests were performed three times and neither discontinuance nor trouble occurred with the system. The P-arm worked steadily for various swine operations, without interfering with surgeon's work.

  15. The rating reliability calculator

    Directory of Open Access Journals (Sweden)

    Solomon David J

    2004-04-01

    Full Text Available Abstract Background Rating scales form an important means of gathering evaluation data. Since important decisions are often based on these evaluations, determining the reliability of rating data can be critical. Most commonly used methods of estimating reliability require a complete set of ratings i.e. every subject being rated must be rated by each judge. Over fifty years ago Ebel described an algorithm for estimating the reliability of ratings based on incomplete data. While his article has been widely cited over the years, software based on the algorithm is not readily available. This paper describes an easy-to-use Web-based utility for estimating the reliability of ratings based on incomplete data using Ebel's algorithm. Methods The program is available public use on our server and the source code is freely available under GNU General Public License. The utility is written in PHP, a common open source imbedded scripting language. The rating data can be entered in a convenient format on the user's personal computer that the program will upload to the server for calculating the reliability and other statistics describing the ratings. Results When the program is run it displays the reliability, number of subject rated, harmonic mean number of judges rating each subject, the mean and standard deviation of the averaged ratings per subject. The program also displays the mean, standard deviation and number of ratings for each subject rated. Additionally the program will estimate the reliability of an average of a number of ratings for each subject via the Spearman-Brown prophecy formula. Conclusion This simple web-based program provides a convenient means of estimating the reliability of rating data without the need to conduct special studies in order to provide complete rating data. I would welcome other researchers revising and enhancing the program.

  16. Reliability of power connections

    Institute of Scientific and Technical Information of China (English)

    BRAUNOVIC Milenko

    2007-01-01

    Despite the use of various preventive maintenance measures, there are still a number of problem areas that can adversely affect system reliability. Also, economical constraints have pushed the designs of power connections closer to the limits allowed by the existing standards. The major parameters influencing the reliability and life of Al-Al and Al-Cu connections are identified. The effectiveness of various palliative measures is determined and the misconceptions about their effectiveness are dealt in detail.

  17. Motion capability analysis of a quadruped robot as a parallel manipulator

    Science.gov (United States)

    Yu, Jingjun; Lu, Dengfeng; Zhang, Zhongxiang; Pei, Xu

    2014-12-01

    This paper presents the forward and inverse displacement analysis of a quadruped robot MANA as a parallel manipulator in quadruple stance phase, which is used to obtain the workspace and control the motion of the body. The robot MANA designed on the basis of the structure of quadruped mammal is able to not only walk and turn in the uneven terrain, but also accomplish various manipulating tasks as a parallel manipulator in quadruple stance phase. The latter will be the focus of this paper, however. For this purpose, the leg kinematics is primarily analyzed, which lays the foundation on the gait planning in terms of locomotion and body kinematics analysis as a parallel manipulator. When all four feet of the robot contact on the ground, by assuming there is no slipping at the feet, each contacting point is treated as a passive spherical joint and the kinematic model of parallel manipulator is established. The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelve optional joints is elaborated. The inverse and forward displacement analysis of the parallel manipulator is carried out using the method of coordinate transformation. Finally, based on the inverse and forward kinematic model, two issues on obtaining the reachable workspace of parallel manipulator and planning the motion of the body are implemented and verified by ADAMS simulation.

  18. Manipulating Spin-Orbit Interaction in Semiconductors

    Science.gov (United States)

    Kohda, Makoto; Bergsten, Tobias; Nitta, Junsaku

    2008-03-01

    Spin-orbit interaction (SOI), where the orbital motion of electrons is coupled with the orientation of electron spins, originates from a relativistic effect. Generally, in nonrelativistic momentum, p = \\hbar k≪ m0c, the SOI is negligible. However, in a semiconductor heterostructure, the small energy-band gap (Eg ≪ m0c2) and the electron wave modulated by the atomic core potential markedly enhance the SOI. Since the SOI acts as an effective magnetic field, it may offer novel functionalities for controlling the spin degree of freedom such as the electrical spin generation and the electrical control of the spin precession in a semiconductor heterojunction. Here, we review recent experimental studies on the manipulation of the SOI in a semiconductor two-dimensional electron gas. We first present a theoretical overview of the Rashba SOI, which lifts the spin degeneracy due to structural inversion asymmetry. We then present experimental results on the quantum well (QW) thickness dependences of the Rashba SOI in InP/InGaAs/InAlAs asymmetric QWs by analyzing the weak antilocalization. Finally, we show quantum interference effects due to the spin precession in a small array of mesoscopic InGaAs rings, which is an experimental demonstration of the time-reversal Aharonov-Casher effect and the electromagnetic dual to the Al’tshuler-Aronov-Spivak effect.

  19. Multidisciplinary System Reliability Analysis

    Science.gov (United States)

    Mahadevan, Sankaran; Han, Song; Chamis, Christos C. (Technical Monitor)

    2001-01-01

    The objective of this study is to develop a new methodology for estimating the reliability of engineering systems that encompass multiple disciplines. The methodology is formulated in the context of the NESSUS probabilistic structural analysis code, developed under the leadership of NASA Glenn Research Center. The NESSUS code has been successfully applied to the reliability estimation of a variety of structural engineering systems. This study examines whether the features of NESSUS could be used to investigate the reliability of systems in other disciplines such as heat transfer, fluid mechanics, electrical circuits etc., without considerable programming effort specific to each discipline. In this study, the mechanical equivalence between system behavior models in different disciplines are investigated to achieve this objective. A new methodology is presented for the analysis of heat transfer, fluid flow, and electrical circuit problems using the structural analysis routines within NESSUS, by utilizing the equivalence between the computational quantities in different disciplines. This technique is integrated with the fast probability integration and system reliability techniques within the NESSUS code, to successfully compute the system reliability of multidisciplinary systems. Traditional as well as progressive failure analysis methods for system reliability estimation are demonstrated, through a numerical example of a heat exchanger system involving failure modes in structural, heat transfer and fluid flow disciplines.

  20. Combined method for parallel manipulator configuration design

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    Configuration design is an essential, creative and decision-making step in parallel manipulator design process, in which modeling and assembly are iterative and trivial. Combined approach with automatic parametric modeling and automatic assembly is proposed for parallel manipulator configuration design. The design process and key techniques, such as configuration design, configuration verification, poses calculation of all parts in parallel manipulator, virtual assembly and etc., are discussed and demonstrated by an example. A software package is developed for parallel manipulator configuration design based on the proposed method with Visual C+ + and UG/OPEN on Unigraphics.

  1. Nano-manipulation of single DNA molecules

    Institute of Scientific and Technical Information of China (English)

    HU Jun; L(U) Jun-Hong; LI Hai-Kuo; AN Hong-Jie; WANG Guo-Hua; WANG Ying; LI Min-Qian; ZHANG Yi; LI Bin

    2004-01-01

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

  2. A Review of Ultrasonic Nano Manipulation Technology

    Institute of Scientific and Technical Information of China (English)

    Junhui Hu∗

    2016-01-01

    Nano manipulation technology has great potential applications in the assembly, measurement and fabrication of nano materials, actuating and high-sensitivity sensing of biological samples, manufacture of nano sensors, decontamination of air and water, etc. As an actuating technology which is far from being mature, the nano manipulation still faces lots of challenges in the device principles, design, scaling up, sample safety, etc. The ultrasonic nano manipulation, in which nanoscale objects are handled and actuated by controlled ultrasound, is an emerging technology to meet some of challenges in nano manipulations. The author’ s research team and other groups have proposed and realized a series of nano manipulation functions such as trapping, transfer, rotation and concentration since 2012, by controlled ultrasound. Compared with other nano manipulating techniques, the ultrasonic method has the merits such as very low temperature rise at the manipulation area, little selectivity to the material properties of manipulated samples, capability of being implemented on the substrates without MENS or NEMS structure, etc. This paper reviews the progresses in principles, functions, structures and characteristics of the ultrasonic devices for nano manipulations.

  3. Sensitivity Analysis of Component Reliability

    Institute of Scientific and Technical Information of China (English)

    ZhenhuaGe

    2004-01-01

    In a system, Every component has its unique position within system and its unique failure characteristics. When a component's reliability is changed, its effect on system reliability is not equal. Component reliability sensitivity is a measure of effect on system reliability while a component's reliability is changed. In this paper, the definition and relative matrix of component reliability sensitivity is proposed, and some of their characteristics are analyzed. All these will help us to analyse or improve the system reliability.

  4. Human hand descriptions and gesture recognition for object manipulation.

    Science.gov (United States)

    Cobos, Salvador; Ferre, Manuel; Sánchez-Urán, M Ángel; Ortego, Javier; Aracil, Rafael

    2010-06-01

    This work focuses on obtaining realistic human hand models that are suitable for manipulation tasks. A 24 degrees of freedom (DoF) kinematic model of the human hand is defined. The model reasonably satisfies realism requirements in simulation and movement. To achieve realism, intra- and inter-finger constraints are obtained. The design of the hand model with 24 DoF is based upon a morphological, physiological and anatomical study of the human hand. The model is used to develop a gesture recognition procedure that uses principal components analysis (PCA) and discriminant functions. Two simplified hand descriptions (nine and six DoF) have been developed in accordance with the constraints obtained previously. The accuracy of the simplified models is almost 5% for the nine DoF hand description and 10% for the six DoF hand description. Finally, some criteria are defined by which to select the hand description best suited to the features of the manipulation task.

  5. Decentralized Neural Backstepping Control Applied to a Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Ramon Garcia-Hernandez

    2013-01-01

    Full Text Available This paper presents a discrete‐time decentralized control scheme for trajectory tracking of a two degrees of freedom (DOF robot manipulator. A high order neural network (HONN is used to approximate a decentralized control law designed by the backstepping technique as applied to a block strict feedback form (BSFF. The weights for each neural network are adapted online by an extended Kalman filter training algorithm. The motion for each joint is controlled independently using only local angular position and velocity measurements. The stability analysis for the closed‐loop system via the Lyapunov approach is included. Finally, the real‐time results show the feasibility of the proposed control scheme using a robot manipulator.

  6. Identification and Optogenetic Manipulation of Memory Engrams in the Hippocampus

    Directory of Open Access Journals (Sweden)

    Steve eRamirez

    2014-01-01

    Full Text Available With the accumulation of our knowledge about how memories are formed, consolidated, retrieved, and updated, neuroscience is now reaching a point where discrete memories can be identified and manipulated at rapid timescales. Here, we start with historical studies that lead to the modern memory engram theory. Then, we will review recent advances in memory engram research that combine transgenic and optogenetic approaches to reveal the underlying neuronal substrates sufficient for activating mnemonic processes. We will focus on three concepts: isolating memory engrams at the level of single cells to tag them for subsequent manipulation; testing the sufficiency of these engrams for memory recall by artificially activating them; and finally, presenting new stimuli during the artificial activation of these engrams to induce an association between the two to form a false memory. We propose that hippocampal cells that show activity-dependent changes during learning construct a cellular basis for contextual memory engrams.

  7. Recent Data Sets on Object Manipulation: A Survey.

    Science.gov (United States)

    Huang, Yongqiang; Bianchi, Matteo; Liarokapis, Minas; Sun, Yu

    2016-12-01

    Data sets is crucial not only for model learning and evaluation but also to advance knowledge on human behavior, thus fostering mutual inspiration between neuroscience and robotics. However, choosing the right data set to use or creating a new data set is not an easy task, because of the variety of data that can be found in the related literature. The first step to tackle this issue is to collect and organize those that are available. In this work, we take a significant step forward by reviewing data sets that were published in the past 10 years and that are directly related to object manipulation and grasping. We report on modalities, activities, and annotations for each individual data set and we discuss our view on its use for object manipulation. We also compare the data sets and summarize them. Finally, we conclude the survey by providing suggestions and discussing the best practices for the creation of new data sets.

  8. Human-like Manipulation Planning for Articulated Manipulator

    Institute of Scientific and Technical Information of China (English)

    Yahui Gan; Xianzhong Dai

    2012-01-01

    A new method based on human-likeness assessment and optimization concept to solve the problem of human-like manipulation planning for articulated robot is proposed in this paper.This method intrinsically formulates the problem as a constrained optimization problem in robot configuration space.The robot configuration space is divided into different subregions by human likeness assessment.A widely used strategy,Rapid Upper Limb Assessment (RULA) in applied ergonomics,is adopted here to evaluate the human likeness of robot configuration.A task compatibility measurement of the robot velocity transmission ratio along a specified direction is used as the target function for the optimization problem.Simple illustrative examples of this method applied to a two Degree of Freedom (DOF) planar robot that resembles the upper limb of a human are presented.Further applications to a humanoid industrial robot SDA10D are also presented.The reasonable planning results for these applications assert the effectiveness of our method.

  9. Reliability Simulation and Design Optimization for Mechanical Maintenance

    Institute of Scientific and Technical Information of China (English)

    LIU Deshun; HUANG Liangpei; YUE Wenhui; XU Xiaoyan

    2009-01-01

    Reliability model of a mechanical product system will be newly reconstructed and maintenance cost will increase because failed parts can be replaced with new components during service, which should be accounted for in system design. In this paper, a reliability model and reliability-based design optimization methodology for maintenance are presented. First, based on the time-to-failure density function of the part of the system, the age distributions of all parts of the system during service are investigated, a reliability model of the mechanical system for maintenance is developed. Then, reliability simulations of the systems with Weibull probability density functions are performed, the system minimum reliability and steady reliability for maintenance are defined based on reliability simulation during the life cycle of the system. Thirdly, a maintenance cost model is developed based on replacement rates of the parts, a reliability-based design optimization model for maintenance is presented, in which total life cycle cost is considered as design objective and system reliability as design constrain. Finally, the reliability-based design optimization methodology for maintenance is used to design of a link ring for the chain conveyor, which shows that optimal design with the lowest maintenance cost can be obtained, and minimum reliability and steady reliability of the system can satisfy requirement of system reliability during service of the chain conveyor.

  10. Analysis on testing and operational reliability of software

    Institute of Scientific and Technical Information of China (English)

    ZHAO Jing; LIU Hong-wei; CUI Gang; WANG Hui-qiang

    2008-01-01

    Software reliability was estimated based on NHPP software reliability growth models. Testing reliability and operational reliability may be essentially different. On the basis of analyzing similarities and differences of the testing phase and the operational phase, using the concept of operational reliability and the testing reliability, different forms of the comparison between the operational failure ratio and the predicted testing failure ratio were conducted, and the mathematical discussion and analysis were performed in detail. Finally, software optimal release was studied using software failure data. The results show that two kinds of conclusions can be derived by applying this method, one conclusion is to continue testing to meet the required reliability level of users, and the other is that testing stops when the required operational reliability is met, thus the testing cost can be reduced.

  11. System reliability analysis for kinematic performance of planar mechanisms

    Institute of Scientific and Technical Information of China (English)

    ZHANG YiMin; HUANG XianZhen; ZHANG XuFang; HE XiangDong; WEN BangChun

    2009-01-01

    Based on the reliability and mechanism kinematic accuracy theories, we propose a general methodology for system reliability analysis of kinematic performance of planar mechanisms. The loop closure equations are used to estimate the kinematic performance errors of planar mechanisms. Reliability and system reliability theories are introduced to develop the limit state functions (LSF) for failure of kinematic performance qualities. The statistical fourth moment method and the Edgeworth series technique are used on system reliability analysis for kinematic performance of planar mechanisms, which relax the restrictions of probability distribution of design variables. Finally, the practicality, efficiency and accuracy of the proposed method are demonstrated by numerical examples.

  12. THE AIRLINE'S RELIABILITY PROGRAM

    OpenAIRE

    Тамаргазін, О. А.; Національний авіаційний університет; Власенко, П. О.; Національний авіаційний університет

    2013-01-01

    Airline's operational structure for Reliability program implementation — engineering division, reliability  division, reliability control division, aircraft maintenance division, quality assurance division — was considered. Airline's Reliability program structure is shown. Using of Reliability program for reducing costs on aircraft maintenance is proposed. Рассмотрена организационная структура авиакомпании по выполнению Программы надежности - инженерный отдел, отделы по надежности авиацио...

  13. Ultra reliability at NASA

    Science.gov (United States)

    Shapiro, Andrew A.

    2006-01-01

    Ultra reliable systems are critical to NASA particularly as consideration is being given to extended lunar missions and manned missions to Mars. NASA has formulated a program designed to improve the reliability of NASA systems. The long term goal for the NASA ultra reliability is to ultimately improve NASA systems by an order of magnitude. The approach outlined in this presentation involves the steps used in developing a strategic plan to achieve the long term objective of ultra reliability. Consideration is given to: complex systems, hardware (including aircraft, aerospace craft and launch vehicles), software, human interactions, long life missions, infrastructure development, and cross cutting technologies. Several NASA-wide workshops have been held, identifying issues for reliability improvement and providing mitigation strategies for these issues. In addition to representation from all of the NASA centers, experts from government (NASA and non-NASA), universities and industry participated. Highlights of a strategic plan, which is being developed using the results from these workshops, will be presented.

  14. Photovoltaic module reliability workshop

    Energy Technology Data Exchange (ETDEWEB)

    Mrig, L. (ed.)

    1990-01-01

    The paper and presentations compiled in this volume form the Proceedings of the fourth in a series of Workshops sponsored by Solar Energy Research Institute (SERI/DOE) under the general theme of photovoltaic module reliability during the period 1986--1990. The reliability Photo Voltaic (PV) modules/systems is exceedingly important along with the initial cost and efficiency of modules if the PV technology has to make a major impact in the power generation market, and for it to compete with the conventional electricity producing technologies. The reliability of photovoltaic modules has progressed significantly in the last few years as evidenced by warranties available on commercial modules of as long as 12 years. However, there is still need for substantial research and testing required to improve module field reliability to levels of 30 years or more. Several small groups of researchers are involved in this research, development, and monitoring activity around the world. In the US, PV manufacturers, DOE laboratories, electric utilities and others are engaged in the photovoltaic reliability research and testing. This group of researchers and others interested in this field were brought together under SERI/DOE sponsorship to exchange the technical knowledge and field experience as related to current information in this important field. The papers presented here reflect this effort.

  15. Spinal manipulative therapy in sports medicine.

    Science.gov (United States)

    Haldeman, S

    1986-04-01

    Spinal manipulation or manual therapy is becoming an increasingly popular method of treating athletes with spinal problems. The primary theoretic basis for the claimed beneficial results of manipulation is the restoration of motion with subsequent effect on ligamentous adhesions, muscle spasm, disk nutrition, and central nervous system endorphin systems. The concept of joint barriers has been developed to differentiate among exercise therapy, mobilization, and manipulation. Research trials suggest that spinal manipulation is beneficial in relieving or reducing the duration of acute low back pain and acute neck pain but has much less effect on chronic low back pain and neck pain. There is evidence that manipulation increases certain parameters of motion of the spine but this evidence is not yet conclusive. There are a wide variety of manipulative procedures that are utilized to manipulate the spine to increase range of motion, and the selection of the procedures is based on manual diagnostic skills. Manipulation, however, is not a benign procedure and has been implicated in the aggravation of disk herniation or bony fractures as well as the precipitation of vertebrobasilar artery occlusion.

  16. Manipulation or Mobilisation for Neck Pain

    NARCIS (Netherlands)

    A. Gross; J. Miller; J. D'Sylva; S.J. Burnie; C.H. Goldsmith; N. Graham; T. Haines; G. Brønfort; J.L. Hoving

    2010-01-01

    Background Manipulation and mobilisation are often used, either alone or combined with other treatment approaches, to treat neck pain. Objectives To assess if manipulation or mobilisation improves pain, function/disability, patient satisfaction, quality of life, and global perceived effect in adults

  17. Manipulation performance in interactive virtual environments

    NARCIS (Netherlands)

    Werkhoven, P.J.; Groen, J.

    1998-01-01

    We have studied manipulation performance in virtual environments using two types of controllers: virtual hand control and 3D mouse-cursor control. These manipulation methods were tested under monoscopic and stereoscopic viewing conditions. Participants were asked to discriminate, grasp, pitch, roll

  18. Managing collaboration in the nanoManipulator

    DEFF Research Database (Denmark)

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

    2004-01-01

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

  19. Outcome manipulation in corporate prediction markets

    DEFF Research Database (Denmark)

    Ottaviani, Marco; Sørensen, Peter Norman

    2007-01-01

    This paper presents a framework for applying prediction markets to corporate decision-making. The analysis is motivated by the recent surge of interest in markets as information aggregation devices and their potential use within firms. We characterize the amount of outcome manipulation that results...... in equilibrium and the impact of this manipulation on market prices...

  20. Manipulating Language: A Strategy for Teaching Literature.

    Science.gov (United States)

    Byers, Prudence P.

    Literary artists manipulate language. If educators could develop in their students the same sense that language is manipulable, they could help them to better appreciate literature. Emily Dickinson's poem "I Like to See It Lap the Miles" could be approached by changing it on several levels--graphics, phonics, syntax, and semantics--and…

  1. Manipulating Language: A Strategy for Teaching Literature.

    Science.gov (United States)

    Byers, Prudence P.

    Literary artists manipulate language. If educators could develop in their students the same sense that language is manipulable, they could help them to better appreciate literature. Emily Dickinson's poem "I Like to See It Lap the Miles" could be approached by changing it on several levels--graphics, phonics, syntax, and semantics--and…

  2. Microcrystal manipulation with laser tweezers

    Energy Technology Data Exchange (ETDEWEB)

    Wagner, Armin, E-mail: armin.wagner@diamond.ac.uk; Duman, Ramona [Diamond Light Source, Harwell Science and Innovation Campus, Chilton, Didcot OX11 0DE (United Kingdom); Stevens, Bob [Nottingham Trent University, Nottingham NG1 4BU (United Kingdom); Ward, Andy [Research Complex at Harwell, Didcot OX11 0FA (United Kingdom); Diamond Light Source, Harwell Science and Innovation Campus, Chilton, Didcot OX11 0DE (United Kingdom)

    2013-07-01

    Optical trapping has successfully been applied to select and mount microcrystals for subsequent X-ray diffraction experiments. X-ray crystallography is the method of choice to deduce atomic resolution structural information from macromolecules. In recent years, significant investments in structural genomics initiatives have been undertaken to automate all steps in X-ray crystallography from protein expression to structure solution. Robotic systems are widely used to prepare crystallization screens and change samples on synchrotron beamlines for macromolecular crystallography. The only remaining manual handling step is the transfer of the crystal from the mother liquor onto the crystal holder. Manual mounting is relatively straightforward for crystals with dimensions of >25 µm; however, this step is nontrivial for smaller crystals. The mounting of microcrystals is becoming increasingly important as advances in microfocus synchrotron beamlines now allow data collection from crystals with dimensions of only a few micrometres. To make optimal usage of these beamlines, new approaches have to be taken to facilitate and automate this last manual handling step. Optical tweezers, which are routinely used for the manipulation of micrometre-sized objects, have successfully been applied to sort and mount macromolecular crystals on newly designed crystal holders. Diffraction data from CPV type 1 polyhedrin microcrystals mounted with laser tweezers are presented.

  3. Final Report

    DEFF Research Database (Denmark)

    Heiselberg, Per; Brohus, Henrik; Nielsen, Peter V.

    This final report for the Hybrid Ventilation Centre at Aalborg University describes the activities and research achievement in the project period from August 2001 to August 2006. The report summarises the work performed and the results achieved with reference to articles and reports published...

  4. Reliability Centered Maintenance - Methodologies

    Science.gov (United States)

    Kammerer, Catherine C.

    2009-01-01

    Journal article about Reliability Centered Maintenance (RCM) methodologies used by United Space Alliance, LLC (USA) in support of the Space Shuttle Program at Kennedy Space Center. The USA Reliability Centered Maintenance program differs from traditional RCM programs because various methodologies are utilized to take advantage of their respective strengths for each application. Based on operational experience, USA has customized the traditional RCM methodology into a streamlined lean logic path and has implemented the use of statistical tools to drive the process. USA RCM has integrated many of the L6S tools into both RCM methodologies. The tools utilized in the Measure, Analyze, and Improve phases of a Lean Six Sigma project lend themselves to application in the RCM process. All USA RCM methodologies meet the requirements defined in SAE JA 1011, Evaluation Criteria for Reliability-Centered Maintenance (RCM) Processes. The proposed article explores these methodologies.

  5. Improving Search Engine Reliability

    Science.gov (United States)

    Pruthi, Jyoti; Kumar, Ela

    2010-11-01

    Search engines on the Internet are used daily to access and find information. While these services are providing an easy way to find information globally, they are also suffering from artificially created false results. This paper describes two techniques that are being used to manipulate the search engines: spam pages (used to achieve higher rankings on the result page) and cloaking (used to feed falsified data into search engines). This paper also describes two proposed methods to fight this kind of misuse, algorithms for both of the formerly mentioned cases of spamdexing.

  6. Workspace of Translation 3-UPU Parallel Manipulators

    Institute of Scientific and Technical Information of China (English)

    罗友高; 郑相周; 宾鸿赞

    2005-01-01

    To determine workspace and relationship between the workspace and geometry of parallel manipulator is important for optimum design of parallel manipulators. In this paper, the workspace and the relationship between the workspace and the geometry of 3-UPU parallel manipulators with pure translation axe investigated. Geometric and non-geometric constraints are defined and taken account of in determining the workspace of the translation 3-UPU manipulators. A direct average condition number is used as the global performance index of the workspace. This research shows that there exists an optimal value of the direct average condition number favorable for a good design of parallel mechanisms. The results presented in this paper are useful for the optimum design of 3-UPU parallel manipulators.

  7. Simulation and analysis of flexibly jointed manipulators

    Science.gov (United States)

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

    1990-01-01

    Modeling, simulation, and analysis of robot manipulators with non-negligible joint flexibility are studied. A recursive Newton-Euler model of the flexibly jointed manipulator is developed with many advantages over the traditional Lagrange-Euler methods. The Newton-Euler approach leads to a method for the simulation of a flexibly jointed manipulator in which the number of computations grows linearly with the number of links. Additionally, any function for the flexibility between the motor and link may be used permitting the simulation of nonlinear effects, such as backlash, in a uniform manner for all joints. An analysis of the control problems for flexibly jointed manipulators is presented by converting the Newton-Euler model to a Lagrange-Euler form. The detailed structure available in the model is used to examine linearizing controllers and shows the dependency of the control on the choice of flexible model and structure of the manipulator.

  8. Confining continuous manipulations of accelerator beamline optics

    CERN Document Server

    Amstutz, Philipp; Bödewadt, Jörn; Lechner, Christoph; Plath, Tim; Vogt, Mathias

    2016-01-01

    Altering the optics in one section of a linear accelerator beamline will in general cause an alteration of the optics in all downstream sections. In circular accelerators, changing the optical properties of any beamline element will have an impact on the optical functions throughout the whole machine. In many cases, however, it is desirable to change the optics in a certain beamline section without disturbing any other parts of the machine. Such a local optics manipulation can be achieved by adjusting a number of additional corrector magnets that restore the initial optics after the manipulated section. In that case, the effect of the manipulation is confined in the region between the manipulated and the correcting beamline elements. Introducing a manipulation continuously, while the machine is operating, therefore requires continuous correction functions to be applied to the correcting quadrupole magnets. In this paper we present an analytic approach to calculate such continuous correction functions for six ...

  9. Laser Diode Beam Basics, Manipulations and Characterizations

    CERN Document Server

    Sun, Haiyin

    2012-01-01

    Many optical design technical books are available for many years which mainly deal with image optics design based on geometric optics and using sequential raytracing technique. Some books slightly touched laser beam manipulation optics design. On the other hand many books on laser diodes have been published that extensively deal with laser diode physics with little touching on laser diode beam manipulations and characterizations. There are some internet resources dealing with laser diode beams. However, these internet resources have not covered enough materials with enough details on laser diode beam manipulations and characterizations. A technical book concentrated on laser diode beam manipulations and characterizations can fit in to the open and provide useful information to laser diode users. Laser Diode Beam Basics, Manipulations and  Characterizations is concentrated on the very practical side of the subject, it only discusses the basic physics and mathematics that are necessary for the readers in order...

  10. Gearbox Reliability Collaborative Update (Presentation)

    Energy Technology Data Exchange (ETDEWEB)

    Sheng, S.; Keller, J.; Glinsky, C.

    2013-10-01

    This presentation was given at the Sandia Reliability Workshop in August 2013 and provides information on current statistics, a status update, next steps, and other reliability research and development activities related to the Gearbox Reliability Collaborative.

  11. System Reliability Analysis: Foundations.

    Science.gov (United States)

    1982-07-01

    performance formulas for systems subject to pre- ventive maintenance are given. V * ~, , 9 D -2 SYSTEM RELIABILITY ANALYSIS: FOUNDATIONS Richard E...reliability in this case is V P{s can communicate with the terminal t = h(p) Sp2(((((p p)p) p)p)gp) + p(l -p)(((pL p)p)(p 2 JLp)) + p(l -p)((p(p p...For undirected networks, the basic reference is A. Satyanarayana and Kevin Wood (1982). For directed networks, the basic reference is Avinash

  12. Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory

    Energy Technology Data Exchange (ETDEWEB)

    Kress, R.L.; Jansen, J.F. [Oak Ridge National Lab., TN (United States). Robotics and Process Systems Div.; Love, L.J. [Oak Ridge Inst. for Science and Education, TN (United States); Basher, A.M.H. [South Carolina State Univ., Orangeburg, SC (United States)

    1996-09-01

    To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned to hydraulics as a means of actuation. Hydraulics have always been the actuator of choice when designing heavy-life construction and mining equipment such as bulldozers, backhoes, and tunneling devices. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem) sophisticated modeling, analysis, and control experiments are usually needed. To support the development and deployment of new hydraulic manipulators Oak Ridge National Laboratory (ORNL) has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The hydraulics laboratory at ORNL has three different manipulators. First is a 6-Degree-of-Freedom (6-DoF), multi-planer, teleoperated, flexible controls test bed used for the development of waste tank clean-up manipulator controls, thermal studies, system characterization, and manipulator tracking. Finally, is a human amplifier test bed used for the development of an entire new class of teleoperated systems. To compliment the hardware in the hydraulics laboratory, ORNL has developed a hydraulics simulation capability including a custom package to model the hydraulic systems and manipulators for performance studies and control development. This paper outlines the history of hydraulic manipulator developments at ORNL, describes the hydraulics laboratory, discusses the use of the equipment within the laboratory, and presents some of the initial results from experiments and modeling associated with these hydraulic manipulators. Included are some of the results from the development of the human amplifier/de-amplifier concepts, the characterization of the thermal sensitivity of hydraulic systems, and end-point tracking accuracy studies. Experimental and analytical

  13. Towards MRI guided surgical manipulator.

    Science.gov (United States)

    Chinzei, K; Miller, K

    2001-01-01

    The advantages of surgical robots and manipulators are well recognized in the clinical and technical community. Precision, accuracy and the potential for telesurgery are the prime motivations in applying advanced robot technology in surgery. In this paper critical interactions between Magnetic Resonance Imaging equipment and mechatronic devices are discussed and a novel Magnetic Resonance compatible surgical robot is described. Experimental results of the effects from several passive (metallic materials) and active (ultrasound motors) mechanical elements are demonstrated. The design principles for Magnetic Resonance compatible robots are established and the compatibility of the proposed robot is assessed by comparing images taken with and without the robot's presence within Signa SP/I GE Medical Systems scanner. The results showed that, in principle, it is possible to construct precision mechatronic devices intended to operate inside MR scanner. Use of such a device will not cause image shift or significant degradation of signal-to-noise-ratio. An MR compatible surgical assist robot was designed and constructed. The robot is not affected by the presence of strong magnetic fields and is able to manoeuvre during imaging without compromising the quality of images. A novel image-guided robot control scheme was proposed. As a part of the control scheme, biomechanics-based organ deformation model was constructed and validated by in-vivo experiment. It has been recognised that for robust control of an image guided surgical robot the precise knowledge of the mechanical properties of soft organs operated on must be known. As an illustration, results in mathematical modelling and computer simulation of brain deformation are given. The novel MR compatible robot was designed to position and direct an axisymmetric tool, such as a laser pointer or a biopsy catheter. New Robot control system based on the prediction of soft organ deformation was proposed.

  14. Assessing the Impact of Imperfect Diagnosis on Service Reliability

    DEFF Research Database (Denmark)

    Grønbæk, Lars Jesper; Schwefel, Hans-Peter; Kjærgaard, Jens Kristian

    2010-01-01

    Modelling imperfect diagnosis performance in service reliability models can help identify best recovery strategies and diagnosis settings. In this work, a parsimonious Markov model of imperfect diagnosis is proposed. Capturing complex diagnosis behavior in the model is non-trivial. In our approach...... of the diagnosis functions for the studied reliability problem. In a simulation study we finally analyze trade-off properties of diagnosis heuristics from literature, map them to the analytic Markov model, and investigate its suitability for service reliability optimization....

  15. Expert system aids reliability

    Energy Technology Data Exchange (ETDEWEB)

    Johnson, A.T. [Tennessee Gas Pipeline, Houston, TX (United States)

    1997-09-01

    Quality and Reliability are key requirements in the energy transmission industry. Tennessee Gas Co. a division of El Paso Energy, has applied Gensym`s G2, object-oriented Expert System programming language as a standard tool for maintaining and improving quality and reliability in pipeline operation. Tennessee created a small team of gas controllers and engineers to develop a Proactive Controller`s Assistant (ProCA) that provides recommendations for operating the pipeline more efficiently, reliably and safely. The controller`s pipeline operating knowledge is recreated in G2 in the form of Rules and Procedures in ProCA. Two G2 programmers supporting the Gas Control Room add information to the ProCA knowledge base daily. The result is a dynamic, constantly improving system that not only supports the pipeline controllers in their operations, but also the measurement and communications departments` requests for special studies. The Proactive Controller`s Assistant development focus is in the following areas: Alarm Management; Pipeline Efficiency; Reliability; Fuel Efficiency; and Controller Development.

  16. Reliability based structural design

    NARCIS (Netherlands)

    Vrouwenvelder, A.C.W.M.

    2014-01-01

    According to ISO 2394, structures shall be designed, constructed and maintained in such a way that they are suited for their use during the design working life in an economic way. To fulfil this requirement one needs insight into the risk and reliability under expected and non-expected actions. A ke

  17. Reliability based structural design

    NARCIS (Netherlands)

    Vrouwenvelder, A.C.W.M.

    2013-01-01

    According to ISO 2394, structures shall be designed, constructed and maintained in such a way that they are suited for their use during the design working life in an economic way. To fulfil this requirement one needs insight into the risk and reliability under expected and non-expected actions. A ke

  18. The value of reliability

    DEFF Research Database (Denmark)

    Fosgerau, Mogens; Karlström, Anders

    2010-01-01

    We derive the value of reliability in the scheduling of an activity of random duration, such as travel under congested conditions. Using a simple formulation of scheduling utility, we show that the maximal expected utility is linear in the mean and standard deviation of trip duration, regardless...

  19. Parametric Mass Reliability Study

    Science.gov (United States)

    Holt, James P.

    2014-01-01

    The International Space Station (ISS) systems are designed based upon having redundant systems with replaceable orbital replacement units (ORUs). These ORUs are designed to be swapped out fairly quickly, but some are very large, and some are made up of many components. When an ORU fails, it is replaced on orbit with a spare; the failed unit is sometimes returned to Earth to be serviced and re-launched. Such a system is not feasible for a 500+ day long-duration mission beyond low Earth orbit. The components that make up these ORUs have mixed reliabilities. Components that make up the most mass-such as computer housings, pump casings, and the silicon board of PCBs-typically are the most reliable. Meanwhile components that tend to fail the earliest-such as seals or gaskets-typically have a small mass. To better understand the problem, my project is to create a parametric model that relates both the mass of ORUs to reliability, as well as the mass of ORU subcomponents to reliability.

  20. Avionics Design for Reliability

    Science.gov (United States)

    1976-03-01

    Consultant P.O. Box 181, Hazelwood. Missouri 63042, U.S.A. soup ""•.• • CONTENTS Page LIST OF SPEAKERS iii INTRODUCTION AND OVERVIEW-RELIABILITY UNDER... primordial , d’autant plus quo dans co cam ia procg- dure do st~lection en fiabilitg eat assez peu efficaco. La ripartition des pannes suit

  1. Wind Energy - How Reliable.

    Science.gov (United States)

    1980-01-01

    The reliability of a wind energy system depends on the size of the propeller and the size of the back-up energy storage. Design of the optimum system...speed incidents which generate a significant part of the wind energy . A nomogram is presented, based on some continuous wind speed measurements

  2. The reliability horizon

    CERN Document Server

    Visser, M

    1997-01-01

    The ``reliability horizon'' for semi-classical quantum gravity quantifies the extent to which we should trust semi-classical quantum gravity, and gives a handle on just where the ``Planck regime'' resides. The key obstruction to pushing semi-classical quantum gravity into the Planck regime is often the existence of large metric fluctuations, rather than a large back-reaction.

  3. Reliability of semiology description.

    Science.gov (United States)

    Heo, Jae-Hyeok; Kim, Dong Wook; Lee, Seo-Young; Cho, Jinwhan; Lee, Sang-Kun; Nam, Hyunwoo

    2008-01-01

    Seizure semiology is important for classifying patients' epilepsy. Physicians usually get most of the seizure information from observers though there have been few reports on the reliability of the observers' description. This study aims at determining the reliability of observers' description of the semiology. We included 92 patients who had their habitual seizures recorded during video-EEG monitoring. We compared the semiology described by the observers with that recorded on the videotape, and reviewed which characteristics of the observers affected the reliability of their reported data. The classification of seizures and the individual components of the semiology based only on the observer-description was somewhat discordant compared with the findings from the videotape (correct classification, 85%). The descriptions of some ictal behaviors such as oroalimentary automatism, tonic/dystonic limb posturing, and head versions were relatively accurate, but those of motionless staring and hand automatism were less accurate. The specified directions by the observers were relatively correct. The accuracy of the description was related to the educational level of the observers. Much of the information described by well-educated observers is reliable. However, every physician should keep in mind the limitations of this information and use this information cautiously.

  4. High reliability organizations

    NARCIS (Netherlands)

    Gallis, R.; Zwetsloot, G.I.J.M.

    2014-01-01

    High Reliability Organizations (HRO’s) are organizations that constantly face serious and complex (safety) risks yet succeed in realising an excellent safety performance. In such situations acceptable levels of safety cannot be achieved by traditional safety management only. HRO’s manage safety

  5. Dipolar Rings of Microscopic Ellipsoids: Magnetic Manipulation and Cell Entrapment

    Science.gov (United States)

    Martinez-Pedrero, Fernando; Cebers, Andrejs; Tierno, Pietro

    2016-09-01

    We study the formation and the dynamics of dipolar rings composed by microscopic ferromagnetic ellipsoids, which self-assemble in water by switching the direction of the applied field. We show how to manipulate these fragile structures and control their shape via the application of external static and oscillating magnetic fields. We introduce a theoretical framework which describes the ring deformation under an applied field, allowing us to understand the underlying physical mechanism. Our microscopic rings are finally used to capture, entrap, and later release a biological cell via a magnetic command, i.e., performing a simple operation which can be implemented in other microfluidic devices which make use of ferromagnetic particles.

  6. Single-atom manipulations in a microscopic dipole trap.

    Science.gov (United States)

    Reymond, Georges; Schlosser, Nicolas; Protsenko, Igor; Grangier, Philippe

    2003-07-15

    We have realized a very small optical dipole trap that is designed to store and manipulate individual atoms. Due to the very small dipole-trap volume, a 'collisional blockade' mechanism locks the average number of trapped atoms at a value of 0.5 over a large range of loading rates. Here we describe methods to characterize the motion of a single trapped atom, and we also demonstrate the possibility of trapping two atoms individually at a short distance apart. Finally, we study theoretically the possibility to perform 'conditional quantum logic' by scattering photons from two such atoms.

  7. Defining a controller architecture for the Long-Reach Manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Ford, W.E. [Sandia National Labs., Albuquerque, NM (United States). Intelligent Systems Dept. III

    1994-06-01

    To draft a procurement specification for the Long-Reach Manipulator (LRM), the benefits and limitations of the various robotic control system architectures available need to be determined. This report identifies and describes the advantages and potential disadvantages of using an open control system versus a closed (or proprietary) system, focusing on integration of interfaces for sensors, end effectors, tooling, and operator interfaces. In addition, the various controls methodologies of several recent systems are described. Finally, the reasons behind the recommendation to procure an open control system are discussed.

  8. Final Report

    Energy Technology Data Exchange (ETDEWEB)

    Stinis, Panos [Pacific Northwest National Lab. (PNNL), Richland, WA (United States)

    2016-08-07

    This is the final report for the work conducted at the University of Minnesota (during the period 12/01/12-09/18/14) by PI Panos Stinis as part of the "Collaboratory on Mathematics for Mesoscopic Modeling of Materials" (CM4). CM4 is a multi-institution DOE-funded project whose aim is to conduct basic and applied research in the emerging field of mesoscopic modeling of materials.

  9. Workspace and rotational capability analysis of a spatial 3-DoF parallel manipulator

    Institute of Scientific and Technical Information of China (English)

    LIU Xinjun; WANG Jinsong; WANG Qiming; LI Tiemin

    2004-01-01

    The analysis on the workspace and rotational capability of HANA, a spatial 3-DoF parallel manipulator, is concerned. The parallel manipulator consists of a base plate, a movable platform, and three connecting legs. The moving platform has three degrees of freedom (DoFs) which are two translations and one rotation, with respect to the base plate. The new parallel manipulator is very interesting for the reason of no singularity in the workspace, the single-DoF joint architecture and high rotational capability of the moving platform. The inverse kinematics problem is described in a closed-form, which is very useful to present the workspace geometrically. The constant-orientation and reachable workspaces for the manipulator are analyzed firstly. The index that is used to evaluate the rotational capability of the manipulator is defined and discussed in detail. Finally, the distribution of rotational capability index on the workspace is presented, which helps us know how much the index is at different point. The parallel manipulator has wide application in the fields of industrial robots, simulators, micro-motion manipulators, and parallel kinematics machines.

  10. Global optimization of manipulator base placement by means of rapidly-exploring random tree

    Institute of Scientific and Technical Information of China (English)

    赵京

    2016-01-01

    Due to the interrelationship between the base placement of the manipulator and its operation ob-ject , it is significant to analyze the accessibility and workspace of manipulators for the optimization of their base location.A new method is presented to optimize the base placement of manipulators through motion planning optimization and location optimization in the feasible area for manipulators. Firstly, research problems and contents are outlined.And then the feasible area for the manipulator base installation is discussed.Next, index depended on the joint movements and used to evaluate the kinematic performance of manipulators is defined.Although the mentioned indices in last section are regarded as the cost function of the latter,rapidly-exploring random tree ( RRT) and rapidly-ex-ploring random tree*( RRT*) algorithms are analyzed.And then, the proposed optimization method of manipulator base placement is studied by means of simulation research based on kinematic per-formance criteria.Finally, the conclusions could be proved effective from the simulation results.

  11. HYBRID POSITION/FORCE MANIPULATION OF MULTIFINGERED HAND

    Institute of Scientific and Technical Information of China (English)

    1998-01-01

    Manipulation of an object interacting with the environment is investigated.Two concepts, position manipulation and force manipulation, and their corresponding schemes are presented, respectively.Then they are combined to develop the hybrid position/force manipulation of a multifingered hand to manipulate an object constrained in the environment.Experiments are performed to demonstrate the practicality and effectiveness of the proposed approach.

  12. Reliability Study on Compact and Portable Chemiluminescence Detector

    OpenAIRE

    Kai-Di Zhang; Xiang-Yu Zeng; Zhi Zeng; Guo-Wei Tao; Jia Zhou

    2014-01-01

    Two reliability issues on the compact chemiluminescence detector for glucose measurement based on a single planar transparent EWOD (electrowetting-on-dielectrics) device are studied. Several dielectrics for lowering the manipulation voltage are investigated and 20-27V is realized. An on-chip heater is designed and manufactured for restore the damage of the hydrophobic surface of the EWOD after chemiluminescence reaction. The measurement of glucose shows the sensitivity of the detector reache...

  13. A micromachined piezoelectric microgripper for manipulation of micro/nanomaterials

    Science.gov (United States)

    Shi, Huaduo; Shi, Weiliang; Zhang, Ran; Zhai, Junyi; Chu, Jinkui; Dong, Shuxiang

    2017-06-01

    Micro/nanomaterials and devices have attracted great interest in recent years because of their extensive application prospects in almost all kinds of fields. However, the manipulations of the material at the micro/nanoscale, such as the separation or transfer of a micro/nano-object in the process of assembling micro/nanodevices, are quite difficult. In this paper, we present a micromachined micro-gripper made of photoresist material (SU-8) and driven by piezoelectric Pb(Mg,Nb)O3-PbTiO3 single crystal pieces. In order to keep two grasping jaws of the micro-gripper operating in the same plane at the micro/nanometer scale, a fine circular flexure hinge was fabricated for elastically connecting them together. After introducing the interface effect, the relationship between the opening stroke of two jaws and the applied voltage was developed and then confirmed by finite element simulation. The micro-gripper was finally installed on a six degree of freedom stage for performing a pick-up, release, and transfer manipulation of a 2 μm ZnO micro-fiber. The presented piezoelectric micro-gripper shows a great potential for the precise manipulation of a single piece of micro/nanomaterial for micro/nanodevices' assembling.

  14. A micromachined piezoelectric microgripper for manipulation of micro/nanomaterials.

    Science.gov (United States)

    Shi, Huaduo; Shi, Weiliang; Zhang, Ran; Zhai, Junyi; Chu, Jinkui; Dong, Shuxiang

    2017-06-01

    Micro/nanomaterials and devices have attracted great interest in recent years because of their extensive application prospects in almost all kinds of fields. However, the manipulations of the material at the micro/nanoscale, such as the separation or transfer of a micro/nano-object in the process of assembling micro/nanodevices, are quite difficult. In this paper, we present a micromachined micro-gripper made of photoresist material (SU-8) and driven by piezoelectric Pb(Mg,Nb)O3-PbTiO3 single crystal pieces. In order to keep two grasping jaws of the micro-gripper operating in the same plane at the micro/nanometer scale, a fine circular flexure hinge was fabricated for elastically connecting them together. After introducing the interface effect, the relationship between the opening stroke of two jaws and the applied voltage was developed and then confirmed by finite element simulation. The micro-gripper was finally installed on a six degree of freedom stage for performing a pick-up, release, and transfer manipulation of a 2 μm ZnO micro-fiber. The presented piezoelectric micro-gripper shows a great potential for the precise manipulation of a single piece of micro/nanomaterial for micro/nanodevices' assembling.

  15. Kinematics of a Hybrid Manipulator by Means of Screw Theory

    Energy Technology Data Exchange (ETDEWEB)

    Gallardo-Alvarado, J [Department of Mechanical Engineering, Instituto Tecnologico de Celaya (Mexico)

    2005-11-15

    In this work the kinematics of a hybrid manipulator, namely a fully parallel-serial manipulator, with a particular topology is approached by means of the theory of screws. Given the length of the six independent limbs, the forward position analysis of the mechanism under study, indeed the computation of the resulting pose, position and orientation, of the end-platform with respect to the fixed platform, is carried out in closed-form solution. Therefore conveniently this initial analysis avoids the use of a numerical technique such as the Newton-Raphson method. Writing in screw form the reduced acceleration state of the translational platform, with respect to the fixed platform, a simple expression for the computation of the acceleration of the translational platform is derived by taking advantage of the properties of reciprocal screws, via the Klein form, a bilinear symmetric form of the Lie algebra e(3). Following a similar procedure, a simple expression for the computation of the angular acceleration of the end-platform, with respect to the translational platform, is easily derived. Naturally, as an intermediate step, this contribution also provides the forward and inverse velocity analyses of the chosen parallel-serial manipulator. Finally, in order to prove the versatility of the expressions obtained via screw theory for solving the kinematics, up to the acceleration analysis, of the proposed spatial mechanism, a numerical example is solved with the help of commercial computer codes.

  16. Robot Kinematics Identification: KUKA LWR4+ Redundant Manipulator Example

    Science.gov (United States)

    Kolyubin, Sergey; Paramonov, Leonid; Shiriaev, Anton

    2015-11-01

    This work is aimed at a comprehensive discussion of algorithms for the kinematic parameters identification of robotic manipulators. We deal with an open-loop geometric calibration task, when a full 6D robot's end-effector pose is measured. Effective solutions of such a task is of high interest in many practical applications, because it can dramatically improve key robot characteristics. On the first step, we select optimal calibration configurations. A comparative analysis of three different algorithms and two observability indexes used for numerical optimization is provided. Afterwards, using the acquired and pre-processed experimental data we identify modified Denavit-Hartenberg parameters of the manipulator. Estimates are obtained resolving original nonlinear forward kinematics relations. Finally, we compare nominal and calibrated geometric parameters and show how much deviations in these parameters affect robot positioning accuracy. To the best of our knowledge, such integrated efforts are new for the KUKA LWR4+ robot and Nikon K610 optical coordinate measuring machine (CMM), which were used in the study. Discussion of practical issues on how to organise the experiment is an additional contribution of this work. The proposed procedure is highly automated and can be implemented to improve manipulator's performance on a periodic basis.

  17. Single-molecule manipulation experiments to explore friction and adhesion

    Science.gov (United States)

    Pawlak, R.; Kawai, S.; Meier, T.; Glatzel, T.; Baratoff, A.; Meyer, E.

    2017-03-01

    Friction forces, which arise when two bodies that are in contact are moved with respect to one another, are ubiquitous phenomena. Although various measurement tools have been developed to study these phenomena at all length scales, such investigations are highly challenging when tackling the scale of single molecules in motion on a surface. This work reviews the recent advances in single-molecule manipulation experiments performed at low temperature with the aim of understanding the fundamental frictional response of single molecules. Following the advent of ‘nanotribology’ in the field based on the atomic force microscopy technique, we will show the technical requirements to direct those studies at the single-molecule level. We will also discuss the experimental prerequisites needed to obtain and interpret the phenomena, such as the implementation of single-molecule manipulation techniques, the processing of the experimental data or their comparison with appropriate numerical models. Finally, we will report examples of the controlled vertical and lateral manipulation of long polymeric chains, graphene nanoribbons or single porphyrin molecules that systematically reveal friction-like characteristics while sliding over atomically clean surfaces.

  18. A Novel Hybrid Safety-control Strategy for a Manipulator

    Directory of Open Access Journals (Sweden)

    Jing Xia

    2014-04-01

    Full Text Available As robots tend to work cooperatively with humans in shared workplaces, safety as regards robot- human interactions has caused a great deal of concern in the robot community, and control strategies have become a hot topic in robotics research. In order to guarantee the robot’s safety and continuous motions, this paper proposes a novel safety-control strategy, which is strictly conservative and which consists of a pre-contact and post-contact safety strategy. We adopt an optimal motion trajectory-planning method, by use of which the jerk, acceleration and velocity of the robot’s motion can be limited and a time-optimal motion can be obtained as a post-contact safety strategy for a position-controlled manipulator. The optimal motion trajectory planning not only reduces the impact forces during the collision period, but also maintains the efficiency of the manipulator and preserves continuous motions. Next, we describe a novel collision detection method as a pre-contact safety strategy to avoid collisions. The method proposed here can compute security warning region to handle the effect of robot motion on collision detection and detect collisions between non-convex polygon soups. Finally, the control strategy is implemented for a 7-DOF humanoid manipulator and the experimental results demonstrate the validity of this novel hybrid safety-control strategy.

  19. Task based synthesis of serial manipulators

    Directory of Open Access Journals (Sweden)

    Sarosh Patel

    2015-05-01

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

  20. Fuzzy logic control of telerobot manipulators

    Science.gov (United States)

    Franke, Ernest A.; Nedungadi, Ashok

    1992-01-01

    Telerobot systems for advanced applications will require manipulators with redundant 'degrees of freedom' (DOF) that are capable of adapting manipulator configurations to avoid obstacles while achieving the user specified goal. Conventional methods for control of manipulators (based on solution of the inverse kinematics) cannot be easily extended to these situations. Fuzzy logic control offers a possible solution to these needs. A current research program at SRI developed a fuzzy logic controller for a redundant, 4 DOF, planar manipulator. The manipulator end point trajectory can be specified by either a computer program (robot mode) or by manual input (teleoperator). The approach used expresses end-point error and the location of manipulator joints as fuzzy variables. Joint motions are determined by a fuzzy rule set without requiring solution of the inverse kinematics. Additional rules for sensor data, obstacle avoidance and preferred manipulator configuration, e.g., 'righty' or 'lefty', are easily accommodated. The procedure used to generate the fuzzy rules can be extended to higher DOF systems.

  1. Decentralized adaptive neural network sliding mode position/force control of constrained reconfigurable manipulators

    Institute of Scientific and Technical Information of China (English)

    李元春; 丁贵彬; 赵博

    2016-01-01

    A decentralized adaptive neural network sliding mode position/force control scheme is proposed for constrained reconfigurable manipulators. Different from the decentralized control strategy in multi-manipulator cooperation, the proposed decentralized position/force control scheme can be applied to series constrained reconfigurable manipulators. By multiplying each row of Jacobian matrix in the dynamics by contact force vector, the converted joint torque is obtained. Furthermore, using desired information of other joints instead of their actual values, the dynamics can be represented as a set of interconnected subsystems by model decomposition technique. An adaptive neural network controller is introduced to approximate the unknown dynamics of subsystem. The interconnection and the whole error term are removed by employing an adaptive sliding mode term. And then, the Lyapunov stability theory guarantees the stability of the closed-loop system. Finally, two reconfigurable manipulators with different configurations are employed to show the effectiveness of the proposed decentralized position/force control scheme.

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

    Directory of Open Access Journals (Sweden)

    Huangsheng Xie

    2014-01-01

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

  3. Vibration Reduction of Open-chain Flexible Manipulators by Optimizing Independent Motions of Branch Links

    Institute of Scientific and Technical Information of China (English)

    Bian Yushu; Gao Zhihui; Yun Chao

    2008-01-01

    In order to suppress vibration in flexible manipulators, a new type of manipulator mechanism with controllable local degrees of freedom is proposed. This mechanism consists of a main chain and some branch links. The main chain is of a flexible open-chain configuration with an end-effector installed at its tip, and the rigid branch links are able to perform active movements. It is proved by kinematics and dynamic analysis that, the branch links bear no direct kinematic relation to the main chain, but their independent motions can strongly affect the dynamic behavior and performance of the flexible manipulator. Then comes a new idea of suppressing vibration, in which independent motions of the branch links are used to suppress the undesired vibration of the flexible main chain through dynamic coupling. On this basis, an optimal method for reducing vibration of flexible manipulators is proposed. Finally, the effectiveness of this method is verified by numerical simulations.

  4. Performance Prediction Network for Serial Manipulators Inverse Kinematics solution Passing Through Singular Configurations

    Directory of Open Access Journals (Sweden)

    Ali T. Hasan

    2011-01-01

    Full Text Available This paper is devoted to the application of Artificial Neural Networks (ANN to the solution of the Inverse Kinematics (IK problem for serial robot manipulators, in this study two networks were trained and compared to examine the effect of considering the Jacobian Matrix to the efficiency of the IK solution. Given the desired trajectory of the end effector of the manipulator in a free-of-obstacles workspace, Offline smooth geometric paths in the joint space of the manipulator are obtained. Even though it is very difficult in practice, data used in this study were recorded experimentally from sensors fixed on robot's joints to overcome the effect of kinematics uncertainties presence in the real world such as ill-defined linkage parameters, links flexibility and backlashes in gear train The generality and efficiency of the proposed algorithm are demonstrated through simulations of a general six DOF serial robot manipulator, finally the obtained results have been verified experimentally.

  5. Dynamic High-speed Knotting of a Rope by a Manipulator

    Directory of Open Access Journals (Sweden)

    Yuji Yamakawa

    2013-10-01

    Full Text Available In this paper we suggest an entirely new strategy for the dexterous manipulation of a linear flexible object, such as rope or a cable, with a high-speed manipulator. We deal with a flexible rope as one example of the linear flexible object. The strategy involves manipulating the object at high-speed. By moving the robot at high-speed, we can assume that the dynamic behaviour of the flexible rope can be obtained by performing algebraic calculations of the high- speed robot motion. Based on this assumption, we derive a dynamic deformation model of the flexible rope and confirm the validity of the proposed model. Then we perform a simulation of dynamic, high-speed knotting based on the proposed model. We also discuss the possibility of forming the knot based on a simple analysis model. Finally, we show experimental results demonstrating dynamic, high-speed knotting with a high-speed manipulator.

  6. Design of a Redundant Manipulator for Playing Table Tennis towards Human-Like Stroke Patterns

    Directory of Open Access Journals (Sweden)

    Zhangguo Yu

    2014-05-01

    Full Text Available This study investigates the design of a 7-DOF humanoid manipulator capable of playing table tennis with human-like stroke patterns. The manipulator system includes a redundant arm, real-time stereo vision system, and a distributed motion control system. First, the size, weight, workspace, and motion capability of the designed arm are similar to those of a human's arm. The forward and inverse kinematics, and the Jacobian matrix of the redundant manipulator are formulated. Next, a distributed motion control system is designed. The ball trajectory prediction method is proposed. Then, a human-inspired optimization method based on Jacobian pseudoinverse and the comfort of the arm posture for stroke pattern trajectory is proposed to achieve human-like stroke patterns and decrease the counterforce exerted on the manipulator. Finally, the validity of the proposed system and methods is demonstrated via human-like stroke pattern experiments.

  7. Reliability in the utility computing era: Towards reliable Fog computing

    DEFF Research Database (Denmark)

    Madsen, Henrik; Burtschy, Bernard; Albeanu, G.

    2013-01-01

    This paper considers current paradigms in computing and outlines the most important aspects concerning their reliability. The Fog computing paradigm as a non-trivial extension of the Cloud is considered and the reliability of the networks of smart devices are discussed. Combining the reliability...... requirements of grid and cloud paradigms with the reliability requirements of networks of sensor and actuators it follows that designing a reliable Fog computing platform is feasible....

  8. W-026, acceptance test report manipulator system

    Energy Technology Data Exchange (ETDEWEB)

    Watson, T.L.

    1997-04-15

    The purpose of the WRAP Manipulator System Acceptance Test Plan (ATP) is to verify that the 4 glovebox sets of WRAP manipulator components, including rail/carriage, slave arm, master controller and auxiliary equipment, meets the requirements of the functional segments of 14590 specification. The demonstration of performance elements of the ATP are performed as a part of the Assembly specifications. Manipulator integration is integrated in the performance testing of the gloveboxes. Each requirement of the Assembly specification will be carried out in conjunction with glovebox performance tests.

  9. Osteopathic manipulative medicine for carpal tunnel syndrome.

    Science.gov (United States)

    Siu, Gilbert; Jaffe, J Douglas; Rafique, Maryum; Weinik, Michael M

    2012-03-01

    Carpal tunnel syndrome (CTS) is 1 of the most common peripheral nerve entrapment disorders. Osteopathic manipulative medicine can be invaluable in diagnosing and managing CTS. Combined with a patient's history and a standard physical examination, an osteopathic structural examination can facilitate localizing the nerve entrapment, diagnosing CTS, and monitoring the disease process. Osteopathic manipulative treatment is noninvasive and can be used to supplement traditional CTS treatment methods. The authors also review the relevant anatomy involving CTS and the clinical efficacy of osteopathic manipulative medicine in the management of this disorder.

  10. Hydraulic Robotic Surgical Tool Changing Manipulator.

    Science.gov (United States)

    Pourghodrat, Abolfazl; Nelson, Carl A; Oleynikov, Dmitry

    2017-03-01

    Natural orifice transluminal endoscopic surgery (NOTES) is a surgical technique to perform "scarless" abdominal operations. Robotic technology has been exploited to improve NOTES and circumvent its limitations. Lack of a multitasking platform is a major limitation. Manual tool exchange can be time consuming and may lead to complications such as bleeding. Previous multifunctional manipulator designs use electric motors. These designs are bulky, slow, and expensive. This paper presents design, prototyping, and testing of a hydraulic robotic tool changing manipulator. The manipulator is small, fast, low-cost, and capable of carrying four different types of laparoscopic instruments.

  11. Reliability databases: State-of-the-art and perspectives

    DEFF Research Database (Denmark)

    Akhmedjanov, Farit

    2001-01-01

    The report gives a history of development and an overview of the existing reliability databases. This overview also describes some other (than computer databases) sources of reliability and failures information, e.g. reliability handbooks, but the mainattention is paid to standard models and soft......The report gives a history of development and an overview of the existing reliability databases. This overview also describes some other (than computer databases) sources of reliability and failures information, e.g. reliability handbooks, but the mainattention is paid to standard models...... and software packages containing the data mentioned. The standards corresponding to collection and exchange of reliability data are observed too. Finally, perspective directions in such data sources development areshown....

  12. Final Report

    Energy Technology Data Exchange (ETDEWEB)

    R Paul Drake

    2004-01-12

    OAK-B135 This is the final report from the project Hydrodynamics by High-Energy-Density Plasma Flow and Hydrodynamics and Radiation Hydrodynamics with Astrophysical Applications. This project supported a group at the University of Michigan in the invention, design, performance, and analysis of experiments using high-energy-density research facilities. The experiments explored compressible nonlinear hydrodynamics, in particular at decelerating interfaces, and the radiation hydrodynamics of strong shock waves. It has application to supernovae, astrophysical jets, shock-cloud interactions, and radiative shock waves.

  13. Final report

    Energy Technology Data Exchange (ETDEWEB)

    Jarillo-Herrero, Pablo [Massachusetts Inst. of Technology (MIT), Cambridge, MA (United States)

    2017-02-07

    This is the final report of our research program on electronic transport experiments on Topological Insulator (TI) devices, funded by the DOE Office of Basic Energy Sciences. TIbased electronic devices are attractive as platforms for spintronic applications, and for detection of emergent properties such as Majorana excitations , electron-hole condensates , and the topological magneto-electric effect . Most theoretical proposals envision geometries consisting of a planar TI device integrated with materials of distinctly different physical phases (such as ferromagnets and superconductors). Experimental realization of physics tied to the surface states is a challenge due to the ubiquitous presence of bulk carriers in most TI compounds as well as degradation during device fabrication.

  14. Human Reliability Program Workshop

    Energy Technology Data Exchange (ETDEWEB)

    Landers, John; Rogers, Erin; Gerke, Gretchen

    2014-05-18

    A Human Reliability Program (HRP) is designed to protect national security as well as worker and public safety by continuously evaluating the reliability of those who have access to sensitive materials, facilities, and programs. Some elements of a site HRP include systematic (1) supervisory reviews, (2) medical and psychological assessments, (3) management evaluations, (4) personnel security reviews, and (4) training of HRP staff and critical positions. Over the years of implementing an HRP, the Department of Energy (DOE) has faced various challenges and overcome obstacles. During this 4-day activity, participants will examine programs that mitigate threats to nuclear security and the insider threat to include HRP, Nuclear Security Culture (NSC) Enhancement, and Employee Assistance Programs. The focus will be to develop an understanding of the need for a systematic HRP and to discuss challenges and best practices associated with mitigating the insider threat.

  15. Accelerator reliability workshop

    Energy Technology Data Exchange (ETDEWEB)

    Hardy, L.; Duru, Ph.; Koch, J.M.; Revol, J.L.; Van Vaerenbergh, P.; Volpe, A.M.; Clugnet, K.; Dely, A.; Goodhew, D

    2002-07-01

    About 80 experts attended this workshop, which brought together all accelerator communities: accelerator driven systems, X-ray sources, medical and industrial accelerators, spallation sources projects (American and European), nuclear physics, etc. With newly proposed accelerator applications such as nuclear waste transmutation, replacement of nuclear power plants and others. Reliability has now become a number one priority for accelerator designers. Every part of an accelerator facility from cryogenic systems to data storage via RF systems are concerned by reliability. This aspect is now taken into account in the design/budget phase, especially for projects whose goal is to reach no more than 10 interruptions per year. This document gathers the slides but not the proceedings of the workshop.

  16. Reliability and construction control

    Directory of Open Access Journals (Sweden)

    Sherif S. AbdelSalam

    2016-06-01

    Full Text Available The goal of this study was to determine the most reliable and efficient combination of design and construction methods required for vibro piles. For a wide range of static and dynamic formulas, the reliability-based resistance factors were calculated using EGYPT database, which houses load test results for 318 piles. The analysis was extended to introduce a construction control factor that determines the variation between the pile nominal capacities calculated using static versus dynamic formulae. From the major outcomes, the lowest coefficient of variation is associated with Davisson’s criterion, and the resistance factors calculated for the AASHTO method are relatively high compared with other methods. Additionally, the CPT-Nottingham and Schmertmann method provided the most economic design. Recommendations related to a pile construction control factor were also presented, and it was found that utilizing the factor can significantly reduce variations between calculated and actual capacities.

  17. Improving Power Converter Reliability

    DEFF Research Database (Denmark)

    Ghimire, Pramod; de Vega, Angel Ruiz; Beczkowski, Szymon

    2014-01-01

    The real-time junction temperature monitoring of a high-power insulated-gate bipolar transistor (IGBT) module is important to increase the overall reliability of power converters for industrial applications. This article proposes a new method to measure the on-state collector?emitter voltage...... of a high-power IGBT module during converter operation, which may play a vital role in improving the reliability of the power converters. The measured voltage is used to estimate the module average junction temperature of the high and low-voltage side of a half-bridge IGBT separately in every fundamental...... is measured in a wind power converter at a low fundamental frequency. To illustrate more, the test method as well as the performance of the measurement circuit are also presented. This measurement is also useful to indicate failure mechanisms such as bond wire lift-off and solder layer degradation...

  18. Power electronics reliability.

    Energy Technology Data Exchange (ETDEWEB)

    Kaplar, Robert James; Brock, Reinhard C.; Marinella, Matthew; King, Michael Patrick; Stanley, James K.; Smith, Mark A.; Atcitty, Stanley

    2010-10-01

    The project's goals are: (1) use experiments and modeling to investigate and characterize stress-related failure modes of post-silicon power electronic (PE) devices such as silicon carbide (SiC) and gallium nitride (GaN) switches; and (2) seek opportunities for condition monitoring (CM) and prognostics and health management (PHM) to further enhance the reliability of power electronics devices and equipment. CM - detect anomalies and diagnose problems that require maintenance. PHM - track damage growth, predict time to failure, and manage subsequent maintenance and operations in such a way to optimize overall system utility against cost. The benefits of CM/PHM are: (1) operate power conversion systems in ways that will preclude predicted failures; (2) reduce unscheduled downtime and thereby reduce costs; and (3) pioneering reliability in SiC and GaN.

  19. ATLAS reliability analysis

    Energy Technology Data Exchange (ETDEWEB)

    Bartsch, R.R.

    1995-09-01

    Key elements of the 36 MJ ATLAS capacitor bank have been evaluated for individual probabilities of failure. These have been combined to estimate system reliability which is to be greater than 95% on each experimental shot. This analysis utilizes Weibull or Weibull-like distributions with increasing probability of failure with the number of shots. For transmission line insulation, a minimum thickness is obtained and for the railgaps, a method for obtaining a maintenance interval from forthcoming life tests is suggested.

  20. Reliability of Circumplex Axes

    Directory of Open Access Journals (Sweden)

    Micha Strack

    2013-06-01

    Full Text Available We present a confirmatory factor analysis (CFA procedure for computing the reliability of circumplex axes. The tau-equivalent CFA variance decomposition model estimates five variance components: general factor, axes, scale-specificity, block-specificity, and item-specificity. Only the axes variance component is used for reliability estimation. We apply the model to six circumplex types and 13 instruments assessing interpersonal and motivational constructs—Interpersonal Adjective List (IAL, Interpersonal Adjective Scales (revised; IAS-R, Inventory of Interpersonal Problems (IIP, Impact Messages Inventory (IMI, Circumplex Scales of Interpersonal Values (CSIV, Support Action Scale Circumplex (SAS-C, Interaction Problems With Animals (IPI-A, Team Role Circle (TRC, Competing Values Leadership Instrument (CV-LI, Love Styles, Organizational Culture Assessment Instrument (OCAI, Customer Orientation Circle (COC, and System for Multi-Level Observation of Groups (behavioral adjectives; SYMLOG—in 17 German-speaking samples (29 subsamples, grouped by self-report, other report, and metaperception assessments. The general factor accounted for a proportion ranging from 1% to 48% of the item variance, the axes component for 2% to 30%; and scale specificity for 1% to 28%, respectively. Reliability estimates varied considerably from .13 to .92. An application of the Nunnally and Bernstein formula proposed by Markey, Markey, and Tinsley overestimated axes reliabilities in cases of large-scale specificities but otherwise works effectively. Contemporary circumplex evaluations such as Tracey’s RANDALL are sensitive to the ratio of the axes and scale-specificity components. In contrast, the proposed model isolates both components.

  1. Bayesian system reliability assessment under fuzzy environments

    Energy Technology Data Exchange (ETDEWEB)

    Wu, H.-C

    2004-03-01

    The Bayesian system reliability assessment under fuzzy environments is proposed in this paper. In order to apply the Bayesian approach, the fuzzy parameters are assumed as fuzzy random variables with fuzzy prior distributions. The (conventional) Bayes estimation method will be used to create the fuzzy Bayes point estimator of system reliability by invoking the well-known theorem called 'Resolution Identity' in fuzzy sets theory. On the other hand, we also provide the computational procedures to evaluate the membership degree of any given Bayes point estimate of system reliability. In order to achieve this purpose, we transform the original problem into a nonlinear programming problem. This nonlinear programming problem is then divided into four subproblems for the purpose of simplifying computation. Finally, the subproblems can be solved by using any commercial optimizers, e.g. GAMS or LINGO.

  2. Delivery Time Reliability Model of Logistics Network

    Directory of Open Access Journals (Sweden)

    Liusan Wu

    2013-01-01

    Full Text Available Natural disasters like earthquake and flood will surely destroy the existing traffic network, usually accompanied by delivery delay or even network collapse. A logistics-network-related delivery time reliability model defined by a shortest-time entropy is proposed as a means to estimate the actual delivery time reliability. The less the entropy is, the stronger the delivery time reliability remains, and vice versa. The shortest delivery time is computed separately based on two different assumptions. If a path is concerned without capacity restriction, the shortest delivery time is positively related to the length of the shortest path, and if a path is concerned with capacity restriction, a minimax programming model is built to figure up the shortest delivery time. Finally, an example is utilized to confirm the validity and practicality of the proposed approach.

  3. Design of robotic manipulators for orbit removal of spent launchers' stages

    Science.gov (United States)

    Felicetti, Leonard; Gasbarri, Paolo; Pisculli, Andrea; Sabatini, Marco; Palmerini, Giovanni B.

    2016-02-01

    This paper deals with the main drivers for the design of a space manipulator aimed to the removal of the final stages which remain in Low Earth Orbit after releasing their payloads. At the scope, the different phases of a debris removal mission are considered, starting from the parking orbit where the servicing spacecraft equipped with the manipulator (chaser) waits for the call on duty, encompassing the approach to the target and its grasping and finally dealing with the dismissal of the captured object. The characteristics and requirements of each phase, in terms of torques to be applied to the joints of the manipulator(s) and to the forces to be generated via thrusters at the system level, are analysed. The number of robotic arms, the number of joints of each arm, and the torque level that each joint motor should supply are mainly defined by the grasping phase and the de-orbit phase. During the grasping, the tumbling target must be tracked with a large degree of robustness, and, to this aim, a redundant manipulator must be designed, so that its workspace can be as large as possible. On the other hand, increasing the degrees of freedom of a robotic arm means higher complexity and manufacturing costs. The number of arms depends also on the final de-orbit phase, in which the powerful apogee motor of the chaser satellite is ignited to change the composite system (chaser+target) orbit. The thrust, applied on the chaser, is transferred to the target by means of the manipulator(s): it is shown that a single robotic arm could not be sufficient to withstand the high stress acting during this phase. The torques at the joints required to maintain the arms in the desired configuration end up to be very high too, and the motors - as well as in general the structural elements of the arms - should be sized according to this phase of the mission.

  4. Optimization of Reliability Centered Maintenance Bassed on Maintenance Costs and Reliability with Consideration of Location of Components

    Directory of Open Access Journals (Sweden)

    Mahdi Karbasian

    2011-03-01

    Full Text Available The reliability of designing systems such as electrical and electronic circuits, power generation/ distribution networks and mechanical systems, in which the failure of a component may cause the whole system failure, and even the reliability of cellular manufacturing systems that their machines are connected to as series are critically important. So far approaches for improving the reliability of these systems have been mainly based on the enhancement of inherent reliability of any system component or increasing system reliability based on maintenance strategies. Also in some of the resources, only the influence of the location of systems' components on reliability is studied. Therefore, it seems other approaches have been rarely applied. In this paper, a multi criteria model has been proposed to perform a balance among a system's reliability, location costs, and its system maintenance. Finally, a numerical example has been presented and solved by the Lingo software.

  5. Materials Centered Science and Manipulative Skill

    Science.gov (United States)

    Struve, Nancy L.; And Others

    1974-01-01

    Evaluated were effects of experience with two physical science units adapted for use by the visually impaired on the manipulative skills of 14 visually impaired low income students from 9 to 19 years of age. (DB)

  6. ARC Code TI: Geometry Manipulation Protocol (GMP)

    Data.gov (United States)

    National Aeronautics and Space Administration — The Geometry Manipulation Protocol (GMP) is a library which serializes datatypes between XML and ANSI C data structures to support CFD applications. This library...

  7. Tension Stiffened and Tendon Actuated Manipulator

    Science.gov (United States)

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

    2015-01-01

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

  8. White House: China not Manipulating Money

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

      The Bush administration determined that China was not manipulating its currency to gain economic advantages but still pressed Chinese to move more quickly to allowthe yuan's value to be set by market forces.……

  9. White House: China not Manipulating Money

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    @@ The Bush administration determined that China was not manipulating its currency to gain economic advantages but still pressed Chinese to move more quickly to allowthe yuan's value to be set by market forces.

  10. The Frankfurt School's Theory of Manipulation

    Science.gov (United States)

    Petryszak, Nicholas

    1977-01-01

    Discusses the critical sociology of communication of the Frankfurt School suggesting that theorists such as Lowenthal, Adorno, and Habermas have outlined both the political economics of manipulation and the social psychological interaction between the audience and the media. (MH)

  11. The modelling of industrial robot manipulator vibration

    Energy Technology Data Exchange (ETDEWEB)

    Marcham, L.J.; Rao, B.K.N.; Noroozi, S.; Penson, R.P. [Southampton Inst. (United Kingdom). Systems Engineering Research Centre

    1996-11-01

    The work reported in this paper addresses the modelling of robot manipulator vibration, with the specific aim of producing a model suitable to be employed within an active compensation controller. An overview of existing work on the modelling of robot dynamics, both mathematically and empirically, is reported. A model of the dynamics of an industrial manipulator, inclusive of vibration, derived using Lagrangian mechanics is presented and further developed through the application of experimental modal analysis, by which the position dependent modal parameters of an industrial robot manipulator are determined. The model results are compared with experimental vibration data taken from the end-effector of a PUMA562C industrial manipulator using laser interferometry. Control of an end-effector located, active compensator for vibration suppression, based upon the derived model is discussed and recommendations which form the basis of further investigations, currently being undertaken, are presented.

  12. The Frankfurt School's Theory of Manipulation

    Science.gov (United States)

    Petryszak, Nicholas

    1977-01-01

    Discusses the critical sociology of communication of the Frankfurt School suggesting that theorists such as Lowenthal, Adorno, and Habermas have outlined both the political economics of manipulation and the social psychological interaction between the audience and the media. (MH)

  13. Captive bottlenose dolphins (Tursiops truncatus spontaneously using water flow to manipulate objects.

    Directory of Open Access Journals (Sweden)

    Chisato Yamamoto

    Full Text Available Several terrestrial animals and delphinids manipulate objects in a tactile manner, using parts of their bodies, such as their mouths or hands. In this paper, we report that bottlenose dolphins (Tursiops truncatus manipulate objects not by direct bodily contact, but by spontaneous water flow. Three of four dolphins at Suma Aqualife Park performed object manipulation with food. The typical sequence of object manipulation consisted of a three step procedure. First, the dolphins released the object from the sides of their mouths while assuming a head-down posture near the floor. They then manipulated the object around their mouths and caught it. Finally, they ceased to engage in their head-down posture and started to swim. When the dolphins moved the object, they used the water current in the pool or moved their head. These results showed that dolphins manipulate objects using movements that do not directly involve contact between a body part and the object. In the event the dolphins dropped the object on the floor, they lifted it by making water flow in one of three methods: opening and closing their mouths repeatedly, moving their heads lengthwise, or making circular head motions. This result suggests that bottlenose dolphins spontaneously change their environment to manipulate objects. The reason why aquatic animals like dolphins do object manipulation by changing their environment but terrestrial animals do not may be that the viscosity of the aquatic environment is much higher than it is in terrestrial environments. This is the first report thus far of any non-human mammal engaging in object manipulation using several methods to change their environment.

  14. Manipulation Under Anesthesia: A Safe and Effective Treatment for Posttraumatic Arthrofibrosis of the Knee.

    Science.gov (United States)

    Sassoon, Adam A; Adigweme, Obinna O; Langford, Joshua; Koval, Kenneth J; Haidukewych, George J

    2015-12-01

    This study investigates the results of closed manipulations performed under anesthesia (MUA) to evaluate whether it is an effective means to treat posttraumatic knee arthrofibrosis. Retrospective review. Level I trauma center. Twenty-two patients with a mean age of 40 underwent closed MUA for posttraumatic knee arthrofibrosis. Injuries included fractures of the femur, tibia, and patella as well as ligamentous injuries and traumatic arthrotomies. The mean time from treatment to manipulation was 90 days. Mean follow-up after manipulation was 7 months. Closed knee MUA. Improvement of knee range of motion (ROM) arc was the primary outcome. Patient demographics were correlated with manipulation success using a 2-sample t test. A delay in manipulation of 90 days or greater was also evaluated in this fashion with regard to its role in predicting the benefit of MUA. The mean premanipulation ROM arc was 59 ± 25 degrees. The mean intraoperative arc of motion, achieved at the time of the manipulation was 123 ± 14 degrees. No complications occurred during the MUA procedure. At the most recent follow-up, the mean ROM arc was 110 ± 19 degrees. Tobacco use, associated injuries, elevated body mass index, open fracture, and advanced age did not impact manipulation efficacy. Additionally, manipulations performed 90 days or more after surgical treatment provided a benefit equaling those performed more acutely (P = 0.12). MUA is a safe and effective method to increase knee ROM in the setting of posttraumatic arthrofibrosis. Improvement in ROM was noted in all patients. A 90-day window between fracture fixation and manipulation did not impact ROM at final follow-up and may prevent fracture displacement during the MUA. Therapeutic Level IV. See Instructions for Authors for a complete description of levels of evidence.

  15. Comparing two Uterine Manipulators During Total Laparoscopic Hysterectomy: A Randomized Controlled Trial.

    Science.gov (United States)

    Husslein, Heinrich; Frecker, Helena; Shore, Eliane M; Lefebvre, Guylaine; Latta, Eleanor; Montanari, Eliana; Satkunaratnam, Abheha

    To compare 2 different types of uterine manipulators (i.e., tight fitting vs loose fitting) used for total laparoscopic hysterectomy (TLH). A randomized controlled trial. The primary end points were time for colpotomy, time from skin incision to detachment of the uterus, and histologic assessment of thermal damage to the vagina (Canadian Task Force classification I). A university teaching hospital. All consecutive women scheduled for TLH from May 2014 to December 2015. Patients were excluded if pregnancy or malignancy was suspected or uterine size exceeded 20 weeks' gestation. Patients were randomized to undergo TLH with 1 of the following uterine manipulators: (1) Colpo-Probe Vaginal Fornix Delineator (Cooper Surgical, Inc, Trumbull, CT) or (2) Hohl manipulator (KARL STORZ AG, Tuttlingen, Germany). A total of 91 patients, 49 in the Hohl manipulator group and 42 in the Colpo-Probe group, were included in the final analysis. There was no difference in patient characteristics, uterine weight, or estimated blood loss. The median time for insertion of the manipulator (2 minutes [interquartile range (IQR), 2-5 minutes] vs 6 minutes [IQR, 5-7], p manipulator. Thermal damage to the vagina varied greatly and ranged from 32 μm to 5232 μm but was not significantly different between groups (median maximum thermal damage = 1043 μm [IQR, 682-1934] vs 1522 μm [IQR, 884-2144], p = .211). Use of the Hohl manipulator results in a shorter operative time from skin incision to detachment of the uterus during TLH. Although the colpotomy time is shorter using the Hohl manipulator, this did not translate to less thermal damage to the vaginal cuff. Further studies comparing uterine manipulators are warranted to find the optimal instrument for ease of surgery and decreased thermal spread. Copyright © 2017 AAGL. Published by Elsevier Inc. All rights reserved.

  16. Trading networks, abnormal motifs and stock manipulation

    OpenAIRE

    2012-01-01

    We study trade-based manipulation of stock prices from the perspective of complex trading networks constructed by using detailed information of trades. A stock trading network consists of nodes and directed links, where every trader is a node and a link is formed from one trader to the other if the former sells shares to the latter. Specifically, three abnormal network motifs are investigated, which are found to be formed by a few traders, implying potential intention of price manipulation. W...

  17. Identifying Image Manipulation Software from Image Features

    Science.gov (United States)

    2015-03-26

    an overview of the DCT based encoding process [5]. When an image is processed by lossless compression, a file’s size is reduced while still...IDENTIFYING IMAGE MANIPULATION SOFTWARE FROM IMAGE FEATURES THESIS Devlin T. Boyter, CPT, USA AFIT-ENG-MS-15-M-051 DEPARTMENT OF THE AIR FORCE AIR...to copyright protection in the United States. AFIT-ENG-MS-15-M-051 IDENTIFYING IMAGE MANIPULATION SOFTWARE FROM IMAGE FEATURES THESIS Presented to

  18. Osteopathic manipulative treatment for colonic inertia.

    Science.gov (United States)

    Cohen-Lewe, Adam

    2013-03-01

    Surgical treatment options for patients with colonic inertia are costly and do not always relieve the pain associated with the condition. The author describes a case of a 41-year-old woman with colonic inertia who received osteopathic manipulative treatment targeted at the neuromusculoskeletal and gastrointestinal systems. The patient reported temporary improvement in pain and bowel function without pharmacotherapy or surgical intervention. Osteopathic manipulative treatment should be considered in patients with visceral as well as neuromusculoskeletal symptoms.

  19. Autonomous Environment Recognition by Robotic Manipulators

    OpenAIRE

    Senda, Kei; Okano, Yuzo

    2001-01-01

    This paper discusses methods of autonomus environment recognition and action by a robotic manipulator working with dynamic interaction to the enviroment, e.g., assembling. A method automatically recognizes the contacting situation with the work site from the sensor outputs and the robotic manipulator motion. The autonomous recognition then discriminates the constraint conditions at manopulator hand using the self-organizing map that is a kind of unsupervisedlearning of neural networks. The di...

  20. Manipulating atoms using scanning probe microscopy

    OpenAIRE

    Norris, Andrew Christopher

    2009-01-01

    Manipulating species using Scanning Probe Microscopy (SPM) is an important discipline in the field of bottom-up fabrication, which facilitates nano-mechanics and electron dynamics investigations. Previous low temperature manipulation highlights include the construction of quantum dots, nano-wires and quantum corrals, all of which began in 1989 with Don Eigler’s iconic writing of I-B-M using 35 xenon atoms. Since then, the field has developed, and we now push, pull, hop, excite, desorb, rotate...

  1. Measurement Practices for Reliability and Power Quality

    Energy Technology Data Exchange (ETDEWEB)

    Kueck, JD

    2005-05-06

    as the levels at which these economic decisions could be made. Finally, a discussion is provided of the role DER could play in addressing reliability needs, and the possible role of the market in providing needed levels of reliability.

  2. Reliability of Mobile Agents for Reliable Service Discovery Protocol in MANET

    CERN Document Server

    Neogy, Roshni; Neogy, Sarmistha; 10.5121/ijwmn.2011.3518

    2011-01-01

    Recently mobile agents are used to discover services in mobile ad-hoc network (MANET) where agents travel through the network, collecting and sometimes spreading the dynamically changing service information. But it is important to investigate how reliable the agents are for this application as the dependability issues(reliability and availability) of MANET are highly affected by its dynamic nature.The complexity of underlying MANET makes it hard to obtain the route reliability of the mobile agent systems (MAS); instead we estimate it using Monte Carlo simulation. Thus an algorithm for estimating the task route reliability of MAS (deployed for discovering services) is proposed, that takes into account the effect of node mobility in MANET. That mobility pattern of the nodes affects the MAS performance is also shown by considering different mobility models. Multipath propagation effect of radio signal is considered to decide link existence. Transient link errors are also considered. Finally we propose a metric t...

  3. Intelligent modular manipulation for mobile robots

    Science.gov (United States)

    Culbertson, John

    2008-04-01

    As mobile robots continue to gain acceptance across a variety of applications within the defense and civilian markets, the number of tasks that these robot platforms are expected to accomplish are expanding. Robot operators are asked to do more with the same platforms - from EOD missions to reconnaissance and inspection operations. Due to the fact that a majority of missions are dangerous in nature, it is critical that users are able to make remote adjustments to the systems to ensure that they are kept out of harm's way. An efficient way to expand the capabilities of existing robot platforms, improve the efficiency of robot missions, and to ultimately improve the operator's safety is to integrate JAUS-enabled Intelligent Modular Manipulation payloads. Intelligent Modular Manipulation payloads include both simple and dexterous manipulator arms with plug-and-play end-effector tools that can be changed based on the specific mission. End-effectors that can be swapped down-range provide an added benefit of decreased time-on-target. The intelligence in these systems comes from semi-autonomous mobile manipulation actions that enable the robot operator to perform manipulation task with the touch of a button on the OCU. RE2 is supporting Unmanned Systems Interoperability by utilizing the JAUS standard as the messaging protocol for all of its manipulation systems. Therefore, they can be easily adapted and integrated onto existing JAUS-enabled robot platforms.

  4. Control of two Wheeled Welding Mobile Manipulator

    Directory of Open Access Journals (Sweden)

    M. D. Ngo

    2008-11-01

    Full Text Available A three-linked manipulator mounted on a two-wheeled mobile platform is used to weld a long curved welding path. A welding torch mounted at the end of a manipulator of the welding mobile manipulator (WMM must be controlled for tracking a welding path with constant velocity and constant welding angle of torch. In this paper, a decentralized control method is applied to control the WMM considered as two separate subsystems such as a mobile platform and a manipulator. Two decentralized motion controllers are designed to control two subsystems of WMM, respectively. Firstly, based on a tracking error vector of the manipulator and a feedback motion of the mobile platform, a kinematic controller is designed for manipulator. Secondly, based on an another tracking error vector of the mobile platform and a feedback angular velocities of revolution joints of three-link, a sliding mode controller is designed for the mobile platform. These controllers are obtained based on the Lyapunov's function and its stability condition to ensure for the tracking error vectors to be asymptotically stable. Furthermore, simulation and experimental results are presented to illustrate the effectiveness of the proposed algorithm.

  5. Direct manipulation of virtual objects

    Science.gov (United States)

    Nguyen, Long K.

    Interacting with a Virtual Environment (VE) generally requires the user to correctly perceive the relative position and orientation of virtual objects. For applications requiring interaction in personal space, the user may also need to accurately judge the position of the virtual object relative to that of a real object, for example, a virtual button and the user's real hand. This is difficult since VEs generally only provide a subset of the cues experienced in the real world. Complicating matters further, VEs presented by currently available visual displays may be inaccurate or distorted due to technological limitations. Fundamental physiological and psychological aspects of vision as they pertain to the task of object manipulation were thoroughly reviewed. Other sensory modalities -- proprioception, haptics, and audition -- and their cross-interactions with each other and with vision are briefly discussed. Visual display technologies, the primary component of any VE, were canvassed and compared. Current applications and research were gathered and categorized by different VE types and object interaction techniques. While object interaction research abounds in the literature, pockets of research gaps remain. Direct, dexterous, manual interaction with virtual objects in Mixed Reality (MR), where the real, seen hand accurately and effectively interacts with virtual objects, has not yet been fully quantified. An experimental test bed was designed to provide the highest accuracy attainable for salient visual cues in personal space. Optical alignment and user calibration were carefully performed. The test bed accommodated the full continuum of VE types and sensory modalities for comprehensive comparison studies. Experimental designs included two sets, each measuring depth perception and object interaction. The first set addressed the extreme end points of the Reality-Virtuality (R-V) continuum -- Immersive Virtual Environment (IVE) and Reality Environment (RE). This

  6. Stiffness analysis of spring mechanism for semi automatic gripper motion of tendon driven remote manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Yu, Seung Nam; Lee, Jong Kwang [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2012-11-15

    Remote handling manipulators are widely used for performing hazardous tasks, and it is essential to ensure the reliable performance of such systems. Toward this end, tendon driven mechanisms are adopted in such systems to reduce the weight of the distal parts of the manipulator while maintaining the handling performance. In this study, several approaches for the design of a gripper system for a tendon driven remote handling system are introduced. Basically, this gripper has an underactuated spring mechanism that is combined with a slave manipulator triggered by a master operator. Based on the requirements under the specified tendon driven mechanism, the connecting position of the spring system on the gripper mechanism and kinematic influence coefficient (KIC) analysis are performed. As a result, a suitable combination of components for the proper design of the target system is presented and verified.

  7. New developments in gold-catalyzed manipulation of inactivated alkenes

    Directory of Open Access Journals (Sweden)

    Michel Chiarucci

    2013-11-01

    Full Text Available Over the recent years, the nucleophilic manipulation of inactivated carbon–carbon double bonds has gained remarkable credit in the chemical community. As a matter of fact, despite lower reactivity with respect to alkynyl and allenyl counterparts, chemical functionalization of isolated alkenes, via carbon- as well as hetero atom-based nucleophiles, would provide direct access to theoretically unlimited added value of molecular motifs. In this context, homogenous [Au(I] and [Au(III] catalysis continues to inspire developments within organic synthesis, providing reliable responses to this interrogative, by combining crucial aspects such as chemical selectivity/efficiency with mild reaction parameters. This review intends to summarize the recent progresses in the field, with particular emphasis on mechanistic details.

  8. Droplet Manipulation Using Acoustic Streaming Induced by a Vibrating Membrane.

    Science.gov (United States)

    Phan, Hoang Van; Alan, Tuncay; Neild, Adrian

    2016-06-01

    We present a simple method for on-demand manipulation of aqueous droplets in oil. With numerical simulations and experiments, we show that a vibrating membrane can produce acoustic streaming. By making use of this vortical flow, we manage to repulse the droplets away from the membrane edges. Then, by simply aligning the membrane at 45° to the flow, the droplets can be forced to follow the membrane's boundaries, thus steering them across streamlines and even between different oil types. We also characterize the repulsion and steering effect with various excitation voltages at different water and oil flow rates. The maximum steering frequency we have achieved is 165 Hz. The system is extremely robust and reliable: the same membrane can be reused after many days and with different oils and/or surfactants at the same operating frequency.

  9. Modelling and Performance Analysis of a Flexible Manipulator System Using Symbolic Manipulation

    OpenAIRE

    Z. Mohamed; Tokhi, M.O.

    2001-01-01

    This paper presents a symbolic manipulation approach for modelling and performance analysis of a flexible manipulator system using finite element methods. A constrained planar single-link flexible manipulator is considered. A symbolic algorithm characterising the dynamic behaviour of the system is developed using a symbolic language. Using this approach, the system transfer functions are obtained in symbolic forms. Analyses and investigations in terms of system stability, time response to an ...

  10. Nanobiotechnology for the capture and manipulation of circulating tumor cells.

    Science.gov (United States)

    Hughes, Andrew D; King, Michael R

    2012-01-01

    A necessary step in metastasis is the dissemination of malignant cells into the bloodstream, where cancer cells travel throughout the body as circulating tumor cells (CTC) in search of an opportunity to seed a secondary tumor. CTC represent a valuable diagnostic tool: evidence indicates that the quantity of CTC in the blood has been shown to relate to the severity of the illness, and samples are readily obtained through routine blood draws. As such, there has been a push toward developing technologies to reliably detect CTC using a variety of molecular and immunocytochemical techniques. In addition to their use in diagnostics, CTC detection systems that isolate CTC in such a way that the cells remain viable will allow for the performance of live-cell assays to facilitate the development of personalized cancer therapies. Moreover, techniques for the direct manipulation of CTC in circulation have been developed, intending to block metastasis in situ. We review a number of current and emerging micro- and nanobiotechnology approaches for the detection, capture, and manipulation of rare CTC aimed at advancing cancer treatment.

  11. The results of knee manipulation for stiffness after total knee arthroplasty with or without an intra-articular steroid injection

    Directory of Open Access Journals (Sweden)

    Sharma Vineet

    2008-01-01

    Full Text Available Background: Stiffness after total knee arthroplasty (TKA requiring manipulation has a reported incidence of 1.3-54%. The purpose of this study was to compare the incidence of stiffness warranting manipulation using two different pain management protocols. We also studied the effect of an intra-articular injection of local anesthetic and steroid given at the time of manipulation on the range-of-motion (ROM at last follow-up. Materials and Methods: A total of 286 TKAs (248 patients between January 2002 and December 2003 were compared to a second group of 292 TKAs (251 patients between January 2004 and March 2006. The first group received patient-controlled analgesia (PCA for postoperative pain management. The second group had a peri-articular injection of a steroid-containing local anesthetic at the time of surgery, but no postoperative PCA. All patients undergoing manipulation in the second group also received a similar intra-articular injection at the time of manipulation as well. Only patients with minimum 12 months follow-up after manipulation were included in the study. Results: The overall incidence of stiffness requiring manipulation in both groups was similar at 2.4% and 2.1%, respectively ( P = 0.1. The end results of manipulation with and without injection showed a significantly higher final ROM in patients who had had an injection at the time of manipulation ( P = 0.001. The difference was due to the fact that patients who had an injection lost no motion from that achieved at the time of manipulation. Conclusion: We were unable to demonstrate a significant reduction in the incidence of stiffness after TKA using a modern pain management protocol. However, injection of a local anesthetic and steroid at the time of manipulation did have a significant influence on preserving the ROM that was obtained at the time of manipulation.

  12. A New Tool for Local Manipulation of Neuronal Micro-Circuitry with Ions and Force

    Science.gov (United States)

    2017-02-07

    Prescribed by ANSI Std. Z39.18 A New Tool for Local Manipulation of Neuronal Micro -Circuitry with Ions and Force. W911NF-15-2-0056 The Regents of...Neuronal Micro -Circuitry with Ions and Force". Sincerely, I ~ ?J Kenneth S. Kosik, M.D. Kosik- W911NF-15-2-0056- FINAL REPORT Major Technical

  13. PoseiDRONE: design of a soft-bodied ROV with crawling, swimming and manipulation ability

    OpenAIRE

    Arienti, Andrea; Calisti, Marcello; Giorgio-Serchi, Francesco; Laschi, Cecilia

    2013-01-01

    The design concept and development of a multi-purpose, underwater robot is presented. The final robot consists of a continuum composed for 80% of its volume of rubber-like materials and it combines locomotion (i.e. crawling and swimming) and manipulation capabilities. A first prototype of the robot is illustrated based on the integration of existing prototypes.

  14. Modeling, design, and control of flexible manipulator arms: Status and trends

    Science.gov (United States)

    Book, Wayne J.

    1989-01-01

    The desire for higher performance manipulators has lead to dynamic behavior in which the flexibility is an essential aspect. The mathematical representations commonly used in modeling flexible arms and arms with flexible drives are examined first. Then design considerations directly arising from the flexible nature of the arm are discussed. Finally, controls of joints for general and tip motion are discussed.

  15. Dynamic reliability of digital-based transmitters

    Energy Technology Data Exchange (ETDEWEB)

    Brissaud, Florent, E-mail: florent.brissaud.2007@utt.f [Institut National de l' Environnement Industriel et des Risques (INERIS), Parc Technologique Alata, BP 2, 60550 Verneuil-en-Halatte (France) and Universite de Technologie de Troyes - UTT, Institut Charles Delaunay - ICD and UMR CNRS 6279 STMR, 12 rue Marie Curie, BP 2060, 10010 Troyes Cedex (France); Smidts, Carol [Ohio State University (OSU), Nuclear Engineering Program, Department of Mechanical Engineering, Scott Laboratory, 201 W 19th Ave, Columbus OH 43210 (United States); Barros, Anne; Berenguer, Christophe [Universite de Technologie de Troyes (UTT), Institut Charles Delaunay (ICD) and UMR CNRS 6279 STMR, 12 rue Marie Curie, BP 2060, 10010 Troyes Cedex (France)

    2011-07-15

    Dynamic reliability explicitly handles the interactions between the stochastic behaviour of system components and the deterministic behaviour of process variables. While dynamic reliability provides a more efficient and realistic way to perform probabilistic risk assessment than 'static' approaches, its industrial level applications are still limited. Factors contributing to this situation are the inherent complexity of the theory and the lack of a generic platform. More recently the increased use of digital-based systems has also introduced additional modelling challenges related to specific interactions between system components. Typical examples are the 'intelligent transmitters' which are able to exchange information, and to perform internal data processing and advanced functionalities. To make a contribution to solving these challenges, the mathematical framework of dynamic reliability is extended to handle the data and information which are processed and exchanged between systems components. Stochastic deviations that may affect system properties are also introduced to enhance the modelling of failures. A formalized Petri net approach is then presented to perform the corresponding reliability analyses using numerical methods. Following this formalism, a versatile model for the dynamic reliability modelling of digital-based transmitters is proposed. Finally the framework's flexibility and effectiveness is demonstrated on a substantial case study involving a simplified model of a nuclear fast reactor.

  16. On the reliability of seasonal climate forecasts.

    Science.gov (United States)

    Weisheimer, A; Palmer, T N

    2014-07-06

    Seasonal climate forecasts are being used increasingly across a range of application sectors. A recent UK governmental report asked: how good are seasonal forecasts on a scale of 1-5 (where 5 is very good), and how good can we expect them to be in 30 years time? Seasonal forecasts are made from ensembles of integrations of numerical models of climate. We argue that 'goodness' should be assessed first and foremost in terms of the probabilistic reliability of these ensemble-based forecasts; reliable inputs are essential for any forecast-based decision-making. We propose that a '5' should be reserved for systems that are not only reliable overall, but where, in particular, small ensemble spread is a reliable indicator of low ensemble forecast error. We study the reliability of regional temperature and precipitation forecasts of the current operational seasonal forecast system of the European Centre for Medium-Range Weather Forecasts, universally regarded as one of the world-leading operational institutes producing seasonal climate forecasts. A wide range of 'goodness' rankings, depending on region and variable (with summer forecasts of rainfall over Northern Europe performing exceptionally poorly) is found. Finally, we discuss the prospects of reaching '5' across all regions and variables in 30 years time.

  17. Ultimately Reliable Pyrotechnic Systems

    Science.gov (United States)

    Scott, John H.; Hinkel, Todd

    2015-01-01

    This paper presents the methods by which NASA has designed, built, tested, and certified pyrotechnic devices for high reliability operation in extreme environments and illustrates the potential applications in the oil and gas industry. NASA's extremely successful application of pyrotechnics is built upon documented procedures and test methods that have been maintained and developed since the Apollo Program. Standards are managed and rigorously enforced for performance margins, redundancy, lot sampling, and personnel safety. The pyrotechnics utilized in spacecraft include such devices as small initiators and detonators with the power of a shotgun shell, detonating cord systems for explosive energy transfer across many feet, precision linear shaped charges for breaking structural membranes, and booster charges to actuate valves and pistons. NASA's pyrotechnics program is one of the more successful in the history of Human Spaceflight. No pyrotechnic device developed in accordance with NASA's Human Spaceflight standards has ever failed in flight use. NASA's pyrotechnic initiators work reliably in temperatures as low as -420 F. Each of the 135 Space Shuttle flights fired 102 of these initiators, some setting off multiple pyrotechnic devices, with never a failure. The recent landing on Mars of the Opportunity rover fired 174 of NASA's pyrotechnic initiators to complete the famous '7 minutes of terror.' Even after traveling through extreme radiation and thermal environments on the way to Mars, every one of them worked. These initiators have fired on the surface of Titan. NASA's design controls, procedures, and processes produce the most reliable pyrotechnics in the world. Application of pyrotechnics designed and procured in this manner could enable the energy industry's emergency equipment, such as shutoff valves and deep-sea blowout preventers, to be left in place for years in extreme environments and still be relied upon to function when needed, thus greatly enhancing

  18. Ferrite logic reliability study

    Science.gov (United States)

    Baer, J. A.; Clark, C. B.

    1973-01-01

    Development and use of digital circuits called all-magnetic logic are reported. In these circuits the magnetic elements and their windings comprise the active circuit devices in the logic portion of a system. The ferrite logic device belongs to the all-magnetic class of logic circuits. The FLO device is novel in that it makes use of a dual or bimaterial ferrite composition in one physical ceramic body. This bimaterial feature, coupled with its potential for relatively high speed operation, makes it attractive for high reliability applications. (Maximum speed of operation approximately 50 kHz.)

  19. Blade reliability collaborative :

    Energy Technology Data Exchange (ETDEWEB)

    Ashwill, Thomas D.; Ogilvie, Alistair B.; Paquette, Joshua A.

    2013-04-01

    The Blade Reliability Collaborative (BRC) was started by the Wind Energy Technologies Department of Sandia National Laboratories and DOE in 2010 with the goal of gaining insight into planned and unplanned O&M issues associated with wind turbine blades. A significant part of BRC is the Blade Defect, Damage and Repair Survey task, which will gather data from blade manufacturers, service companies, operators and prior studies to determine details about the largest sources of blade unreliability. This report summarizes the initial findings from this work.

  20. Final Report

    Energy Technology Data Exchange (ETDEWEB)

    Webb, Robert C. [Texas A& M University; Kamon, Teruki [Texas A& M University; Toback, David [Texas A& M University; Safonov, Alexei [Texas A& M University; Dutta, Bhaskar [Texas A& M University; Dimitri, Nanopoulos [Texas A& M University; Pope, Christopher [Texas A& M University; White, James [Texas A& M University

    2013-11-18

    Overview The High Energy Physics Group at Texas A&M University is submitting this final report for our grant number DE-FG02-95ER40917. This grant has supported our wide range of research activities for over a decade. The reports contained here summarize the latest work done by our research team. Task A (Collider Physics Program): CMS & CDF Profs. T. Kamon, A. Safonov, and D. Toback co-lead the Texas A&M (TAMU) collider program focusing on CDF and CMS experiments. Task D: Particle Physics Theory Our particle physics theory task is the combined effort of Profs. B. Dutta, D. Nanopoulos, and C. Pope. Task E (Underground Physics): LUX & NEXT Profs. R. Webb and J. White(deceased) lead the Xenon-based underground research program consisting of two main thrusts: the first, participation in the LUX two-phase xenon dark matter search experiment and the second, detector R&D primarily aimed at developing future detectors for underground physics (e.g. NEXT and LZ).

  1. Analysis on the Load Carrying Mechanism Integrated as Heterogeneous Co-operative Manipulator in a Walking Wheelchair

    Science.gov (United States)

    Rajay Vedaraj, I. S.; Jain, Ritika; Rao, B. V. A.

    2014-07-01

    After industrial robots came into existence during 1960, the technology of robotics with the design and analysis of robots in various forms in industries as well as in domestic applications were developed. Nowadays, along with the automotive sector the robots are producing a great impact in the form of quality and production rate to register their existence reliable in various other sectors also. Robotic technology has undergone various phase translations from being tortured as humanoids to the present day manipulators. Depending upon the various forms of its existence, robot manipulators are designed as serial manipulators and parallel manipulators. Individually both types can be proved effective though both have various drawbacks in design and the kinematic analysis. The versatility of robots can be increased by making them work in an environment where the same work volume is shared by more than one manipulator. This work volume can be identified as co-operative work volume of those manipulators. Here the interference of manipulators in the work volume of other manipulators is possible and is made obstacle free. The main advantage of co-operative manipulators is that when a number of independent manipulators are put together in a cooperative work envelope the efficiency and ability to perform tasks is greatly enhanced. The main disadvantage of the co-operative manipulators lies in the complication of its design even for a simple application, in almost all fields. In this paper, a cooperative design of robot manipulators to work in co-operative work environment is done and analysed for its efficacy. In the industrial applications when robotic manipulators are put together in more numbers, the trajectory planning becomes the tough task in the work cell. Proper design can remove the design defects of the cooperative manipulators and can be utilized in a more efficient way. In the proposed research paper an analysis is made on such a type of cooperative manipulator

  2. Final report

    Energy Technology Data Exchange (ETDEWEB)

    Weissman, Jon B

    2006-04-30

    computational resources in order to use the service, and the user need not be concerned with performance tuning. This can all be done by the service provider. We believe that the next dominant paradigm for high performance computing will be based on high-end network services. Putting high performance applications on-line will create a new generation of community services. Community services have several features which make their deployment challenging: (i) they must provide high performance, (ii) they are resource intensive, and (iii) they may be built upon a large existing code base. Many groups have built significant infrastructure for providing domain-specific high-end services [6][8][12][14][22][24][27][31][32]. However, this process is labor-intensive and time-consuming as evidenced by the development time required to build many of these systems. The reason is that these systems are all built from the ground-up with little existing infrastructure to utilize. Providing efficient, reliable, secure, and scalable services requires significant run-time infrastructure and middleware (Figure 1). The goal of this project is to develop general-purpose middleware to support the rapid deployment of high-end community services. In this proposal, we will focus on scalable middleware in support of resource management and reliability. We also propose a system architecture that integrates the middleware components. Our middleware and system architecture will be designed to accommodate and integrate middleware solutions for security and user interface1 developed by other groups. We will produce middleware that can be leveraged by community services running in clusters, supercomputers, and in Grids. One of the novel aspects of our approach is that the tension between resource sharing for the 'common good' and resource monopolization for the 'individual good' is significantly reduced. To increase the impact of this project, the middleware will be integrated into a widely

  3. Load Control System Reliability

    Energy Technology Data Exchange (ETDEWEB)

    Trudnowski, Daniel [Montana Tech of the Univ. of Montana, Butte, MT (United States)

    2015-04-03

    This report summarizes the results of the Load Control System Reliability project (DOE Award DE-FC26-06NT42750). The original grant was awarded to Montana Tech April 2006. Follow-on DOE awards and expansions to the project scope occurred August 2007, January 2009, April 2011, and April 2013. In addition to the DOE monies, the project also consisted of matching funds from the states of Montana and Wyoming. Project participants included Montana Tech; the University of Wyoming; Montana State University; NorthWestern Energy, Inc., and MSE. Research focused on two areas: real-time power-system load control methodologies; and, power-system measurement-based stability-assessment operation and control tools. The majority of effort was focused on area 2. Results from the research includes: development of fundamental power-system dynamic concepts, control schemes, and signal-processing algorithms; many papers (including two prize papers) in leading journals and conferences and leadership of IEEE activities; one patent; participation in major actual-system testing in the western North American power system; prototype power-system operation and control software installed and tested at three major North American control centers; and, the incubation of a new commercial-grade operation and control software tool. Work under this grant certainly supported the DOE-OE goals in the area of “Real Time Grid Reliability Management.”

  4. Supply chain reliability modelling

    Directory of Open Access Journals (Sweden)

    Eugen Zaitsev

    2012-03-01

    Full Text Available Background: Today it is virtually impossible to operate alone on the international level in the logistics business. This promotes the establishment and development of new integrated business entities - logistic operators. However, such cooperation within a supply chain creates also many problems related to the supply chain reliability as well as the optimization of the supplies planning. The aim of this paper was to develop and formulate the mathematical model and algorithms to find the optimum plan of supplies by using economic criterion and the model for the probability evaluating of non-failure operation of supply chain. Methods: The mathematical model and algorithms to find the optimum plan of supplies were developed and formulated by using economic criterion and the model for the probability evaluating of non-failure operation of supply chain. Results and conclusions: The problem of ensuring failure-free performance of goods supply channel analyzed in the paper is characteristic of distributed network systems that make active use of business process outsourcing technologies. The complex planning problem occurring in such systems that requires taking into account the consumer's requirements for failure-free performance in terms of supply volumes and correctness can be reduced to a relatively simple linear programming problem through logical analysis of the structures. The sequence of the operations, which should be taken into account during the process of the supply planning with the supplier's functional reliability, was presented.

  5. Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebra.

    Science.gov (United States)

    Fu, Zhongtao; Yang, Wenyu; Yang, Zhen

    2013-08-01

    In this paper, we present an efficient method based on geometric algebra for computing the solutions to the inverse kinematics problem (IKP) of the 6R robot manipulators with offset wrist. Due to the fact that there exist some difficulties to solve the inverse kinematics problem when the kinematics equations are complex, highly nonlinear, coupled and multiple solutions in terms of these robot manipulators stated mathematically, we apply the theory of Geometric Algebra to the kinematic modeling of 6R robot manipulators simply and generate closed-form kinematics equations, reformulate the problem as a generalized eigenvalue problem with symbolic elimination technique, and then yield 16 solutions. Finally, a spray painting robot, which conforms to the type of robot manipulators, is used as an example of implementation for the effectiveness and real-time of this method. The experimental results show that this method has a large advantage over the classical methods on geometric intuition, computation and real-time, and can be directly extended to all serial robot manipulators and completely automatized, which provides a new tool on the analysis and application of general robot manipulators.

  6. FINAL/ SCIENTIFIC TECHNICAL REPORT

    Energy Technology Data Exchange (ETDEWEB)

    McDonald, Henry; Singh, Suminderpal

    2006-08-28

    The overall objective of the Chattanooga fuel cell demonstrations project was to develop and demonstrate a prototype 5-kW grid-parallel, solid oxide fuel cell (SOFC) system that co-produces hydrogen, based on Ion America’s technology. The commercial viability of the 5kW SOFC system was tested by transporting, installing and commissioning the SOFC system at the Alternative Energy Laboratory at the University of Tennessee – Chattanooga. The system also demonstrated the efficiency and the reliability of the system running on natural gas. This project successfully contributed to the achievement of DOE technology validation milestones from the Technology Validation section of the Hydrogen, Fuel Cells and Infrastructure Technologies Program Multi-Year Research, Development and Demonstration Plan. Results of the project can be found in the final technical report.

  7. Confining continuous manipulations of accelerator beamline optics

    Energy Technology Data Exchange (ETDEWEB)

    Amstutz, P.; Lechner, C.; Plath, T. [Hamburg Univ. (Germany). Dept. of Physics; Ackermann, S.; Boedewadt, J.; Vogt, M. [Deutsches Elektronen-Synchrotron (DESY), Hamburg (Germany)

    2016-04-15

    Altering the optics in one section of a linear accelerator beamline will in general cause an alteration of the optics in all downstream sections. In circular accelerators, changing the optical properties of any beamline element will have an impact on the optical functions throughout the whole machine. In many cases, however, it is desirable to change the optics in a certain beamline section without disturbing any other parts of the machine. Such a local optics manipulation can be achieved by adjusting a number of additional corrector magnets that restore the initial optics after the manipulated section. In that case, the effect of the manipulation is confined in the region between the manipulated and the correcting beamline elements. Introducing a manipulation continuously, while the machine is operating, therefore requires continuous correction functions to be applied to the correcting quadrupole magnets. In this paper we present an analytic approach to calculate such continuous correction functions for six quadrupole magnets by means of a homotopy method. Besides a detailed derivation of the method, we present its application to an algebraic example, as well as its implementation at the seeding experiment sFLASH at the free-electron laser FLASH located at DESY in Hamburg.

  8. Distinguishing manipulated stocks via trading network analysis

    Science.gov (United States)

    Sun, Xiao-Qian; Cheng, Xue-Qi; Shen, Hua-Wei; Wang, Zhao-Yang

    2011-10-01

    Manipulation is an important issue for both developed and emerging stock markets. For the study of manipulation, it is critical to analyze investor behavior in the stock market. In this paper, an analysis of the full transaction records of over a hundred stocks in a one-year period is conducted. For each stock, a trading network is constructed to characterize the relations among its investors. In trading networks, nodes represent investors and a directed link connects a stock seller to a buyer with the total trade size as the weight of the link, and the node strength is the sum of all edge weights of a node. For all these trading networks, we find that the node degree and node strength both have tails following a power-law distribution. Compared with non-manipulated stocks, manipulated stocks have a high lower bound of the power-law tail, a high average degree of the trading network and a low correlation between the price return and the seller-buyer ratio. These findings may help us to detect manipulated stocks.

  9. Blade manipulators in turbulent channel flow

    Science.gov (United States)

    Vasudevan, B.; Prabhu, A.; Narasimha, R.

    1992-01-01

    We report here the results of a series of careful experiments in turbulent channel flow, using various configurations of blade manipulators suggested as optimal in earlier boundary layer studies. The mass flow in the channel could be held constant to better than 0.1%, and the uncertainties in pressure loss measurements were less than 0.1 mm of water; it was therefore possible to make accurate estimates of the global effects of blade manipulation of a kind that are difficult in boundary layer flows. The flow was fully developed at the station where the blades were mounted, and always relaxed to the same state sufficiently far downstream. It is found that, for a given mass flow, the pressure drop to any station downstream is always higher in the manipulated than in the unmanipulated flow, demonstrating that none of the blade manipulators tried reduces net duct losses. However the net increase in duct losses is less than the drag of the blade even in laminar flow, showing that there is a net reduction in the total skin friction drag experienced by the duct, but this relief is only about 20% of the manipulator drag at most.

  10. Seismic reliability analysis of large electric power systems

    Institute of Scientific and Technical Information of China (English)

    何军; 李杰

    2004-01-01

    Based on the De. Morgan laws and Boolean simplification, a recursive decomposition method is introduced in this paper to identity the main exclusive safe paths and failed paths of a network. The reliability or the reliability bound of a network can be conveniently expressed as the summation of the joint probabilities of these paths. Under the multivariate normal distribution assumption, a conditioned reliability index method is developed to evaluate joint probabilities of various exclusive safe paths and failed paths, and, finally, the seismic reliability or the reliability bound of an electric power system.Examples given in thc paper show that the method is very simple and provides accurate results in the seismic reliability analysis.

  11. OSS reliability measurement and assessment

    CERN Document Server

    Yamada, Shigeru

    2016-01-01

    This book analyses quantitative open source software (OSS) reliability assessment and its applications, focusing on three major topic areas: the Fundamentals of OSS Quality/Reliability Measurement and Assessment; the Practical Applications of OSS Reliability Modelling; and Recent Developments in OSS Reliability Modelling. Offering an ideal reference guide for graduate students and researchers in reliability for open source software (OSS) and modelling, the book introduces several methods of reliability assessment for OSS including component-oriented reliability analysis based on analytic hierarchy process (AHP), analytic network process (ANP), and non-homogeneous Poisson process (NHPP) models, the stochastic differential equation models and hazard rate models. These measurement and management technologies are essential to producing and maintaining quality/reliable systems using OSS.

  12. Reliability and validity in research.

    Science.gov (United States)

    Roberts, Paula; Priest, Helena

    This article examines reliability and validity as ways to demonstrate the rigour and trustworthiness of quantitative and qualitative research. The authors discuss the basic principles of reliability and validity for readers who are new to research.

  13. Reliability and Its Quantitative Measures

    Directory of Open Access Journals (Sweden)

    Alexandru ISAIC-MANIU

    2010-01-01

    Full Text Available In this article is made an opening for the software reliability issues, through wide-ranging statistical indicators, which are designed based on information collected from operating or testing (samples. It is developed the reliability issues also for the case of the main reliability laws (exponential, normal, Weibull, which validated for a particular system, allows the calculation of some reliability indicators with a higher degree of accuracy and trustworthiness

  14. In-bore prostate transperineal interventions with an MRI-guided parallel manipulator: system development and preliminary evaluation.

    Science.gov (United States)

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

    2016-06-01

    Robot-assisted minimally-invasive surgery is well recognized as a feasible solution for diagnosis and treatment of prostate cancer in humans. This paper discusses the kinematics of a parallel 4 Degrees-of-Freedom (DOF) surgical manipulator designed for minimally invasive in-bore prostate percutaneous interventions through the patient's perineum. The proposed manipulator takes advantage of four sliders actuated by MRI-compatible piezoelectric motors and incremental rotary encoders. Errors, mostly originating from the design and manufacturing process, need to be identified and reduced before the robot is deployed in clinical trials. The manipulator has undergone several experiments to evaluate the repeatability and accuracy (about 1 mm in air (in x or y direction) at the needle's reference point) of needle placement, which is an essential concern in percutaneous prostate interventions. The acquired results endorse the sustainability, precision and reliability of the manipulator. Copyright © 2015 John Wiley & Sons, Ltd. Copyright © 2015 John Wiley & Sons, Ltd.

  15. EVALUATION OF STATE-OF-THE-ART MANIPULATORS AND REQUIREMENTS FOR DOE ROBOTICS APPLICATIONS

    Energy Technology Data Exchange (ETDEWEB)

    BLACK, DEREK; GRUPINSKI, STEPHEN

    1998-10-08

    This report provides an overview of applications within the DOE complex which could benefit from the use of modular robotics technology during remediation operations. Each application area contains one or more specific tasks which are presently conducted by humans under hazardous conditions or which are deemed highly impractical, or are altogether impossible without automation. Five major areas were investigated for specific needs with respect to automation. Information was collected on Mixed Waste Operations, Contaminant Automated Analysis, Tanks, Decontamination and Dismantlement and Automated Plutonium Processing. During this investigation, information was gathered from available literature, telephone interviews with informed personnel and on-site visits. This data serves to provide design requirements and guidelines for the design of a family of modular actuators, which will be used to construct manipulators suited to each task. In addition, a survey of existing modular manipulator designs is presented. This survey addresses modular manipulators developed inside government labs and in universities for such applications as space exploration or controls research. It also addresses efforts at commercially viable industrial manipulators which have been built. This survey of robotic systems provides the reader with a glimpse into what technology currently exists in the way of modular manipulator automation and, to a degree, where this technology may be applicable or, more often, where these systems are unsuited to EM applications. From the information gathered during this study, it is possible to sufficiently define the requirements of one manipulator system which can be used to conduct automated transfer operations within Plutonium gloveboxes. This manipulator will be constructed from ARM Automation actuator modules and will provide this application with a viable option for automation within these gloveboxes. The design issues surrounding this manipulator and its

  16. 2017 NREL Photovoltaic Reliability Workshop

    Energy Technology Data Exchange (ETDEWEB)

    Kurtz, Sarah [National Renewable Energy Laboratory (NREL), Golden, CO (United States)

    2017-08-15

    NREL's Photovoltaic (PV) Reliability Workshop (PVRW) brings together PV reliability experts to share information, leading to the improvement of PV module reliability. Such improvement reduces the cost of solar electricity and promotes investor confidence in the technology -- both critical goals for moving PV technologies deeper into the electricity marketplace.

  17. Testing for PV Reliability (Presentation)

    Energy Technology Data Exchange (ETDEWEB)

    Kurtz, S.; Bansal, S.

    2014-09-01

    The DOE SUNSHOT workshop is seeking input from the community about PV reliability and how the DOE might address gaps in understanding. This presentation describes the types of testing that are needed for PV reliability and introduces a discussion to identify gaps in our understanding of PV reliability testing.

  18. Reliable Quantum Computers

    CERN Document Server

    Preskill, J

    1997-01-01

    The new field of quantum error correction has developed spectacularly since its origin less than two years ago. Encoded quantum information can be protected from errors that arise due to uncontrolled interactions with the environment. Recovery from errors can work effectively even if occasional mistakes occur during the recovery procedure. Furthermore, encoded quantum information can be processed without serious propagation of errors. Hence, an arbitrarily long quantum computation can be performed reliably, provided that the average probability of error per quantum gate is less than a certain critical value, the accuracy threshold. A quantum computer storing about 10^6 qubits, with a probability of error per quantum gate of order 10^{-6}, would be a formidable factoring engine. Even a smaller, less accurate quantum computer would be able to perform many useful tasks. (This paper is based on a talk presented at the ITP Conference on Quantum Coherence and Decoherence, 15-18 December 1996.)

  19. Managing collaboration in the nanoManipulator

    DEFF Research Database (Denmark)

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

    2004-01-01

    We designed, developed, deployed, and evaluated the Collaborative nanoManipulator (CnM), a distributed, collaborative virtual environment system supporting remote scientific collaboration between users of the nanoManipulator interface to atomic force microscopes. This paper describes the entire...... collaboration system, but focuses on the shared nanoManipulator (nM) application. To be readily accepted by users, the shared nM application had to have the same high level of interactivity as the single-user system and include all the functions of the single-user system. In addition the application had...... to support a user's ability to interleave working privately and working collaboratively. Based on our experience developing the CnM, we present: a method of analyzing applications to characterize the concurrency requirements for sharing data between collaborating sites, examples of data structures...

  20. Manipulation of microfluidic droplets by electrorheological fluid

    KAUST Repository

    Zhang, Menying

    2009-09-01

    Microfluidics, especially droplet microfluidics, attracts more and more researchers from diverse fields, because it requires fewer materials and less time, produces less waste and has the potential of highly integrated and computer-controlled reaction processes for chemistry and biology. Electrorheological fluid, especially giant electrorheological fluid (GERF), which is considered as a kind of smart material, has been applied to the microfluidic systems to achieve active and precise control of fluid by electrical signal. In this review article, we will introduce recent results of microfluidic droplet manipulation, GERF and some pertinent achievements by introducing GERF into microfluidic system: digital generation, manipulation of "smart droplets" and droplet manipulation by GERF. Once it is combined with real-time detection, integrated chip with multiple functions can be realized. © 2009 Wiley-VCH Verlag GmbH & Co. KGaA.

  1. Complexity in Climate Change Manipulation Experiments

    DEFF Research Database (Denmark)

    Kreyling, Juergen; Beier, Claus

    2014-01-01

    Climate change goes beyond gradual changes in mean conditions. It involves increased variability in climatic drivers and increased frequency and intensity of extreme events. Climate manipulation experiments are one major tool to explore the ecological impacts of climate change. Until now, precipi...... variability in temperature are ecologically important. Embracing complexity in future climate change experiments in general is therefore crucial.......Climate change goes beyond gradual changes in mean conditions. It involves increased variability in climatic drivers and increased frequency and intensity of extreme events. Climate manipulation experiments are one major tool to explore the ecological impacts of climate change. Until now......, precipitation experiments have dealt with temporal variability or extreme events, such as drought, resulting in a multitude of approaches and scenarios with limited comparability among studies. Temperature manipulations have mainly been focused only on warming, resulting in better comparability among studies...

  2. Topics in Semantics-based Program Manipulation

    DEFF Research Database (Denmark)

    Grobauer, Bernt

    Programming is at least as much about manipulating existing code as it is about writing new code. Existing code is modified, for example to make inefficient code run faster, or to accommodate for new features when reusing code; existing code is analyzed, for example to verify certain program...... properties, or to use the analysis information for code modifications. Semanticsbased program manipulation addresses methods for program modifications and program analyses that are formally defined and therefore can be verified with respect to the programming-language semantics. This dissertation comprises...... four articles in the field of semantics-based techniques for program manipulation: three articles are about partial evaluation, a method for program specialization; the fourth article treats an approach to automatic cost analysis. Partial evaluation optimizes programs by specializing them with respect...

  3. Manipulation of microfluidic droplets by electrorheological fluid.

    Science.gov (United States)

    Zhang, Menying; Gong, Xiuqing; Wen, Weijia

    2009-09-01

    Microfluidics, especially droplet microfluidics, attracts more and more researchers from diverse fields, because it requires fewer materials and less time, produces less waste and has the potential of highly integrated and computer-controlled reaction processes for chemistry and biology. Electrorheological fluid, especially giant electrorheological fluid (GERF), which is considered as a kind of smart material, has been applied to the microfluidic systems to achieve active and precise control of fluid by electrical signal. In this review article, we will introduce recent results of microfluidic droplet manipulation, GERF and some pertinent achievements by introducing GERF into microfluidic system: digital generation, manipulation of "smart droplets" and droplet manipulation by GERF. Once it is combined with real-time detection, integrated chip with multiple functions can be realized.

  4. Manipulating cyanobacteria: Spirulina for potential CELSS diet

    Science.gov (United States)

    Tadros, Mahasin G.; Smith, Woodrow; Mbuthia, Peter; Joseph, Beverly

    1989-01-01

    Spirulina sp. as a bioregenerative photosynthetic and an edible alga for spacecraft crew in a CELSS, was characterized for the biomass yield in batch cultures, under various environmental conditions. The partitioning of the assimalitory products (proteins, carbohydrates, lipids) were manipulated by varying the environmental growth conditions. Experiments with Spirulina have shown that under stress conditions (i.e., high light 160 uE/sq m/s, temperature 38 C, nitrogen or phosphate limitation; 0.1 M sodium chloride) carbohydrates increased at the expense of proteins. In other experiments, where the growth media were sufficient in nutrients and incubated under optimum growth conditions, the total of the algal could be manipulated by growth conditions. These results support the feasibility of considering Spirulina as a subsystem in CELSS because of the ease with which its nutrient content can be manipulated.

  5. Final Report

    Energy Technology Data Exchange (ETDEWEB)

    David W. Mazyck; Angela Lindner; CY Wu, Rick Sheahan, Ashok Jain

    2007-06-30

    Forest products provide essential resources for human civilization, including energy and materials. In processing forest products, however, unwanted byproducts, such as volatile organic compounds (VOCs) and hazardous air pollutants (HAPs) are generated. The goal of this study was to develop a cost effective and reliable air pollution control system to reduce VOC and HAP emissions from pulp, paper and paperboard mills and solid wood product facilities. Specifically, this work focused on the removal of VOCs and HAPs from high volume low concentration (HVLC) gases, particularly methanol since it is the largest HAP constituent in these gases. Three technologies were developed and tested at the bench-scale: (1) A novel composite material of activated carbon coated with a photocatalyst titanium dioxide (TiO{sub 2}) (referred to as TiO{sub 2}-coated activated carbon or TiO{sub 2}/AC), (2) a novel silica gel impregnated with nanosized TiO{sub 2} (referred to as silica-titania composites or STC), and (3) biofiltration. A pilot-scale reactor was also fabricated and tested for methanol removal using the TiO{sub 2}/AC and STC. The technical feasibility of removing methanol with TiO{sub 2}/AC was studied using a composite synthesized via a spay desiccation method. The removal of methanol consists of two consecutive operation steps: removal of methanol using fixed-bed activated carbon adsorption and regeneration of spent activated carbon using in-situ photocatalytic oxidation. Regeneration using photocatalytic oxidation employed irradiation of the TiO{sub 2} catalyst with low-energy ultraviolet (UV) light. Results of this technical feasibility study showed that photocatalytic oxidation can be used to regenerate a spent TiO{sub 2}/AC adsorbent. A TiO{sub 2}/AC adsorbent was then developed using a dry impregnation method, which performed better than the TiO{sub 2}/AC synthesized using the spray desiccation method. The enhanced performance was likely a result of the better

  6. Final Report

    Energy Technology Data Exchange (ETDEWEB)

    David W. Mazyck; Angela Lindner; CY Wu, Rick Sheahan, Ashok Jain

    2007-06-30

    Forest products provide essential resources for human civilization, including energy and materials. In processing forest products, however, unwanted byproducts, such as volatile organic compounds (VOCs) and hazardous air pollutants (HAPs) are generated. The goal of this study was to develop a cost effective and reliable air pollution control system to reduce VOC and HAP emissions from pulp, paper and paperboard mills and solid wood product facilities. Specifically, this work focused on the removal of VOCs and HAPs from high volume low concentration (HVLC) gases, particularly methanol since it is the largest HAP constituent in these gases. Three technologies were developed and tested at the bench-scale: (1) A novel composite material of activated carbon coated with a photocatalyst titanium dioxide (TiO{sub 2}) (referred to as TiO{sub 2}-coated activated carbon or TiO{sub 2}/AC), (2) a novel silica gel impregnated with nanosized TiO{sub 2} (referred to as silica-titania composites or STC), and (3) biofiltration. A pilot-scale reactor was also fabricated and tested for methanol removal using the TiO{sub 2}/AC and STC. The technical feasibility of removing methanol with TiO{sub 2}/AC was studied using a composite synthesized via a spay desiccation method. The removal of methanol consists of two consecutive operation steps: removal of methanol using fixed-bed activated carbon adsorption and regeneration of spent activated carbon using in-situ photocatalytic oxidation. Regeneration using photocatalytic oxidation employed irradiation of the TiO{sub 2} catalyst with low-energy ultraviolet (UV) light. Results of this technical feasibility study showed that photocatalytic oxidation can be used to regenerate a spent TiO{sub 2}/AC adsorbent. A TiO{sub 2}/AC adsorbent was then developed using a dry impregnation method, which performed better than the TiO{sub 2}/AC synthesized using the spray desiccation method. The enhanced performance was likely a result of the better

  7. Online Learning of Industrial Manipulators' Dynamics Models

    DEFF Research Database (Denmark)

    Polydoros, Athanasios

    2017-01-01

    The robotics industry has introduced light-weight compliant manipulators to increase the safety during human-robot interaction. This characteristic is achieved by replacing the stiff actuators of the traditional robots with compliant ones which creates challenges in the analytical derivation...... of the dynamics models. Those mainly derive from physics-based methods and thus they are based on physical properties which are hard to be calculated.  In this thesis, is presented, a novel online machine learning approach  which is able to model both inverse and forward dynamics models of industrial manipulators...

  8. On manipulator control by exact linearization

    Science.gov (United States)

    Kreutz, Kenneth

    1989-01-01

    Comments are given on the application to rigid-link manipulators of geometric control theory, resolved acceleration control, operational space control, and nonlinear decoupling theory, and the essential unity of these techniques for externally linearizing and decoupling end-effector dynamics is discussed. Exploiting the fact that the mass matrix of a rigid-link manipulator is positive definite, and the fact that there is an independent input for each degree of freedom, it is shown that a necessary and sufficient condition for a locally externally linearizing and output decoupling feedback law to exist is that the end effector Jacobian matrix be nonsingular.

  9. Reconfigurable metamaterials for terahertz wave manipulation

    Science.gov (United States)

    Hashemi, Mohammed R.; Cakmakyapan, Semih; Jarrahi, Mona

    2017-09-01

    Reconfigurable metamaterials have emerged as promising platforms for manipulating the spectral and spatial properties of terahertz waves without being limited by the characteristics of naturally existing materials. Here, we present a comprehensive overview of various types of reconfigurable metamaterials that are utilized to manipulate the intensity, phase, polarization, and propagation direction of terahertz waves. We discuss various reconfiguration mechanisms based on optical, electrical, thermal, and mechanical stimuli while using semiconductors, superconductors, phase-change materials, graphene, and electromechanical structures. The advantages and disadvantages of different reconfigurable metamaterial designs in terms of modulation efficiency, modulation bandwidth, modulation speed, and system complexity are discussed in detail.

  10. Dhyana-thumb-pus hing Manipulation

    Institute of Scientific and Technical Information of China (English)

    SHEN Guo-quan; CUI Xue-jun

    2003-01-01

    @@ The dhyana-thumb-pushing manipulation is the chief one inthe Dhyana Thumb Tuina School; it's also a characteristic manipulation and plays an important role in the TCM Tuina teaching and clinical treatment. The name came from Jingdechuanzhonglu() and was used in the Chan sect of Buddhism. According to the book, in Song Dynansty, Judi Buddhist Monk asked Tianlong Buddhist Monk for the dhyana. Tianlong erected a finger but said nothing, Judi deeply comprehended the dhyana. Later on, if someone asked him for the Buddhism doctrine, he did the same act. Before Judi died, he said: "I accepted a thumb Dhyana from Tianlong and benefited from it all my life."

  11. The Ethics/ Skills Interface in Image Manipulation

    Directory of Open Access Journals (Sweden)

    Jenny Webber

    2000-05-01

    Full Text Available Image manipulation using computer technology has become a basic skill required in various graphics dependent industries such as advertising, and the print and electronic media, and for specialist use in institutions for in-house and on-line publishing and the creation of Web pages. The 'seamless' alteration of photographs and other visual images made possible by computer technology has allowed misrepresentation with intent to deceive, and difficulty in establishing copyright of original images. The dilemma in teaching techniques of image manipulation is to create a basis for ethical practice HCI in this paper refers to the ethics/skills interface in the education and work of multimedia practitioners.

  12. Complementary Skyrmion Racetrack Memory With Voltage Manipulation

    Science.gov (United States)

    Kang, Wang; Zheng, Chentian; Huang, Yangqi; Zhang, Xichao; Zhou, Yan; Lv, Weifeng; Zhao, Weisheng

    2016-07-01

    Magnetic skyrmion holds promise as information carriers in the next-generation memory and logic devices, owing to the topological stability, small size and extremely low current needed to drive it. One of the most potential applications of skyrmion is to design racetrack memory (RM), named Sk-RM, instead of utilizing domain wall (DW). However, current studies face some key design challenges, e.g., skyrmion manipulation, data representation and synchronization etc. To address these challenges, we propose here a complementary Sk-RM structure with voltage manipulation. Functionality and performance of the proposed design are investigated with micromagnetic simulations.

  13. Textual Manipulation for SQL Injection Attacks

    Directory of Open Access Journals (Sweden)

    Hussein AlNabulsi

    2013-11-01

    Full Text Available SQL injection attacks try to use string or text manipulations to access illegally websites and their databases. This is since using some symbols or characters in SQL statements may trick the authentication system to incorrectly allow such SQL statements to be processed or executed. In this paper, we highlighted several examples of such text manipulations that can be successfully used in SQL injection attacks. We evaluated the usage of those strings on several websites and web pages using SNORT open source. We also conducted an extensive comparison study of some relevant papers.

  14. Flexible robotics applications to multiscale manipulations

    CERN Document Server

    Grossard , Mathieu; Regnier, Stephane

    2013-01-01

    The objective of this book is to provide those interested in the field of flexible robotics with an overview of several scientific and technological advances in the practical field of robotic manipulation. The different chapters examine various stages that involve a number of robotic devices, particularly those designed for manipulation tasks characterized by mechanical flexibility. Chapter 1 deals with the general context surrounding the design of functionally integrated microgripping systems. Chapter 2 focuses on the dual notations of modal commandability and observability, which play a sig

  15. Concurrent Manipulation of Expanded AVL Trees

    Institute of Scientific and Technical Information of China (English)

    章寅; 许卓群

    1998-01-01

    The concurrent manipulation of an expanded AVL tree(EAVL tree)s considered in this paper.The presented system can support any number of concurrent processes which perform searching,insertion and deletion on the tree.Simulation results indicate the high performance of the system.Elaborate techniques are used to achieve such a system unavailable based on any known algorithms.Methods developed in this paper may provide new insights into other problems in the area of concurrent search structure manipulation.

  16. Electronics reliability calculation and design

    CERN Document Server

    Dummer, Geoffrey W A; Hiller, N

    1966-01-01

    Electronics Reliability-Calculation and Design provides an introduction to the fundamental concepts of reliability. The increasing complexity of electronic equipment has made problems in designing and manufacturing a reliable product more and more difficult. Specific techniques have been developed that enable designers to integrate reliability into their products, and reliability has become a science in its own right. The book begins with a discussion of basic mathematical and statistical concepts, including arithmetic mean, frequency distribution, median and mode, scatter or dispersion of mea

  17. Effects of Tools Inserted through Snake-like Surgical Manipulators

    OpenAIRE

    Murphy, Ryan J.; Otake, Yoshito; Wolfe, Kevin C.; TAYLOR, RUSSELL H.; Armand, Mehran

    2014-01-01

    Snake-like manipulators with a large, open lumen can offer improved treatment alternatives for minimally- and less-invasive surgeries. In these procedures, surgeons use the manipulator to introduce and control flexible tools in the surgical environment. This paper describes a predictive algorithm for estimating manipulator configuration given tip position for nonconstant curvature, cable-driven manipulators using energy minimization. During experimental bending of the manipulator with and wit...

  18. Is manipulative therapy more effective than sham manipulation in adults?: A systematic review and meta-analysis

    NARCIS (Netherlands)

    G.G.M. Scholten-Peeters (Gwendolijne); E.J. Thoomes (Erik); S. Konings (Sophie); M. Beijer (Michelle); K. Verkerk (Karin); B.W. Koes (Bart); A.P. Verhagen (Arianne)

    2013-01-01

    textabstractBackground: Manipulative therapy is widely used in the treatment of spinal disorders. Manipulative techniques are under debate because of the possibility of adverse events. To date, the efficacy of manipulations compared to sham manipulations is unclear. The purpose of the study is: to a

  19. Hybrid reliability model for fatigue reliability analysis of steel bridges

    Institute of Scientific and Technical Information of China (English)

    曹珊珊; 雷俊卿

    2016-01-01

    A kind of hybrid reliability model is presented to solve the fatigue reliability problems of steel bridges. The cumulative damage model is one kind of the models used in fatigue reliability analysis. The parameter characteristics of the model can be described as probabilistic and interval. The two-stage hybrid reliability model is given with a theoretical foundation and a solving algorithm to solve the hybrid reliability problems. The theoretical foundation is established by the consistency relationships of interval reliability model and probability reliability model with normally distributed variables in theory. The solving process is combined with the definition of interval reliability index and the probabilistic algorithm. With the consideration of the parameter characteristics of theS−N curve, the cumulative damage model with hybrid variables is given based on the standards from different countries. Lastly, a case of steel structure in the Neville Island Bridge is analyzed to verify the applicability of the hybrid reliability model in fatigue reliability analysis based on the AASHTO.

  20. Synthesis of Reliable Telecommunication Networks

    Directory of Open Access Journals (Sweden)

    Dusan Trstensky

    2005-01-01

    Full Text Available In many application, the network designer may to know to senthesise a reliable telecommunication network. Assume that a network, denoted Gm,e has the number of nodes n and the number of edges e, and the operational probability of each edge is known. The system reliability of the network is defined to be the reliability that every pair of nodes can communicate with each other. A network synthesis problem considered in this paper is to find a network G*n,e, that maximises system reliability over the class of all networks for the classes of networks Gn,n-1, Gn,m and Gn,n+1 respectively. In addition an upper bound of maximum reliability for the networks with n-node and e-edge (e>n+2 is derived in terms of node. Computational experiments for the reliability upper are also presented. the results show, that the proposed reliability upper bound is effective.

  1. Mathematical reliability an expository perspective

    CERN Document Server

    Mazzuchi, Thomas; Singpurwalla, Nozer

    2004-01-01

    In this volume consideration was given to more advanced theoretical approaches and novel applications of reliability to ensure that topics having a futuristic impact were specifically included. Topics like finance, forensics, information, and orthopedics, as well as the more traditional reliability topics were purposefully undertaken to make this collection different from the existing books in reliability. The entries have been categorized into seven parts, each emphasizing a theme that seems poised for the future development of reliability as an academic discipline with relevance. The seven parts are networks and systems; recurrent events; information and design; failure rate function and burn-in; software reliability and random environments; reliability in composites and orthopedics, and reliability in finance and forensics. Embedded within the above are some of the other currently active topics such as causality, cascading, exchangeability, expert testimony, hierarchical modeling, optimization and survival...

  2. The final cool down

    CERN Multimedia

    Thursday 29th May, the cool-down of the final sector (sector 4-5) of LHC has begun, one week after the start of the cool-down of sector 1-2. It will take five weeks for the sectors to be cooled from room temperature to 5 K and a further two weeks to complete the cool down to 1.9 K and the commissioning of cryogenic instrumentation, as well as to fine tune the cryogenic plants and the cooling loops of cryostats.Nearly a year and half has passed since sector 7-8 was cooled for the first time in January 2007. For Laurent Tavian, AT/CRG Group Leader, reaching the final phase of the cool down is an important milestone, confirming the basic design of the cryogenic system and the ability to operate complete sectors. “All the sectors have to operate at the same time otherwise we cannot inject the beam into the machine. The stability and reliability of the cryogenic system and its utilities are now very important. That will be the new challenge for the coming months,” he explains. The status of the cool down of ...

  3. Reliability block diagrams to model disease management.

    Science.gov (United States)

    Sonnenberg, A; Inadomi, J M; Bauerfeind, P

    1999-01-01

    Studies of diagnostic or therapeutic procedures in the management of any given disease tend to focus on one particular aspect of the disease and ignore the interaction between the multitude of factors that determine its final outcome. The present article introduces a mathematical model that accounts for the joint contribution of various medical and non-medical components to the overall disease outcome. A reliability block diagram is used to model patient compliance, endoscopic screening, and surgical therapy for dysplasia in Barrett's esophagus. The overall probability of a patient with a Barrett's esophagus to comply with a screening program, be correctly diagnosed with dysplasia, and undergo successful therapy is 37%. The reduction in the overall success rate, despite the fact that the majority of components are assumed to function with reliability rates of 80% or more, is a reflection of the multitude of serial subsystems involved in disease management. Each serial component influences the overall success rate in a linear fashion. Building multiple parallel pathways into the screening program raises its overall success rate to 91%. Parallel arrangements render systems less sensitive to diagnostic or therapeutic failures. A reliability block diagram provides the means to model the contributions of many heterogeneous factors to disease outcome. Since no medical system functions perfectly, redundancy provided by parallel subsystems assures a greater overall reliability.

  4. Transformation optics beyond the manipulation of light trajectories.

    Science.gov (United States)

    Ginis, Vincent; Tassin, Philippe

    2015-08-28

    Since its inception in 2006, transformation optics has become an established tool to understand and design electromagnetic systems. It provides a geometrical perspective into the properties of light waves without the need for a ray approximation. Most studies have focused on modifying the trajectories of light rays, e.g. beam benders, lenses, invisibility cloaks, etc. In this contribution, we explore transformation optics beyond the manipulation of light trajectories. With a few well-chosen examples, we demonstrate that transformation optics can be used to manipulate electromagnetic fields up to an unprecedented level. In the first example, we introduce an electromagnetic cavity that allows for deep subwavelength confinement of light. The cavity is designed with transformation optics even though the concept of trajectory ceases to have any meaning in a structure as small as this cavity. In the second example, we show that the properties of Cherenkov light emitted in a transformation-optical material can be understood and modified from simple geometric considerations. Finally, we show that optical forces--a quadratic function of the fields--follow the rules of transformation optics too. By applying a folded coordinate transformation to a pair of waveguides, optical forces can be enhanced just as if the waveguides were closer together. With these examples, we open up an entirely new spectrum of devices that can be conceived using transformation optics.

  5. Robust adaptive backstepping control for piezoelectric nano-manipulating systems

    Science.gov (United States)

    Zhang, Yangming; Yan, Peng; Zhang, Zhen

    2017-01-01

    In this paper we present a systematic modeling and control approach for nano-manipulations of a two-dimensional PZT (piezoelectric transducer) actuated servo stage. The major control challenges associated with piezoelectric nano-manipulators typically include the nonlinear dynamics of hysteresis, model uncertainties, and various disturbances. The adverse effects of these complications will result in significant performance loss, unless effectively eliminated. The primary goal of the paper is on the ultra high precision control of such systems by handling various model uncertainties and disturbances simultaneously. To this end, a novel robust adaptive backstepping-like control approach is developed such that parametric uncertainties can be estimated adaptively while the nonlinear dynamics and external disturbances are treated as bounded disturbances for robust elimination. Meanwhile, the L2-gain of the closed-loop system is considered, and an H∞ optimization problem is formulated to improve the tracking accuracy. Numerical simulations and real time experiments are finally conducted, which significantly outperform conventional PID methods and achieve around 1% tracking error for circular contouring tasks.

  6. Coherent manipulation of single quantum systems in the solid state

    Science.gov (United States)

    Childress, Lilian Isabel

    2007-12-01

    The controlled, coherent manipulation of quantum-mechanical systems is an important challenge in modern science and engineering, with significant applications in quantum information science. Solid-state quantum systems such as electronic spins, nuclear spins, and superconducting islands are among the most promising candidates for realization of quantum bits (qubits). However, in contrast to isolated atomic systems, these solid-state qubits couple to a complex environment which often results in rapid loss of coherence, and, in general, is difficult to understand. Additionally, the strong interactions which make solid-state quantum systems attractive can typically only occur between neighboring systems, leading to difficulties in coupling arbitrary pairs of quantum bits. This thesis presents experimental progress in understanding and controlling the complex environment of a solid-state quantum bit, and theoretical techniques for extending the distance over which certain quantum bits can interact coherently. Coherent manipulation of an individual electron spin associated with a nitrogen-vacancy center in diamond is used to gain insight into its mesoscopic environment. Furthermore, techniques for exploiting coherent interactions between the electron spin and a subset of the environment are developed and demonstrated, leading to controlled interactions with single isolated nuclear spins. The quantum register thus formed by a coupled electron and nuclear spin provides the basis for a theoretical proposal for fault-tolerant long-distance quantum communication with minimal physical resource requirements. Finally, we consider a mechanism for long-distance coupling between quantum dots based on chip-scale cavity quantum electrodynamics.

  7. Money, Manipulation and Misunderstanding on Manus Island

    DEFF Research Database (Denmark)

    Wallis, Joanne; Dalsgaard, Steffen

    2016-01-01

    Island, on domestic affairs in PNG, and on the relationship between PNG and Australia. Overall, it concludes that the costs arising from the money, manipulation and misunderstanding generated by the centre seem likely to outweigh the purported benefits, particularly for Manusians and other ordinary Papua...

  8. Microbial manipulation of host sex determination

    NARCIS (Netherlands)

    Beukeboom, Leo W.

    A recent study in the lepidopteran Ostrinia scapulalis shows that endosymbionts can actively manipulate the sex determination mechanism of their host. Wolbachia bacteria alter the sex-specific splicing of the doublesex master switch gene. In ZZ males of this female heterogametic system, the female

  9. Features of accounts manipulations in Croatia

    Directory of Open Access Journals (Sweden)

    Željana Aljinović Barać

    2006-12-01

    Full Text Available Investors and other users of financial statements seek for the information that is less likely to be affected by possibilities of financial number games. Accounts manipulations have become an issue of critical importance in today’s capital markets and have been subject of many researches in several countries. However, their featuresin Croatia are still quite unexplored.In this paper a survey was made with auditors about most frequent areas of accounts manipulations in Croatia. The questionnaire was sent to 274 auditors, but only 54 of them filled it out correctly and return it back. After that, obtained results were compared with archival data extracted from auditor reports published in abbreviateprospects of listing public companies. Prospects of 238 companies listing on the Zagreb Stock Exchange and Varaždin Stock Exchange were reviewed, but only 136 or 57.14% of them provided all data necessary for the analysis.The evidence shows that accounting manipulations are very common praxis in Croatia, especially in area of depreciation policy, write-off of accounts receivable, asset impairments and long-term investments in financial instruments. Beside above mentioned items, auditors pointed out taxes, inventories, revenues, provisions and revalorization as very frequent areas of accounts manipulations

  10. Topics in Semantics-based Program Manipulation

    DEFF Research Database (Denmark)

    Grobauer, Bernt

    Programming is at least as much about manipulating existing code as it is about writing new code. Existing code is modified, for example to make inefficient code run faster, or to accommodate for new features when reusing code; existing code is analyzed, for example to verify certain program prop...

  11. Constraint solving for direct manipulation of features

    NARCIS (Netherlands)

    Lourenco, D.; Oliveira, P.; Noort, A.; Bidarra, R.

    2006-01-01

    In current commercial feature modeling systems, support for direct manipulation of features is not commonly available. This is partly due to the strong reliance of such systems on constraints, but also to the lack of speed of current constraint solvers. In this paper, an approach to the optimization

  12. Interaction Force Estimation During Manipulation of Microparticles

    NARCIS (Netherlands)

    Khalil, I.S.M.; Metz, R.M.P.; Abelmann, L.; Misra, S.

    2012-01-01

    This work investigates the utilization of microparticles for the wireless sensing of interaction forces in magneticbased manipulation systems. The proposed force estimation approach allows for using microparticles in sensing the interaction forces at hard-to-reach regions to avoid the mechanical and

  13. Using Concrete Manipulatives in Mathematical Instruction

    Science.gov (United States)

    Jones, Julie P.; Tiller, Margaret

    2017-01-01

    Concrete, Representational, Abstract (CRA) instruction is a process for teaching and learning mathematical concepts. Starting with manipulation of concrete materials (counters, beans, Unifix cubes), the process moves students to the representational level (tallies, dots, stamps), and peaks at the abstract level, at which numbers and symbols are…

  14. Ideas on Manipulative Math for Young Children.

    Science.gov (United States)

    Murray, Anne

    2001-01-01

    Presents a case study of one kindergarten class in which the mathematics center is the popular area in the room. Focuses on how math is best understood if activities follow the five-C formula: collaborative, concrete, comprehensive, connecting, and cavorting. Describes how children used manipulatives to construct mathematics concepts…

  15. Nano Robotic Manipulation inside Electron Microscopes

    Science.gov (United States)

    Fukuda, Toshio; Nakajima, Masahiro; Liu, Pou

    We report nanomanipulation and nanoassembly through nanorobotic manipulation inside electron microscopes. A hybrid nanorobotic manipulation system, which is integrated with a nanorobotic manipulator inside a transmission electron microscope (TEM) and nanorobotic manipulators inside a scanning electron microscope (SEM), is used. The elasticity of a multi-walled CNT (MWNT) is measured inside a TEM. The telescoping MWNT is fabricated by peeling off outer layers through destructive fabrication process. The electrostatic actuation of telescoping MWNT is directly observed by a TEM. A cutting technique for CNTs assisted by the presence of oxygen gas is also presented. The cutting procedure was conducted in less than 1 minute using a low-energy electron beam inside a scanning electron microscope. A bending technique of a CNT assisted by the presence of oxygen gas is also applied for the 3-D fabrication of nanosturucture. We expect that these techniques will be applied for the rapid prototyping nanoassembly of various CNT nanodevices. For the nano-biological applications, environmental-SEM (E-SEM) nanomanipulation system is also presented with the direct observation of the hydroscopic samples with non-drying treatment.

  16. Mechanical Analysis of high precision manipulator

    Directory of Open Access Journals (Sweden)

    O.J. Elle

    1995-10-01

    Full Text Available It is of great importance that high precision manipulators are well designed from a mechanical point of view. A thorough analysis of all mechanical aspects concerning an accurate manipulator will make a good basis for further design. This paper presents a new approach to mechanical analysis of high-precision manipulators. A typical six axis anthropomorphic manipulator configuration is chosen as a model for the analysis. The paper is divided into two main parts; static deformation analysis and dynamic analysis. The static deformation analysis consists of three sub-parts; link deformation, joint deformation and total mechanical deformation. A simple fixed beam deformation model is used to simulate every link. Both specific gravity and a load attached at the end of the beam is considered. By varying material, outer dimensions and wall thickness it is possible to determine optimal values. Looking at the whole structure with an attacking force at the end, it is possible to select appropriate motor/transmission combinations. Each combination represents compliance and combined with the arm compliance the total deformation can be found. The result shows that deformation due to compliance in the joints represents 97

  17. Nanoresonator based dielectric surfaces for light manipulation

    NARCIS (Netherlands)

    Silvestri, F.; Pisano, E.; Gerini, G.; Lancellotti, V.; Galdi, V.

    2015-01-01

    In the last years, increasing interest has grown on the synthesis of light-weight, miniaturized surfaces for light manipulation based on metamaterials. These surfaces can be easily integrated in photonic systems and they can be used as high numerical aperture lenses, light-deflection surfaces and

  18. Opto-electrokinetic manipulation technique for highperformance

    Energy Technology Data Exchange (ETDEWEB)

    Kwon, Jae-Sung [Purdue University; Ravindranath, Sandeep [Purdue University; Kumar, Aloke [ORNL; Irudayaraj, Joseph [Purdue University; Wereley, Steven T. [Purdue University

    2012-01-01

    This communication first demonstrates bio-compatibility of a recently developed opto-electrokinetic manipulation technique, using microorganisms. Aggregation, patterning, translation, trapping and size-based separation of microorganisms performed with the technique firmly establishes its usefulness for development of a high-performance on-chip bioassay system.

  19. Impedance Control of a Redundant Parallel Manipulator

    DEFF Research Database (Denmark)

    Méndez, Juan de Dios Flores; Schiøler, Henrik; Madsen, Ole

    2017-01-01

    This paper presents the design of Impedance Control to a redundantly actuated Parallel Kinematic Manipulator. The proposed control is based on treating each limb as a single system and their connection through the internal interaction forces. The controller introduces a stiffness and damping matr...

  20. Is Computational Complexity a Barrier to Manipulation?

    CERN Document Server

    Walsh, Toby

    2010-01-01

    When agents are acting together, they may need a simple mechanism to decide on joint actions. One possibility is to have the agents express their preferences in the form of a ballot and use a voting rule to decide the winning action(s). Unfortunately, agents may try to manipulate such an election by misreporting their preferences. Fortunately, it has been shown that it is NP-hard to compute how to manipulate a number of different voting rules. However, NP-hardness only bounds the worst-case complexity. Recent theoretical results suggest that manipulation may often be easy in practice. To address this issue, I suggest studying empirically if computational complexity is in practice a barrier to manipulation. The basic tool used in my investigations is the identification of computational "phase transitions". Such an approach has been fruitful in identifying hard instances of propositional satisfiability and other NP-hard problems. I show that phase transition behaviour gives insight into the hardness of manipula...

  1. Automatic camera tracking for remote manipulators

    Energy Technology Data Exchange (ETDEWEB)

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

    1984-04-01

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

  2. Dynamic nonprehensile manipulation: Controllability, planning, and experiments

    Energy Technology Data Exchange (ETDEWEB)

    Lynch, K.M. [Northwestern Univ., Evanston, IL (United States). Dept. of Mechanical Engineering; Mason, M.T. [Carnegie Mellon Univ., Pittsburgh, PA (United States). Robotics Inst.

    1999-01-01

    The authors are interested in using low-degree-of-freedom robots to perform complex tasks by nonprehensile manipulation (manipulation without a form- or force-closure grasp). By not grasping, the robot can use gravitational, centrifugal, and Coriolis forces as virtual motors to control more degrees of freedom of the part. The part`s extra motion freedoms are exhibited as rolling, slipping, and free flight. This paper describes controllability, motion planning, and implementation of planar dynamic nonprehensile manipulation. The authors show that almost any planar object is controllable by point contact, and the controlling robot requires only two degrees of freedom (a point translating in the plane). They then focus on a one-joint manipulator (with a two-dimensional state space), and show that even this simplest of robots, by using slipping and rolling, can control a planar object to a full-dimensional subset of its six-0dimensional state space. The authors have developed a one-joint robot to perform a variety of dynamic tasks, including snatching an object from a table, rolling an object on the surface of the arm, and throwing and catching. Nonlinear optimization is used to plan robot trajectories that achieve the desired object motion via coupling forces through the nonprehensile contact.

  3. Microbial manipulation of host sex determination

    NARCIS (Netherlands)

    Beukeboom, Leo W.

    2012-01-01

    A recent study in the lepidopteran Ostrinia scapulalis shows that endosymbionts can actively manipulate the sex determination mechanism of their host. Wolbachia bacteria alter the sex-specific splicing of the doublesex master switch gene. In ZZ males of this female heterogametic system, the female i

  4. Multimodal Electrothermal Silicon Microgrippers for Nanotube Manipulation

    DEFF Research Database (Denmark)

    Nordström Andersen, Karin; Petersen, Dirch Hjorth; Carlson, Kenneth

    2009-01-01

    Microgrippers that are able to manipulate nanoobjects reproducibly are key components in 3-D nanomanipulation systems. We present here a monolithic electrothermal microgripper prepared by silicon microfabrication, and demonstrate pick-and-place of an as-grown carbon nanotube from a 2-D array onto...

  5. Redefining trade-based market manipulation

    NARCIS (Netherlands)

    Nelemans, Matthijs

    2008-01-01

    Trade-based market manipulation, which is usually described as trading shares to initiate a price change or to cause an artificial price, has received wide attention in policy and academic discussions, although the behavior is still poorly defined in both legal and economic literature. This Article

  6. End-Point Control of Flexible Manipulators.

    Science.gov (United States)

    1986-09-01

    to develop a universal robot end effector, capable of performing generic manipulation functions. This research focuses on the following advances toward...Tncrease the speed and precision of performing "slew arid touch" tasks by a flexible robot arri and second, to develop a universal robot end effector

  7. Nonholonomic Motion Planning Strategy for Underactuated Manipulator

    Directory of Open Access Journals (Sweden)

    Liang Li

    2014-01-01

    Full Text Available This paper develops nonholonomic motion planning strategy for three-joint underactuated manipulator, which uses only two actuators and can be converted into chained form. Since the manipulator was designed focusing on the control simplicity, there are several issues for motion planning, mainly including transformation singularity, path estimation, and trajectory robustness in the presence of initial errors, which need to be considered. Although many existing motion planning control laws for chained form system can be directly applied to the manipulator and steer it to desired configuration, coordinate transformation singularities often happen. We propose two mathematical techniques to avoid the transformation singularities. Then, two evaluation indicators are defined and used to estimate control precision and linear approximation capability. In the end, the initial error sensitivity matrix is introduced to describe the interference sensitivity, which is called robustness. The simulation and experimental results show that an efficient and robust resultant path of three-joint underactuated manipulator can be successfully obtained by use of the motion planning strategy we presented.

  8. A spatial impedance controller for robotic manipulation

    NARCIS (Netherlands)

    Fasse, Ernest D.; Broenink, Jan F.

    1997-01-01

    Mechanical impedance is the dynamic generalization of stiffness, and determines interactive behavior by definition. Although the argument for explicitly controlling impedance is strong, impedance control has had only a modest impact on robotic manipulator control practice. This is due in part to the

  9. Text Manipulation Judgment Accuracy: An Exploratory Study

    Science.gov (United States)

    2003-03-25

    reduce, or divert attention from information. Eckman (1985) argues that concealments alone may be used to deceive; however, it is often the case...this study focuses on distortion of existing information, and in agreement with Eckman , some original portions of the information were replaced or...13 Information Manipulation Theory The English language philosopher Paul Grice (1975) proposes that in ordinary conversation, speakers and

  10. Motion planning for gantry mounted manipulators

    DEFF Research Database (Denmark)

    Olsen, Anders Lau; Petersen, Henrik Gordon

    2007-01-01

    We present a roadmap based planner for finding robot motions for gantry mounted manipulators for a line welding application at Odense Steel Shipyard (OSS). The robot motions are planned subject to constraints on when the gantry may be moved. We show that random sampling of gantry configurations...

  11. Manipulation of molecular structures with magnetic fields

    NARCIS (Netherlands)

    Boamfa, M.I.

    2003-01-01

    The present thesis deals with the use of magnetic fields as a handle to manipulate matter at a molecular level and as a tool to probe molecular properties or inter molecular interactions. The work consists of in situ optical studies of (polymer) liquid crystals and molecular aggregates in high magne

  12. Manipulation of enteric flora in ulcerative colitis

    Institute of Scientific and Technical Information of China (English)

    Mario Guslandi

    2005-01-01

    @@ TO THE EDITOR Reviewing the available therapeutic options in the medical treatment of ulcerative colitis, Xu et al.[1], have omitted to mention an important aspect in the pharmacological management of the disease, namely the possibility to promote clinical and endoscopic improvement by manipulating the enteric flora.

  13. Identity and incentives: impact on accounting manipulation

    NARCIS (Netherlands)

    Abernethy, M.A.; Bouwens, J.; Kroos, P.

    2012-01-01

    This study examines how individual characteristics of managers influence the incidence of accounting manipulation. We examine one particular characteristic argued to reduce agency costs, namely the extent to which an individual identifies with the firm (OI). Drawing on a database collected from fina

  14. Flexible manipulator control experiments and analysis

    Science.gov (United States)

    Yurkovich, S.; Ozguner, U.; Tzes, A.; Kotnik, P. T.

    1987-01-01

    Modeling and control design for flexible manipulators, both from an experimental and analytical viewpoint, are described. From the application perspective, an ongoing effort within the laboratory environment at the Ohio State University, where experimentation on a single link flexible arm is underway is described. Several unique features of this study are described here. First, the manipulator arm is slewed by a direct drive dc motor and has a rigid counterbalance appendage. Current experimentation is from two viewpoints: (1) rigid body slewing and vibration control via actuation with the hub motor, and (2) vibration suppression through the use of structure-mounted proof-mass actuation at the tip. Such an application to manipulator control is of interest particularly in design of space-based telerobotic control systems, but has received little attention to date. From an analytical viewpoint, parameter estimation techniques within the closed-loop for self-tuning adaptive control approaches are discussed. Also introduced is a control approach based on output feedback and frequency weighting to counteract effects of spillover in reduced-order model design. A model of the flexible manipulator based on experimental measurements is evaluated for such estimation and control approaches.

  15. Redefining trade-based market manipulation

    NARCIS (Netherlands)

    Nelemans, Matthijs

    2008-01-01

    Trade-based market manipulation, which is usually described as trading shares to initiate a price change or to cause an artificial price, has received wide attention in policy and academic discussions, although the behavior is still poorly defined in both legal and economic literature. This Article

  16. Perception and manipulation of game control

    NARCIS (Netherlands)

    Plass - Oude Bos, D.; van de Laar, B.L.A.; Reuderink, B.; Poel, Mannes; Nijholt, Antinus; Reidsma, Dennis; Choi, Insook; Bargar, Robin

    Brain-computer interfaces do not provide perfect recognition of user input, for similar reasons as natural input modalities. How well can users assess the amount of control they have, and how much control do they need? We describe an experiment where we manipulated the control users had in a

  17. Interaction Force Estimation During Manipulation of Microparticles

    NARCIS (Netherlands)

    Khalil, I.S.M.; Metz, R.M.P.; Abelmann, Leon; Misra, Sarthak

    2012-01-01

    This work investigates the utilization of microparticles for the wireless sensing of interaction forces in magneticbased manipulation systems. The proposed force estimation approach allows for using microparticles in sensing the interaction forces at hard-to-reach regions to avoid the mechanical and

  18. Is quantitative electromyography reliable?

    Science.gov (United States)

    Cecere, F; Ruf, S; Pancherz, H

    1996-01-01

    The reliability of quantitative electromyography (EMG) of the masticatory muscles was investigated in 14 subjects without any signs or symptoms of temporomandibular disorders. Integrated EMG activity from the anterior temporalis and masseter muscles was recorded bilaterally by means of bipolar surface electrodes during chewing and biting activities. In the first experiment, the influence of electrode relocation was investigated. No influence of electrode relocation on the recorded EMG signal could be detected. In a second experiment, three sessions of EMG recordings during five different chewing and biting activities were performed in the morning (I); 1 hour later without intermediate removal of the electrodes (II); and in the afternoon, using new electrodes (III). The method errors for different time intervals (I-II and I-III errors) for each muscle and each function were calculated. Depending on the time interval between the EMG recordings, the muscles considered, and the function performed, the individual errors ranged from 5% to 63%. The method error increased significantly (P masseter (mean 27.2%) was higher than for the temporalis (mean 20.0%). The largest function error was found during maximal biting in intercuspal position (mean 23.1%). Based on the findings, quantitative electromyography of the masticatory muscles seems to have a limited value in diagnostics and in the evaluation of individual treatment results.

  19. System Reliability for Offshore Wind Turbines

    DEFF Research Database (Denmark)

    Marquez-Dominguez, Sergio; Sørensen, John Dalsgaard

    2013-01-01

    are considered for reliability verification according to international design standards of OWTs. System effects become important for each substructure with many potential fatigue hot spots. Therefore, in this paper a framework for system effects is presented. This information can be e.g. no detection of cracks......E). In consequence, a rational treatment of uncertainties is done in order to assess the reliability of critical details in OWTs. Limit state equations are formulated for fatigue critical details which are not influenced by wake effects generated in offshore wind farms. Furthermore, typical bi-linear S-N curves...... in inspections or measurements from condition monitoring systems. Finally, an example is established to illustrate the practical application of this framework for jacket type wind turbine substructure considering system effects....

  20. Overcoming some limitations of imprecise reliability models

    DEFF Research Database (Denmark)

    Kozine, Igor; Krymsky, Victor

    2011-01-01

    The application of imprecise reliability models is often hindered by the rapid growth in imprecision that occurs when many components constitute a system and by the fact that time to failure is bounded from above. The latter results in the necessity to explicitly introduce an upper bound on time...... to failure which is in reality a rather arbitrary value. The practical meaning of the models of this kind is brought to question. We suggest an approach that overcomes the issue of having to impose an upper bound on time to failure and makes the calculated lower and upper reliability measures more precise....... The main assumption consists in that failure rate is bounded. Langrage method is used to solve the non-linear program. Finally, an example is provided....

  1. Structural Reliability Sensitivities under Nonstationary Random Vibrations

    Directory of Open Access Journals (Sweden)

    Rita Greco

    2013-01-01

    Full Text Available Response sensitivity evaluation is an important element in reliability evaluation and design optimization of structural systems. It has been widely studied under static and dynamic forcing conditions with deterministic input data. In this paper, structural response and reliability sensitivities are determined by means of the time domain covariance analysis in both classically and nonclassically damped linear structural systems. A time integration scheme is proposed for covariance sensitivity. A modulated, filtered, white noise input process is adopted to model the stochastic nonstationary loads. The method allows for the evaluation of sensitivity statistics of different quantities of dynamic response with respect to structural parameters. Finally, numerical examples are presented regarding a multistorey shear frame building.

  2. The evolution of teleoperated manipulators at ORNL

    Energy Technology Data Exchange (ETDEWEB)

    Kress, R.L.; Jansen, J.F.; Noakes, M.W.; Herndon, J.N.

    1996-12-31

    ORNL has made significant contributions to teleoperator and telerobotics technology for two decades and continues with an aggressive program today. Examples of past projects are: (1) the M2 servomanipulator, which was the first digitally controlled teleoperator; (2) the Advanced Servomanipulator (ASM), which was the first remotely maintainable teleoperator; (3) the CESARm/Kraft dissimilar teleoperated system; and (4) the Laboratory Telerobotic Manipulator (LTM), a 7-Degree-of-Freedom (7-DOF) telerobot built as a prototype for work in space. More recently, ORNL has become heavily involved with Environmental Restoration and Waste Management (ERWM) robotics programs funded by the Department of Energy (DOE). The ERWM program requires high payloads and high dexterity. As a result, a hydraulically actuated, dual-arm system comprised of two 6-DOF arms mounted on a 5-DOF base has been constructed and is being used today for various research tasks and for decontamination and dismantlement activities. All of these teleoperated manipulator systems build upon the experiences gained throughout the almost two decades of development. Each system incorporates not only the latest technology in computers, sensors, and electronics, but each new . system also adds at least one new feature to the technologies already developed and demonstrated in the previous system(s). As a result of this process, a serious study of these manipulator systems is a study in the evolution of teleoperated manipulator the systems in general. This provides insight not only into the research and development paths chosen in the past, but also into the appropriate directions for future teleoperator and telerobotics research. This paper examines each of the teleoperated/telerobotic systems developed at ORNL, summarizes their features and capabilities, examines the state of the most current telerobotic system (the Dual Arm Work Module), PM provides direction for a Next Generation Telerobotic Manipulator system.

  3. Interrater Reliability of Motion Palpation in the Thoracic Spine

    Directory of Open Access Journals (Sweden)

    Bruce F. Walker

    2015-01-01

    Full Text Available Introduction. Manual therapists commonly use assessments of intervertebral motion to determine the need for spinal manipulation, but the reliability of these procedures demonstrates conflicting results. The objectives of this study were to investigate the interrater reliability of thoracic spine motion palpation for perceived joint restriction and pain. Methods. Twenty-five participants between the ages of 18 and 70, with or without mid-back pain, were enrolled. Two raters motion palpated marked T5–T12 levels using two methods (standardised and pragmatic and noted any restricted or painful segments. We calculated agreement between two raters by generating raw agreement percentages and Kappa coefficients with 95% confidence intervals. Results. There was poor to low level of agreement between the raters for both joint stiffness and pain localization using both pragmatic and standardized approaches. The results did not improve significantly when we conducted a post hoc analysis where three spinal levels were collapsed as one and right and left sides were also combined. Conclusions. The results for interrater reliability were poor for motion restriction and pain. These findings may have unfavourable implications for all manual therapists who use motion palpation to select patients appropriate for spinal manipulation.

  4. Control Framework for Dexterous Manipulation Using Dynamic Visual Servoing and Tactile Sensors’ Feedback

    Directory of Open Access Journals (Sweden)

    Carlos A. Jara

    2014-01-01

    Full Text Available Tactile sensors play an important role in robotics manipulation to perform dexterous and complex tasks. This paper presents a novel control framework to perform dexterous manipulation with multi-fingered robotic hands using feedback data from tactile and visual sensors. This control framework permits the definition of new visual controllers which allow the path tracking of the object motion taking into account both the dynamics model of the robot hand and the grasping force of the fingertips under a hybrid control scheme. In addition, the proposed general method employs optimal control to obtain the desired behaviour in the joint space of the fingers based on an indicated cost function which determines how the control effort is distributed over the joints of the robotic hand. Finally, authors show experimental verifications on a real robotic manipulation system for some of the controllers derived from the control framework.

  5. COUPLING EFFECT OF FLEXIBLE JOINT AND FLEXIBLE LINK ON DYNAMIC SINGULARITY OF FLEXIBLE MANIPULATOR

    Institute of Scientific and Technical Information of China (English)

    GAO Zhihui; YUN Chao; BIAN Yushu

    2008-01-01

    The coupling effect of the flexible joint and the flexible link on the dynamic singularity of the flexible manipulator is addressed. Firstly, the dynamic equations of a flexible manipulator with a flexible joint and a flexible link are derived. Secondly, the relationship and property between the flexible joint and the flexible link are analyzed. It shows that the flexible joint's amplitude will increase abruptly, thereby the dynamic singularity occurs if the frequency of a flexible joint is near or equal to some natural frequency of a flexible link. Finally, some numerical simulations which will verify the correctness of the theoretical analysis, are carried out. The results are fundamental for the design of a flexible manipulator and for the avoidance of the dynamic singularity.

  6. López-Zepeda uterine manipulator: device description and its application in the total laparoscopic hysterectomy.

    Science.gov (United States)

    López-Zepeda, M A; Morgan, F Ortiz; Reich, Harry

    2010-04-01

    During the total laparoscopic hysterectomy (TLH) operation, small changes in the uterine and vaginal cuff position, provided by an adequate manipulator, may optimize the attack angles to the vulnerable structures involved during the procedure and facilitate their dissection. The uterine manipulators are effective because they raise the uterus when moving it from one place to another, leaving the fixing elements on tension. The Lopez-Zepeda uterine manipulator exposes all the anatomic structures involved in TLH, especially those in the vulnerable areas. It avoids dissection and mobilization of the bladder and therefore its innervation. It takes the ureter away from the risky area by 4 cm. to 5 cm. decreasing the injury risk. Finally, thanks to its anteflexion and anteversion movement, it puts the posterior culdotomy area further away from the ureter, the rectum and the sigmoid colon.

  7. Manipulating DNA repair for improved genetic engineering in Aspergillus

    DEFF Research Database (Denmark)

    Nødvig, Christina Spuur

    engineering strategies. Chapter 1 gives an introduction to the genus Aspergillus and some of the tools relevant to fungal genetic engineering. It also contains a short introduction to DNA repair and its interplay with gene targeting and finally an overview over the different genome editing technologies......Aspergillus is a genus of filamentous fungi, which members includes industrial producers of enzymes, organic acids and secondary metabolites, important pathogens and a model organism. As such no matter the specific area of interest there are many reasons to perform genetic engineering, whether...... it is metabolic engineering to create better performing cell factory, elucidating pathways to study secondary metabolism etc. In this thesis, the main focus is on different ways to manipulate DNA repair for optimizing gene targeting, ultimately improving the methods available for faster and better genetic...

  8. Atomsk: A tool for manipulating and converting atomic data files

    Science.gov (United States)

    Hirel, Pierre

    2015-12-01

    We present a libre, Open Source command-line program named Atomsk, that aims at creating and manipulating atomic systems for the purposes of ab initio calculations, classical atomistic calculations, and visualization, in the areas of computational physics and chemistry. The program can run on GNU/Linux, Apple Mac OS X, and Microsoft Windows platforms. Many file formats are supported, allowing for easy conversion of atomic configuration files. The command-line options allow to construct supercells, insert point defects (vacancies, interstitials), line defects (dislocations, cracks), plane defects (stacking faults), as well as other transformations. Several options can be applied consecutively, allowing for a comprehensive workflow from a unit cell to the final atomic system. Some modes allow to construct complex structures, or to perform specific analysis of atomic systems.

  9. Trajectory planning of mobile manipulators in constrained workspace

    Institute of Scientific and Technical Information of China (English)

    FU Yi-li; YAN Qing-hui; MA Yu-lin

    2008-01-01

    The cooperative motion planning of nonholonomic wheeled mobile manipulators (WMM) with kine-matic redundancy in the constrained workspace was studied. A trajectory planning method combining the proba-bilistie planning and the solving of inverse kinematic equations was presented. First, the probabilistie planning method was used to determine the guide configurations; then the switching objective function was defined and the path of the end-effector was constructed based on these guide configurations; finally, the inverse kinematic equations of the WMM were solved using the gradient projection method, and the obstacle avoidance trajectory for joints of the WMM was obtained. Simulation results were given to demonstrate the effectiveness of the pro-posed method.

  10. Intelligent Control of a Novel Hydraulic Forging Manipulator

    Directory of Open Access Journals (Sweden)

    J. Wang

    2011-01-01

    Full Text Available The increased demand for large-size forgings has led to developments and innovations of heavy-duty forging manipulators. Besides the huge carrying capacity, some robot features such as force perception, delicacy and flexibility, forging manipulators should also possess. The aim of the work is to develop a heavy-duty forging manipulator with robot features by means of combination of methods in mechanical, hydraulic, and control field. In this paper, through kinematic analysis of a novel forging manipulator, control strategy of the manipulator is proposed considering the function and motion of forging manipulators. Hybrid pressure/position control of hydraulic actuators in forging manipulator is realized. The feasibility of the control method has been verified by the experiments on a real prototype of the novel hydraulic forging manipulator in our institute. The intelligent control of the forging manipulator is performed with programmable logic controller which is suitable for industrial applications.

  11. Results from the LHC Beam Dump Reliability Run

    CERN Document Server

    Uythoven, J; Carlier, E; Castronuovo, F; Ducimetière, L; Gallet, E; Goddard, B; Magnin, N; Verhagen, H

    2008-01-01

    The LHC Beam Dumping System is one of the vital elements of the LHC Machine Protection System and has to operate reliably every time a beam dump request is made. Detailed dependability calculations have been made, resulting in expected rates for the different system failure modes. A 'reliability run' of the whole system, installed in its final configuration in the LHC, has been made to discover infant mortality problems and to compare the occurrence of the measured failure modes with their calculations.

  12. Reliability Assessment Of Wind Turbines

    DEFF Research Database (Denmark)

    Sørensen, John Dalsgaard

    2014-01-01

    Reduction of cost of energy for wind turbines are very important in order to make wind energy competitive compared to other energy sources. Therefore the turbine components should be designed to have sufficient reliability but also not be too costly (and safe). This paper presents models...... for uncertainty modeling and reliability assessment of especially the structural components such as tower, blades, substructure and foundation. But since the function of a wind turbine is highly dependent on many electrical and mechanical components as well as a control system also reliability aspects...... of these components are discussed and it is described how there reliability influences the reliability of the structural components. Two illustrative examples are presented considering uncertainty modeling, reliability assessment and calibration of partial safety factors for structural wind turbine components exposed...

  13. Nuclear weapon reliability evaluation methodology

    Energy Technology Data Exchange (ETDEWEB)

    Wright, D.L. [Sandia National Labs., Albuquerque, NM (United States)

    1993-06-01

    This document provides an overview of those activities that are normally performed by Sandia National Laboratories to provide nuclear weapon reliability evaluations for the Department of Energy. These reliability evaluations are first provided as a prediction of the attainable stockpile reliability of a proposed weapon design. Stockpile reliability assessments are provided for each weapon type as the weapon is fielded and are continuously updated throughout the weapon stockpile life. The reliability predictions and assessments depend heavily on data from both laboratory simulation and actual flight tests. An important part of the methodology are the opportunities for review that occur throughout the entire process that assure a consistent approach and appropriate use of the data for reliability evaluation purposes.

  14. Lithium battery safety and reliability

    Science.gov (United States)

    Levy, Samuel C.

    Lithium batteries have been used in a variety of applications for a number of years. As their use continues to grow, particularly in the consumer market, a greater emphasis needs to be placed on safety and reliability. There is a useful technique which can help to design cells and batteries having a greater degree of safety and higher reliability. This technique, known as fault tree analysis, can also be useful in determining the cause of unsafe behavior and poor reliability in existing designs.

  15. On the design of fault-tolerant robotic manipulator systems

    Science.gov (United States)

    Tesar, Delbert

    1993-01-01

    Robotic systems are finding increasing use in space applications. Many of these devices are going to be operational on board the Space Station Freedom. Fault tolerance has been deemed necessary because of the criticality of the tasks and the inaccessibility of the systems to maintenance and repair. Design for fault tolerance in manipulator systems is an area within robotics that is without precedence in the literature. In this paper, we will attempt to lay down the foundations for such a technology. Design for fault tolerance demands new and special approaches to design, often at considerable variance from established design practices. These design aspects, together with reliability evaluation and modeling tools, are presented. Mechanical architectures that employ protective redundancies at many levels and have a modular architecture are then studied in detail. Once a mechanical architecture for fault tolerance has been derived, the chronological stages of operational fault tolerance are investigated. Failure detection, isolation, and estimation methods are surveyed, and such methods for robot sensors and actuators are derived. Failure recovery methods are also presented for each of the protective layers of redundancy. Failure recovery tactics often span all of the layers of a control hierarchy. Thus, a unified framework for decision-making and control, which orchestrates both the nominal redundancy management tasks and the failure management tasks, has been derived. The well-developed field of fault-tolerant computers is studied next, and some design principles relevant to the design of fault-tolerant robot controllers are abstracted. Conclusions are drawn, and a road map for the design of fault-tolerant manipulator systems is laid out with recommendations for a 10 DOF arm with dual actuators at each joint.

  16. Maritime shipping as a high reliability industry: A qualitative analysis

    Energy Technology Data Exchange (ETDEWEB)

    Mannarelli, T.; Roberts, K.; Bea, R.

    1994-10-01

    The maritime oil shipping industry has great public demands for safe and reliable organizational performance. Researchers have identified a set of organizations and industries that operate at extremely high levels of reliability, and have labelled them High Reliability Organizations (HRO). Following the Exxon Valdez oil spill disaster of 1989, public demands for HRO-level operations were placed on the oil industry. It will be demonstrated that, despite enormous improvements in safety and reliability, maritime shipping is not operating as an HRO industry. An analysis of the organizational, environmental, and cultural history of the oil industry will help to provide justification and explanation. The oil industry will be contrasted with other HRO industries and the differences will inform the shortfalls maritime shipping experiences with regard to maximizing reliability. Finally, possible solutions for the achievement of HRO status will be offered.

  17. Reliability-Based Design Optimization Considering Variable Uncertainty

    Energy Technology Data Exchange (ETDEWEB)

    Lim, Woochul; Jang, Junyoung; Lee, Tae Hee [Hanyang University, Seoul (Korea, Republic of); Kim, Jungho; Na, Jongho; Lee, Changkun; Kim, Yongsuk [GM Korea, Incheon (Korea, Republic of)

    2014-06-15

    Although many reliability analysis and reliability-based design optimization (RBDO) methods have been developed to estimate system reliability, many studies assume the uncertainty of the design variable to be constant. In practice, because uncertainty varies with the design variable's value, this assumption results in inaccurate conclusions about the reliability of the optimum design. Therefore, uncertainty should be considered variable in RBDO. In this paper, we propose an RBDO method considering variable uncertainty. Variable uncertainty can modify uncertainty for each design point, resulting in accurate reliability estimation. Finally, a notable optimum design is obtained using the proposed method with variable uncertainty. A mathematical example and an engine cradle design are illustrated to verify the proposed method.

  18. 3D face recognition algorithm based on detecting reliable components

    Institute of Scientific and Technical Information of China (English)

    Huang Wenjun; Zhou Xuebing; Niu Xiamu

    2007-01-01

    Fisherfaces algorithm is a popular method for face recognition. However, there exist some unstable components that degrade recognition performance. In this paper, we propose a method based on detecting reliable components to overcome the problem and introduce it to 3D face recognition. The reliable components are detected within the binary feature vector, which is generated from the Fisherfaces feature vector based on statistical properties, and is used for 3D face recognition as the final feature vector. Experimental results show that the reliable components feature vector is much more effective than the Fisherfaces feature vector for face recognition.

  19. Reliability and Energy Output of Bifacial Modules

    Energy Technology Data Exchange (ETDEWEB)

    Van Aken, B.B.; Jansen, M.J.; Dekker, N.J.J. [ECN Solar Energy, Petten (Netherlands)

    2013-06-15

    Although flash tests under standard test conditions yields lower power due to transmittance of the back sheet, bifacial modules are expected to outperform their monofacial equivalents in terms of yearly energy output in the field. We compare flash tests for bifacial modules with and without a light scattering panel directly behind the modules: 3% more power output is obtained. We also report on the damp-heat reliability of modules with transparent back sheet. Finally we will present the results of an outdoor study comparing modules with transparent back sheet and modules with state-of-the-art AR coating on the front glass.

  20. Fault tolerant highly reliable inertial navigation system

    Science.gov (United States)

    Jeerage, Mahesh; Boettcher, Kevin

    This paper describes a development of failure detection and isolation (FDI) strategies for highly reliable inertial navigation systems. FDI strategies are developed based on the generalized likelihood ratio test (GLRT). A relationship between detection threshold and false alarm rate is developed in terms of the sensor parameters. A new method for correct isolation of failed sensors is presented. Evaluation of FDI performance parameters, such as false alarm rate, wrong isolation probability, and correct isolation probability, are presented. Finally a fault recovery scheme capable of correcting false isolation of good sensors is presented.

  1. Reliability of Pulse Measurements in Videoplethysmography

    Directory of Open Access Journals (Sweden)

    Rumiński Jacek

    2016-09-01

    Full Text Available Reliable, remote pulse rate measurement is potentially very important for medical diagnostics and screening. In this paper the Videoplethysmography was analyzed especially to verify the possible use of signals obtained for the YUV color model in order to estimate the pulse rate, to examine what is the best pulse estimation method for short video sequences and finally, to analyze how potential PPG-signals can be distinguished from other (e.g. background signals. The presented methods were verified using data collected from 60 volunteers.

  2. Kane Method Based Dynamics Modeling and Control Study for Space Manipulator Capturing a Space Target

    Directory of Open Access Journals (Sweden)

    Yanhua Han

    2016-01-01

    Full Text Available Dynamics modeling and control problem of a two-link manipulator mounted on a spacecraft (so-called carrier freely flying around a space target on earth’s circular orbit is studied in the paper. The influence of the carrier’s relative movement on its manipulator is considered in dynamics modeling; nevertheless, that of the manipulator on its carrier is neglected with the assumption that the mass and inertia moment of the manipulator is far less than that of the carrier. Meanwhile, we suppose that the attitude control system of the carrier guarantees its side on which the manipulator is mounted points accurately always the space target during approaching operation. The ideal constraint forces can be out of consideration in dynamics modeling as Kane method is used. The path functions of the manipulator’s end-effector approaching the space target as well as the manipulator’s joints control torque functions are programmed to meet the soft touch requirement that the end-effector’s relative velocity to the space target is zero at touch moment. Numerical simulation validation is conducted finally.

  3. Timing of manipulation under anaesthesia for stiffness after total knee arthroplasty

    Science.gov (United States)

    Mamarelis, Georgios; Sunil-Kumar, Karadi Hari

    2015-01-01

    Stiffness following total knee arthroplasty (TKA) is a debilitating condition for the patient with limitation of functional outcome. There are various causes of stiffness, which can be classified as pre-operative, per-operative and post-operative. Arthrofibrosis is one of the causes, which can be managed in different ways, and manipulation under anaesthesia (MUA) is routinely performed as the first line of management. The timing of MUA is often debated. We review the paper by Issa et al., which looks at the effect of timing of manipulation on a stiff TKA. They conclude that early manipulation within 12 weeks of performing the TKA had a higher mean flexion gain (36.5°), higher final range of motion (ROM) (119°) and higher knee society score (89 points) compared to those performed after 12 weeks which were 17°, 95° and 84 points respectively. Other studies have also reinforced the idea that early manipulation within 12 weeks has a better outcome than those performed after 12 weeks. There may still be a benefit of manipulation until 26 weeks after which open arthrolysis may be needed to improve ROM. PMID:26697476

  4. A Conceptual Framework of Human Reliability Analysis for Execution Human Error in NPP Advanced MCRs

    Energy Technology Data Exchange (ETDEWEB)

    Jang, In Seok; Kim, Ar Ryum; Seong, Poong Hyun [KAIST, Daejeon (Korea, Republic of); Jung, Won Dea [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2014-08-15

    The operation environment of Main Control Rooms (MCRs) in Nuclear Power Plants (NPPs) has changed with the adoption of new human-system interfaces that are based on computer-based technologies. The MCRs that include these digital and computer technologies, such as large display panels, computerized procedures, and soft controls, are called Advanced MCRs. Among the many features of Advanced MCRs, soft controls are a particularly important feature because the operation action in NPP Advanced MCRs is performed by soft control. Using soft controls such as mouse control, and touch screens, operators can select a specific screen, then choose the controller, and finally manipulate the given devices. Due to the different interfaces between soft control and hardwired conventional type control, different human error probabilities and a new Human Reliability Analysis (HRA) framework should be considered in the HRA for advanced MCRs. In other words, new human error modes should be considered for interface management tasks such as navigation tasks, and icon (device) selection tasks in monitors and a new framework of HRA method taking these newly generated human error modes into account should be considered. In this paper, a conceptual framework for a HRA method for the evaluation of soft control execution human error in advanced MCRs is suggested by analyzing soft control tasks.

  5. Digital Microfluidics with Bubble Manipulations by Dielectrophoresis

    Directory of Open Access Journals (Sweden)

    Shih-Kang Fan

    2012-03-01

    Full Text Available This paper presents basic bubble manipulations, including transporting, splitting, and merging, by dielectrophoresis (DEP in an oil environment. In our presented method, bubbles are placed between parallel plates in an oil medium of a low vapor pressure, which eliminates the possibility of changing the gaseous composition of the bubble caused by evaporation of the medium. DEP has been previously investigated to actuate dielectric droplets and is adopted here to drive the oil environment as well as the immersed bubbles between parallel plates. In our experiment, air bubbles of 0.3 ml were successfully transported in a 20 cSt silicone oil medium between a 75 mm-high parallel plate gap. In addition, 0.6 ml air bubbles were successfully split into two 0.3 ml air bubbles, and then merged again by DEP. These successful manipulations make digital gaseous lab-on-a-chip a reality.

  6. Analyzing Array Manipulating Programs by Program Transformation

    Science.gov (United States)

    Cornish, J. Robert M.; Gange, Graeme; Navas, Jorge A.; Schachte, Peter; Sondergaard, Harald; Stuckey, Peter J.

    2014-01-01

    We explore a transformational approach to the problem of verifying simple array-manipulating programs. Traditionally, verification of such programs requires intricate analysis machinery to reason with universally quantified statements about symbolic array segments, such as "every data item stored in the segment A[i] to A[j] is equal to the corresponding item stored in the segment B[i] to B[j]." We define a simple abstract machine which allows for set-valued variables and we show how to translate programs with array operations to array-free code for this machine. For the purpose of program analysis, the translated program remains faithful to the semantics of array manipulation. Based on our implementation in LLVM, we evaluate the approach with respect to its ability to extract useful invariants and the cost in terms of code size.

  7. Microtechnology for cell manipulation and sorting

    CERN Document Server

    Tseng, Peter; Carlo, Dino

    2017-01-01

    This book delves into the recent developments in the microscale and microfluidic technologies that allow manipulation at the single and cell aggregate level. Expert authors review the dominant mechanisms that manipulate and sort biological structures, making this a state-of-the-art overview of conventional cell sorting techniques, the principles of microfluidics, and of microfluidic devices. All chapters highlight the benefits and drawbacks of each technique they discuss, which include magnetic, electrical, optical, acoustic, gravity/sedimentation, inertial, deformability, and aqueous two-phase systems as the dominant mechanisms utilized by microfluidic devices to handle biological samples. Each chapter explains the physics of the mechanism at work, and reviews common geometries and devices to help readers decide the type of style of device required for various applications. This book is appropriate for graduate-level biomedical engineering and analytical chemistry students, as well as engineers and scientist...

  8. Repetitive control of electrically driven robot manipulators

    Science.gov (United States)

    Fateh, Mohammad Mehdi; Ahsani Tehrani, Hojjat; Karbassi, Seyed Mehdi

    2013-04-01

    This article presents a novel robust discrete repetitive control of electrically driven robot manipulators for tracking of a periodic trajectory. We propose a novel model, which presents the highly non-linear dynamics of robot manipulator in the form of linear discrete-time time-varying system. Based on the proposed model, we develop a two-term control law. The first term is an ordinary time-optimal and minimum-norm (TOMN) control by employing parametric controllers to guarantee stability. The second term is a novel robust control to improve the control performance in the face of uncertainties. The robust control estimates and compensates uncertainties including the parametric uncertainty, unmodelled dynamics and external disturbances. Performance of the proposed method is compared with two discrete methods, namely the TOMN control and an adaptive iterative learning (AIL) control. Simulation results confirm superiority of the proposed method in terms of the convergence speed and precision.

  9. Partner manipulation stabilises a horizontally transmitted mutualism.

    Science.gov (United States)

    Heil, Martin; Barajas-Barron, Alejandro; Orona-Tamayo, Domancar; Wielsch, Natalie; Svatos, Ales

    2014-02-01

    Mutualisms require protection from non-reciprocating exploiters. Pseudomyrmex workers that engage in an obligate defensive mutualism with Acacia hosts feed exclusively on the sucrose-free extrafloral nectar (EFN) that is secreted by their hosts, a behaviour linking ant energy supply directly to host performance and thus favouring reciprocating behaviour. We tested the hypothesis that Acacia hosts manipulate this digestive specialisation of their ant mutualists. Invertase (sucrose hydrolytic) activity in the ant midguts was inhibited by chitinase, a dominant EFN protein. The inhibition occurred quickly in cell-free gut liquids and in native gels and thus likely results from an enzyme-enzyme interaction. Once a freshly eclosed worker ingests EFN as the first diet available, her invertase becomes inhibited and she, thus, continues feeding on host-derived EFN. Partner manipulation acts at the phenotypic level and means that one partner actively controls the phenotype of the other partner to enhance its dependency on host-derived rewards.

  10. Treating patellar tendinopathy with Fascial Manipulation.

    Science.gov (United States)

    Pedrelli, Alessandro; Stecco, Carla; Day, Julie Ann

    2009-01-01

    According to Fascial Manipulation theory, patellar tendon pain is often due to uncoordinated quadriceps contraction caused by anomalous fascial tension in the thigh. Therefore, the focus of treatment is not the patellar tendon itself, but involves localizing the cause of this incoordination, considered to be within the muscular fascia of the thigh region. Eighteen patients suffering from patellar tendon pain were treated with the Fascial Manipulation technique. Pain was assessed (in VAS) before (VAS 67.8/100) and after (VAS 26.5/100) treatment, plus a follow-up evaluation at 1 month (VAS 17.2/100). Results showed a substantial decrease in pain immediately after treatment (p<0.0001) and remained unchanged or improved in the short term. The results show that the patellar tendon may be only the zone of perceived pain and that interesting results can be obtained by treating the muscular fascia of the quadriceps muscle, whose alteration may cause motor incoordination and subsequent pathology.

  11. Beam Techniques - Beam Control and Manipulation

    Energy Technology Data Exchange (ETDEWEB)

    Minty, Michiko G

    2003-04-24

    We describe commonly used strategies for the control of charged particle beams and the manipulation of their properties. Emphasis is placed on relativistic beams in linear accelerators and storage rings. After a brief review of linear optics, we discuss basic and advanced beam control techniques, such as transverse and longitudinal lattice diagnostics, matching, orbit correction and steering, beam-based alignment, and linac emittance preservation. A variety of methods for the manipulation of particle beam properties are also presented, for instance, bunch length and energy compression, bunch rotation, changes to the damping partition number, and beam collimation. The different procedures are illustrated by examples from various accelerators. Special topics include injection and extraction methods, beam cooling, spin transport and polarization.

  12. Resolution of dacryostenosis after osteopathic manipulative treatment.

    Science.gov (United States)

    Apoznanski, Theresa E; Abu-Sbaih, Reem; Terzella, Michael J; Yao, Sheldon

    2015-02-01

    Dacryostenosis is an obstruction of the nasolacrimal duct and is the most common cause of epiphora and ocular discharge in newborns. Whereas most cases resolve spontaneously, invasive treatment may become necessary if symptoms persist past age 6 to 12 months. In the present case, a 9-month-old boy with persistent dacryostenosis was scheduled for lacrimal duct probing after first-line treatments failed. After a single session of osteopathic manipulative treatment, the patient's epiphora and other symptoms resolved, and he no longer needed surgical probing. A review of the literature highlights key pathophysiologic processes, management options, and musculoskeletal aspects of dacryostenosis. Physicians should consider osteopathic manipulative treatment in the management of dacryostenosis.

  13. Bone manipulation procedures in dental implants.

    Science.gov (United States)

    Mittal, Yuvika; Jindal, Govind; Garg, Sandeep

    2016-01-01

    The use of dental implants for the rehabilitation of missing teeth has broadened the treatment options for patients and clinicians equally. As a result of advances in research in implant design, materials, and techniques, the use of dental implants has increased dramatically in the past two decades and is expected to expand further in the future. Success of dental implants depends largely on the quality and quantity of the available bone in the recipient site. This however may be compromised or unavailable due to tumor, trauma, periodontal disease, etc., which in turn necessitates the need for additional bone manipulation. This review outlines the various bone manipulation techniques that are used to achieve a predictable long-term success of dental implants.

  14. Extended SQL for manipulating clinical warehouse data.

    Science.gov (United States)

    Johnson, S B; Chatziantoniou, D

    1999-01-01

    Health care institutions are beginning to collect large amounts of clinical data through patient care applications. Clinical data warehouses make these data available for complex analysis across patient records, benefiting administrative reporting, patient care and clinical research. Data gathered for patient care purposes are difficult to manipulate for analytic tasks; the schema presents conceptual difficulties for the analyst, and many queries perform poorly. An extension to SQL is presented that enables the analyst to designate groups of rows. These groups can then be manipulated and aggregated in various ways to solve a number of useful analytic problems. The extended SQL is concise and runs in linear time, while standard SQL requires multiple statements with polynomial performance. The extensions are extremely powerful for performing aggregations on large amounts of data, which is useful in clinical data mining applications.

  15. OPTIMAL TRAJECTORY PLANNING OF MANIPULATORS: A REVIEW

    Directory of Open Access Journals (Sweden)

    ATEF A. ATA

    2007-04-01

    Full Text Available Optimal motion planning is very important to the operation of robot manipulators. Its main target is the generation of a trajectory from start to goal that satisfies objectives, such as minimizing path traveling distance or time interval, lowest energy consumption or obstacle avoidance and satisfying the robot’s kinematics and dynamics. Review, discussion and analysis of optimization techniques to find the optimal trajectory either in Cartesian space or joint space are presented and investigated. Optimal trajectory selection approaches such as kinematics and dynamics techniques with various constraints are presented and explained. Although the kinematics approach is simple and straight forward, it will experience some problems in implementation because of lack of Inertia and torque constraints. The application of Genetic Algorithms to find the optimal trajectory of manipulators especially in the obstacle avoidance is also highlighted. Combining the Genetic Algorithms with other classical optimization methods proves to have better performance as a hybrid optimization technique.

  16. Manipulation of inclusions with optical tweezers

    Science.gov (United States)

    Škarabot, Miha

    In this chapter the basic techniques and underlaying concepts of trapping and manipulation of microparticles in liquid crystal (LC) systems are presented. The laser trapping in LCs is extremely efficient and it is based on different principles than laser trapping in isotropic solvents. In addition to conventional laser trapping, the laser light can reorient LC molecules and at high powers also heat the LC in isotropic phase. Due to these optical and thermal effects of laser tweezers on LC different trapping mechanisms are possible at different rate of laser power and all are presented qualitatively and quantitatively by measuring the trapping forces. Besides trapping and manipulation of single inclusions, laser tweezers are also used for assisted self-assembly of variety of periodic 2D and 3D colloidal structures, while most of them can not be assembled without help of laser tweezers. The concepts and different techniques of laser assisted assembly are presented.

  17. Manipulator Controlled since a Smartphone by Bluetooth

    Science.gov (United States)

    Sánchez-Niño, F.; Rodríguez Pedroza, G.; Castillo Baldivia, E. G.

    2015-01-01

    We present the design of transmitter interface of data between a microcontroller and Smartphone to control a robot. We used a Bluetooth module to send the commands to control the moving of the manipulator. The system is formed by three parts: the first part, the program made in Android. It is run on the Smartphone that controls the position of the robot. The second part is the reception board based in the PIC18F4550 that energizes the joints of the manipulator. The last part is the driver. It use an integrated circuit L293D that is configured in two full bridges H. This system is a good tool for learning of programing, sensors, actuators, robotic, electronic and design electronic.

  18. Optical Manipulation with Speckle Light Fields

    CERN Document Server

    Volpe, Giorgio; Gigan, Sylvain

    2014-01-01

    Optical tweezers have been widely applied to trap and manipulate micro- and nano-objects, such as cells, organelles and macromolecules. Generating well-controlled optical forces usually requires a highly focused laser beam, which means a careful engineering of the setups and the samples. Although similar conditions are routinely met in research laboratories, optical imperfections or scattering limit the applicability of this technique to real-life situations, such as in biomedical or microfluidic applications. Nonetheless, scattering of coherent light by disordered structures gives rise to speckles, random diffraction patterns with well-defined statistical properties. Here, we demonstrate how speckle fields can become a versatile tool to perform fundamental optical manipulation tasks such as trapping, guiding and sorting, exploiting the emergence of anomalous diffusion and drift in time-varying speckles. The simplicity and high-throughput of this technique greatly broadens the perspectives of optical manipula...

  19. Dynamical pixel manipulation of metasurfaces (Conference Presentation)

    Science.gov (United States)

    Zhong, Jin-Qian

    2017-05-01

    Two-dimensional (2D) metamaterials or known as metasurfaces have attracted researchers' attention due to their capability to manipulate the amplitudes, phases and polarization states of incident electromagnetic waves by conferring extra phase different phase at different positions through a super cell that is composed of different oriented structures. In other words, metasurfaces can achieve beam steering and wave shaping by imparting local, gradient phase shift to the incoming waves. With these abilities, metasurfaces can be applied to applications such as ultrathin invisibility cloaks, metasurface holograms, planar lenses and a vortex generator. With the above mentioned advantages and applications of metasurfaces, yet, all the demonstrated metasurfaces possess a main insufficiency that once the metasurfaces are designed and fabricated, their optical properties are then fixed without any chance for further manipulation, which limits their versatility in practical applications. Moreover, although some researchers employed dynamically changeable materials to achieve an active metasurface, such manipulation can only change the overall performance such as an operating frequency instead of changing the provided phase on each pixel of a metasurface. To solve this issue, we employ liquid crystal integrated with a metasurface and the combination could be thus be dynamically tuned via electric bias on each pixel of liquid crystals. Through this setup, we can alter the polarization state of the incident electromagnetic wave dynamically and thus manipulate the extra phase provided by each pixel. In this combination, liquid crystal is employed to change the incident polarization from 0 to 360-degree and the metasurface is designed to achieve four different output signals including phase modulated linear- and circular-polarized light and amplitude-modulated linear- and circular-polarized light. Meanwhile, the metasurfaces could also control the transmission efficiency of the

  20. IMp: The customizable LEGO® Pinned Insect Manipulator

    Directory of Open Access Journals (Sweden)

    Steen Dupont

    2015-02-01

    Full Text Available We present a pinned insect manipulator (IMp constructed of LEGO® building bricks with two axes of movement and two axes of rotation. In addition we present three variants of the IMp to emphasise the modular design, which facilitates resizing to meet the full range of pinned insect specimens, is fully customizable, collapsible, affordable and does not require specialist tools or knowledge to assemble.