Development of a modular integrated control architecture for flexible manipulators. Final report

International Nuclear Information System (INIS)

Burks, B.L.; Battiston, G.

1994-01-01

In April 1994, ORNL and SPAR completed the joint development of a manipulator controls architecture for flexible structure controls under a CRADA between the two organizations. The CRADA project entailed design and development of a new architecture based upon the Modular Integrated Control Architecture (MICA) previously developed by ORNL. The new architecture, dubbed MICA-II, uses an object-oriented coding philosophy to provide a highly modular and expandable architecture for robotic manipulator control. This architecture can be readily ported to control of many different manipulator systems. The controller also provides a user friendly graphical operator interface and display of many forms of data including system diagnostics. The capabilities of MICA-II were demonstrated during oscillation damping experiments using the Flexible Beam Experimental Test Bed at Hanford

Path planning of master-slave manipulator using graphic simulator

International Nuclear Information System (INIS)

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

2002-01-01

To handle the high level radioactive materials such as spent fuels remotely, the master-slave manipulator is generally used as a remote handling equipment in the hot cell. To analyze the motion and to implement the training system by virtual reality technology, the simulator for M-S manipulator using the computer graphics is developed. The parts are modelled in 3-D graphics, assembled, and kinematics are assigned. The inverse kinematics of the manipulator is defined, and the slave of manipulator is coupled with master by the manipulator's specification. Also, the virtual work cell is implemented in the graphical environment which is the same as the real environment and the path planning method using the function of the collision detection for a manipulator are proposed. This graphic simulator of manipulator can be effectively used in designing of the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management

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

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.

Modeling of Flexible Beams for Robotic Manipulators

International Nuclear Information System (INIS)

Martins, Jorge; Ayala Botto, Miguel; Costa, Jose sa da

2002-01-01

This work treats the problem of modeling robotic manipulators with structural flexibility. A mathematical model of a planar manipulator with a single flexible link is developed. This model is capable of reproducing nonlinear dynamic effects, such as the beam stiffening due to the centrifugal forces induced by the rotation of the joints, giving it the capability to predict reliable dynamic behaviors for a wide range of applications. On the other hand, the model complexity is reduced, in order to keep it amenable for analysis and controller design. The models found in current literature for control design of flexible manipulator arms present dynamic limitations for the sake of real time implementation in a control scheme. These limitations are the result of premature linearization in the formulation of the dynamics equations. In this paper, this common linearization is presented and their dynamic limitations uncovered. An alternative reliable model is then presented. The model is founded on two basic assumptions: inextensibility of the neutral fiber and moderate rotations of the cross sections in order to account for the foreshortening of the beam due to bending. Simulation and experimental results show that the proposed model has the closest dynamic behavior to the real beam

Control of a long reach manipulator with suspension cables for waste storage tank remediation. Final report

International Nuclear Information System (INIS)

Wang, S.L.

1994-01-01

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

Manipulating Tournaments in Cup and Round Robin Competitions

OpenAIRE

Russell, Tyrel; Walsh, Toby

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 mani...

Completion of the Heysham 2 peripheral manipulator

International Nuclear Information System (INIS)

Shipp, R.; Ewen, R.O.

1996-01-01

The in-service inspection strategy for the AGR power station at Heysham 2 envisaged a suite of five manipulators to be used for inserting TRIUMPH television cameras into the reactor vessel. Prior to power raising, four of the five had been successfully commissioned and have been in regular use during the subsequent statutory outages. The final device, the Peripheral Manipulator (PM), was eventually completed prior to the 1994 outage and has been successfully deployed on reactor for both the 1994 and 1995 outages. The paper describes the design of the manipulator, its operation and scope of use in the Heysham 2 reactors. (Author)

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.

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.

Reliability analysis and computation of computer-based safety instrumentation and control used in German nuclear power plant. Final report

International Nuclear Information System (INIS)

Ding, Yongjian; Krause, Ulrich; Gu, Chunlei

2014-01-01

The trend of technological advancement in the field of safety instrumentation and control (I and C) leads to increasingly frequent use of computer-based (digital) control systems which consisting of distributed, connected bus communications computers and their functionalities are freely programmable by qualified software. The advantages of the new I and C system over the old I and C system with hard-wired technology are e.g. in the higher flexibility, cost-effective procurement of spare parts, higher hardware reliability (through higher integration density, intelligent self-monitoring mechanisms, etc.). On the other hand, skeptics see the new technology with the computer-based I and C a higher potential by influences of common cause failures (CCF), and the easier manipulation by sabotage (IT Security). In this joint research project funded by the Federal Ministry for Economical Affaires and Energy (BMWi) (2011-2014, FJZ 1501405) the Otto-von-Guericke-University Magdeburg and Magdeburg-Stendal University of Applied Sciences are therefore trying to develop suitable methods for the demonstration of the reliability of the new instrumentation and control systems with the focus on the investigation of CCF. This expertise of both houses shall be extended to this area and a scientific contribution to the sound reliability judgments of the digital safety I and C in domestic and foreign nuclear power plants. First, the state of science and technology will be worked out through the study of national and international standards in the field of functional safety of electrical and I and C systems and accompanying literature. On the basis of the existing nuclear Standards the deterministic requirements on the structure of the new digital I and C system will be determined. The possible methods of reliability modeling will be analyzed and compared. A suitable method called multi class binomial failure rate (MCFBR) which was successfully used in safety valve applications will be

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

International Nuclear Information System (INIS)

Vierow, Karen; Aldemir, Tunc

2009-01-01

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 and 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.

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.

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.

Maximum allowable load on wheeled mobile manipulators

International Nuclear Information System (INIS)

Habibnejad Korayem, M.; Ghariblu, H.

2003-01-01

This paper develops a computational technique for finding the maximum allowable load of mobile manipulator during a given trajectory. The maximum allowable loads which can be achieved by a mobile manipulator during a given trajectory are limited by the number of factors; probably the dynamic properties of mobile base and mounted manipulator, their actuator limitations and additional constraints applied to resolving the redundancy are the most important factors. To resolve extra D.O.F introduced by the base mobility, additional constraint functions are proposed directly in the task space of mobile manipulator. Finally, in two numerical examples involving a two-link planar manipulator mounted on a differentially driven mobile base, application of the method to determining maximum allowable load is verified. The simulation results demonstrates the maximum allowable load on a desired trajectory has not a unique value and directly depends on the additional constraint functions which applies to resolve the motion redundancy

Analysis of a closed-kinematic chain robot manipulator

Science.gov (United States)

Nguyen, Charles C.; Pooran, Farhad J.

1988-01-01

Presented are the research results from the research grant entitled: Active Control of Robot Manipulators, sponsored by the Goddard Space Flight Center (NASA) under grant number NAG-780. This report considers a class of robot manipulators based on the closed-kinematic chain mechanism (CKCM). This type of robot manipulators mainly consists of two platforms, one is stationary and the other moving, and they are coupled together through a number of in-parallel actuators. Using spatial geometry and homogeneous transformation, a closed-form solution is derived for the inverse kinematic problem of the six-degree-of-freedom manipulator, built to study robotic assembly in space. Iterative Newton Raphson method is employed to solve the forward kinematic problem. Finally, the equations of motion of the above manipulators are obtained by employing the Lagrangian method. Study of the manipulator dynamics is performed using computer simulation whose results show that the robot actuating forces are strongly dependent on the mass and centroid locations of the robot links.

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.

Manipulating a Co adatom on a stepped Cu surface by an STM tip: A theoretical study

International Nuclear Information System (INIS)

Liu, L.; Huang, R.Z.; Sun, Y.S.N.; Du, C.C.; Zhang, R.J.; Zheng, Y.X.; Wu, Y.X.

2014-01-01

A successful atomic manipulation may be influenced by many factors such as bias voltage, tip structure and manipulation modes et al. Here, performing atomic-scale simulations with ab initio based many-body potentials, we have studied the vertical and lateral manipulation of a single Co adatom on metallic Cu surfaces using STM tips at zero bias voltage. A suitable scheme for manipulating the Co adatom on a Cu(5 5 4) surface is proposed. The optimum tip height for a successful lateral manipulation is determined and the reliability of the lateral manipulation of the adatom on the stepped surface is assessed

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

International Nuclear Information System (INIS)

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

2006-11-01

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

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

Kinematics analysis of a novel planar parallel manipulator with kinematic redundancy

Energy Technology Data Exchange (ETDEWEB)

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

2017-04-15

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

Kinematics analysis of a novel planar parallel manipulator with kinematic redundancy

International Nuclear Information System (INIS)

Qu, Haibo; Guo, Sheng

2017-01-01

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

Electric Power Infrastructure Reliability And Security Research And Development Initiative. Final report

International Nuclear Information System (INIS)

Dale, S.; Meeker, R.; Steurer, M.; Li, H.; Pamidi, S.; Rodrigo, H.; Suryanarayanan, S.; Cartes, D.; Ordonez, J.; Domijan, A.; Liu, W.; Cox, D.; McLaren, P.; Hovsapian, R.; Edwards, D.; Simmons, S.; Wilde, N.; Woodruff, S.; Kopriva, D.; Hussaini, Y.; Mohammed, O.; Zheng, J.; Baldwin, T.L.

2008-01-01

This is the final scientific/technical report for the Electric Power Infrastructure Reliability and Security R and D Initiative sponsored by the U.S. Department of Energy, Office of Electricity Delivery and Energy Reliability, under award number DE-FG02-05CH11292. This report covers results from the FSU-led, multi-institution effort conducted over the period 8/15/05 to 10/14/2007. Building upon existing infrastructure for power systems research, modeling, and simulation, the Center for Advanced Power Systems (CAPS) at Florida State University (FSU) is developing world-class programs in electric power systems research and education to support future electric power system needs and challenges. With U.S. Department of Energy Support, FSU CAPS has engaged in a multi-faceted effort to conduct basic and applied research towards understanding, developing, and deploying technologies and approaches that can lead to improved reliability and security of the North American electric power generation and delivery infrastructure. This wide-reaching project, through a number of carefully selected thrusts cutting across several research disciplines, set out to address key terrestrial electric utility power system issues and challenges. The challenges and the thrusts to address them were arrived at through analysis of a number of national reports and recommendations combined with input from an experienced multi-disciplined team of power systems research staff and faculty at FSU CAPS. The resulting project effort can be grouped into four major areas: - Power Systems and New Technology Insertion - Controls, Protection, and Security - Simulation Development - High Temperature Superconductivity (HTS)

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

Manipulations of Totalitarian Nazi Architecture

Science.gov (United States)

Antoszczyszyn, Marek

2017-10-01

The paper takes under considerations controversies surrounding German architecture designed during Nazi period between 1933-45. This architecture is commonly criticized for being out of innovation, taste & elementary sense of beauty. Moreover, it has been consequently wiped out from architectural manuals, probably for its undoubted associations with the totalitarian system considered as the most maleficent in the whole history. But in the meantime the architecture of another totalitarian system which appeared to be not less sinister than Nazi one is not stigmatized with such verve. It is Socrealism architecture, developed especially in East Europe & reportedly containing lots of similarities with Nazi architecture. Socrealism totalitarian architecture was never condemned like Nazi one, probably due to politically manipulated propaganda that influenced postwar public opinion. This observation leads to reflection that maybe in the same propaganda way some values of Nazi architecture are still consciously dissembled in order to hide the fact that some rules used by Nazi German architects have been also consciously used after the war. Those are especially manipulations that allegedly Nazi architecture consisted of. The paper provides some definitions around totalitarian manipulations as well as ideological assumptions for their implementation. Finally, the register of confirmed manipulations is provided with use of photo case study.

Engineering of Droplet Manipulation in Tertiary Junction Microfluidic Channels

Science.gov (United States)

2017-06-30

mechanics point-of-view, the larger motivation to carry out this research work derives from its application in biomedical engineering for sorting CTCs...AFRL-AFOSR-JP-TR-2017-0055 Engineering of Droplet Manipulation in Tertiary Junction Microfluidic Channels Shalini Gupta INDIAN INSTITUTE OF...2017 2. REPORT TYPE Final 3. DATES COVERED (From - To) 14 May 2015 to 13 Nov 2016 4. TITLE AND SUBTITLE Engineering of Droplet Manipulation in

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.

Manipulator-controlled manufacturing and on-line testing of composite materials. Subproject: Development and trial of test techniques. Final report

International Nuclear Information System (INIS)

Nuding, W.; Schroeder, P.

1991-10-01

ZAT Juelich was in charge of the assessment of the basic nondestructive materials testing requirements relevant to manufacturing, the application and testing of the hardware and software developed by ITS, the supply of the required X-ray systems including sensors and basic manipulation systems, microfocus X-raying of the newly developed special welding materials, hard-facing parameter studies applicable to components which consist of different composite materials and are characterized by complex geometries, and computer-aided evaluation and scanning of components. The ITS developments were based on nondestructive radiography because radiography provides reliable data about the types, location and sizes of defects. The test object is X-rayed by means of an X-ray tube, and radiograph is displayed on a TV monitor by means of an image intensifying TV chain after improvement of the signal-to-noise ratio by an image processing system. (orig.) [de

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.

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.

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.

Controlled AFM manipulation of small nanoparticles and assembly of hybrid nanostructures

International Nuclear Information System (INIS)

Kim, Suenne; Shafiei, Farbod; Ratchford, Daniel; Li Xiaoqin

2011-01-01

We demonstrate controlled manipulation of semiconductor and metallic nanoparticles (NPs) with 5-15 nm diameters and assemble these NPs into hybrid structures. The manipulation is accomplished under ambient environment using a commercial atomic force microscope (AFM). There are particular difficulties associated with manipulating NPs this small. In addition to spatial drift, the shape of an asymmetric AFM tip has to be taken into account in order to understand the intended and actual manipulation results. Furthermore, small NPs often attach to the tip via electrostatic interaction and modify the effective tip shape. We suggest a method for detaching the NPs by performing a pseudo-manipulation step. Finally, we show by example the ability to assemble these small NPs into prototypical hybrid nanostructures with well-defined composition and geometry.

Parallelogram mechanisms for mine manipulator arms

Energy Technology Data Exchange (ETDEWEB)

Yoncheva, N

1983-01-01

Kinematic equations are written for the mechanism of a manipulator arm which is used as the operational element of a basic machine and is shaped like a parallelogram. The drive is accomplished using a hydraulic cylinder. A transfer functions method is used to acquire kinematic equations of the final shifts and equations for determining accelerations.

Tip displacement variance of manipulator to simultaneous horizontal and vertical stochastic base excitations

International Nuclear Information System (INIS)

Rahi, A.; Bahrami, M.; Rastegar, J.

2002-01-01

The tip displacement variance of an articulated robotic manipulator to simultaneous horizontal and vertical stochastic base excitation is studied. The dynamic equations for an n-links manipulator subjected to both horizontal and vertical stochastic excitations are derived by Lagrangian method and decoupled for small displacement of joints. The dynamic response covariance of the manipulator links is computed in the coordinate frame attached to the base and then the principal variance of tip displacement is determined. Finally, simulation for a two-link planner robotic manipulator under base excitation is developed. Then sensitivity of the principal variance of tip displacement and tip velocity to manipulator configuration, damping, excitation parameters and manipulator links length are investigated

MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

International Nuclear Information System (INIS)

Geisinger, Joseph W. Ph.D.

2001-01-01

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

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.

Manipulators inspired by the tongue of the chameleon.

Science.gov (United States)

Debray, Alexis

2011-06-01

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

Manipulators inspired by the tongue of the chameleon

International Nuclear Information System (INIS)

Debray, Alexis

2011-01-01

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

Manipulators inspired by the tongue of the chameleon

Energy Technology Data Exchange (ETDEWEB)

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

2011-06-15

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

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.

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

KAUST Repository

Gooneratne, Chinthaka P.; Giouroudi, Ioanna; Liang, Cai; Kosel, Jü rgen

2011-01-01

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.

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.

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

Wall Turbulence with Designer Properties: Identification, Characterization and Manipulation of Energy Pathways

Science.gov (United States)

2016-02-26

AFRL-AFOSR-VA-TR-2016-0108 Wall turbulence with designer properties Beverley Mckeon CALIFORNIA INSTITUTE OF TECHNOLOGY Final Report 02/26/2016... Wall turbulence with designer properties: Identification, characterization & manipulation of energy pathways 5a. CONTRACT NUMBER 5b. GRANT NUMBER...identification, characterization and manipulation of energy pathways in wall turbulence . The objectives were pursued separately and collaboratively by the

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.

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.

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.

Modelling of nuclear power plant control and instrumentation elements for automatic disturbance and reliability analysis

International Nuclear Information System (INIS)

Hollo, E.

1985-08-01

Present Final Report summarizes results of R/D work done within IAEA-VEIKI (Institute for Electrical Power Research, Budapest, Hungary) Research Contract No. 3210 during 3 years' period of 01.08.1982 - 31.08.1985. Chapter 1 lists main research objectives of the project. Main results obtained are summarized in Chapters 2 and 3. Outcomes from development of failure modelling methodologies and their application for C/I components of WWER-440 units are as follows (Chapter 2): improvement of available ''failure mode and effect analysis'' methods and mini-fault tree structures usable for automatic disturbance (DAS) and reliability (RAS) analysis; general classification and determination of functional failure modes of WWER-440 NPP C/I components; set up of logic models for motor operated control valves and rod control/drive mechanism. Results of development of methods and their application for reliability modelling of NPP components and systems cover (Chapter 3): development of an algorithm (computer code COMPREL) for component-related failure and reliability parameter calculation; reliability analysis of PAKS II NPP diesel system; definition of functional requirements for reliability data bank (RDB) in WWER-440 units. Determination of RDB input/output data structure and data manipulation services. Methods used are a-priori failure mode and effect analysis, combined fault tree/event tree modelling technique, structural computer programming, probability theory application to nuclear field

Comprehensive low-cost reliability centered maintenance. Final report

International Nuclear Information System (INIS)

Rotton, S.J.; Dozier, I.J.; Thow, R.

1995-09-01

Reliability Centered Maintenance (RCM) is a maintenance optimization approach that all electric utilities can apply to power plant systems. The Electric Power Research Institute and PECO Energy Company jointly sponsored this Comprehensive Low-Cost Reliability Centered Maintenance project to demonstrate that the standard RCM methodology could be streamlined to reduce the cost of analysis while maintaining a high quality product. EPRI's previous investigation of streamlined RCM methods being pioneered in the nuclear industry indicated that PECO Energy could expect to optimize its maintenance program at reduced cost by carefully controlling the scope without sacrificing documentation or technical quality. Using the insights obtained from these previous studies, three methods were defined in this project and were demonstrated in a large scale application to 60 systems at both the Limerick Generating Station and the Peach Bottom Atomic Power Station

Manipulators

International Nuclear Information System (INIS)

Wilcock, P.D.

1984-01-01

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

PRES- and orthostatic-induced heart-rate changes as markers of labile hypertension : magnitude and reliability measures.

OpenAIRE

Rau, Harald; Furedy, John J.; Elbert, Thomas

1996-01-01

Split-half and test-retest reliabilities of heart-rate responses to a baroreceptor manipulation and an orthostatic manoeuver were compared between subjects with either normal or elevated blood-pressure. Ten subjects showing elevated resting blood-pressure and 11 normotensive subjects participated in two experimental sessions, each including heart-rate recordings during baroreceptor manipulation and orthostatic challenge. Carotid baroreceptors were manipulated by applying the baroreceptor-spec...

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.

Acoustic Resonator Optimisation for Airborne Particle Manipulation

Science.gov (United States)

Devendran, Citsabehsan; Billson, Duncan R.; Hutchins, David A.; Alan, Tuncay; Neild, Adrian

Advances in micro-electromechanical systems (MEMS) technology and biomedical research necessitate micro-machined manipulators to capture, handle and position delicate micron-sized particles. To this end, a parallel plate acoustic resonator system has been investigated for the purposes of manipulation and entrapment of micron sized particles in air. Numerical and finite element modelling was performed to optimise the design of the layered acoustic resonator. To obtain an optimised resonator design, careful considerations of the effect of thickness and material properties are required. Furthermore, the effect of acoustic attenuation which is dependent on frequency is also considered within this study, leading to an optimum operational frequency range. Finally, experimental results demonstrated good particle levitation and capture of various particle properties and sizes ranging to as small as 14.8 μm.

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

International Nuclear Information System (INIS)

D.R. Jackson; G.R. Kiebel

1999-01-01

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

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.

Infusing Math Manipulatives: The Key to an Increase in Academic Achievement in the Mathematics Classroom. Final Research Proposal

Science.gov (United States)

Battle, Toni S.

2007-01-01

Manipulatives are the way to our future and the way to new knowledge. No matter where we turn or what we do, we as a society are using some form of manipulative in our lives. Mathematics is changing all of the time from basic arithmetic to basic calculus. Therefore, children in today's classroom deserve to have that extra tool to help them grasp…

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.

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...

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.

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.

Controlled manipulation of oxygen vacancies using nanoscale flexoelectricity

Energy Technology Data Exchange (ETDEWEB)

Das, Saikat [Inst. for Basic Science (IBS), Seoul (Republic of Korea). Center for Correlated Electron Systems; Seoul National University (SNU), Seoul (Republic of Korea). Dept. of Physics and Astronomy; Wang, Bo [Pennsylvania State Univ., University Park, PA (United States).Dept. of Materials Science and Engineering; Cao, Ye [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States). Center for Nanophase Materials Science (CNMS); Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States). Inst. for; Rae Cho, Myung [Inst. for Basic Science (IBS), Seoul (Republic of Korea). Center for Correlated Electron Systems; Seoul National University (SNU), Seoul (Republic of Korea). Dept. of Physics and Astronomy; Jae Shin, Yeong [Inst. for Basic Science (IBS), Seoul (Republic of Korea). Center for Correlated Electron Systems; Seoul National University (SNU), Seoul (Republic of Korea). Dept. of Physics and Astronomy; Mo Yang, Sang [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States). Center for Nanophase Materials Science (CNMS); Sookmyung Women' s Univ., Seoul (Republic of Korea). Dept. of Physics; Wang, Lingfei [Inst. for Basic Science (IBS), Seoul (Republic of Korea). Center for Correlated Electron Systems; Seoul National University (SNU), Seoul (Republic of Korea). Dept. of Physics and Astronomy; Kim, Minu [Inst. for Basic Science (IBS), Seoul (Republic of Korea). Center for Correlated Electron Systems; Seoul National University (SNU), Seoul (Republic of Korea). Dept. of Physics and Astronomy; Kalinin, Sergei V. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States). Center for Nanophase Materials Science (CNMS); Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States). Inst. for Functional Imaging of Materials; Chen, Long-Qing [Pennsylvania State Univ., University Park, PA (United States).Dept. of Materials Science and Engineering; Noh, Tae Won [Inst. for Basic Science (IBS), Seoul (Republic of Korea). Center for Correlated Electron Systems; Seoul National University (SNU), Seoul (Republic of Korea). Dept. of Physics and Astronomy

2017-09-20

Oxygen vacancies, especially their distribution, are directly coupled to the electromagnetic properties of oxides and related emergent functionalities that have implications for device applications. Here using a homoepitaxial strontium titanate thin film, we demonstrate a controlled manipulation of the oxygen vacancy distribution using the mechanical force from a scanning probe microscope tip. By combining Kelvin probe force microscopy imaging and phase-field simulations, we show that oxygen vacancies can move under a stress-gradient-induced depolarisation field. When tailored, this nanoscale flexoelectric effect enables a controlled spatial modulation. In motion, the scanning probe tip thereby deterministically reconfigures the spatial distribution of vacancies. Finally, the ability to locally manipulate oxygen vacancies on-demand provides a tool for the exploration of mesoscale quantum phenomena and engineering multifunctional oxide devices.

Dexterous Manipulation: Making Remote Manipulators Easy to Use

International Nuclear Information System (INIS)

HARRIGAN, RAYMOND W.; BENNETT, PHIL C.

2001-01-01

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

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.

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...... driving many cellular processes. The forces on a molecular scale are exactly in the range that can be manipulated and probed with single molecule force spectroscopy. The natural environment of a biomolecule is inside a living cell, hence, this is the most relevant environment for probing their function...

Probabilistic scan mode of a robot manipulator workspace using EEG signals. Part I

International Nuclear Information System (INIS)

Auat Cheein, Fernando A; Di Sciascio, Fernando; Freire Bastos, Teodiano; Carelli, Ricardo

2007-01-01

In this paper a probabilistic-based workspace scan mode of a manipulator robot is presented. The scan mode is governed by a Brain Computer Interface (BCI) based on Event Related Potentials (Synchronization and Dessynchronization events). The user is capable to select a specific position at the robot's workspace, which should be reached by the manipulator. The robot workspace is divided into cells. Each cell has a probability value associated with it. Once the robot reaches a cell, its probability value is updated. The mode the scan is made is determined by the probability of all cells at the workspace. Finally, the manipulator is teleoperated via TCP/IP

Accounting basis adjustments and deficit reliability: Evidence from southern European countries

Directory of Open Access Journals (Sweden)

Maria Antónia Jesus

2016-01-01

The main findings point to the need for standardised procedures to convert cash-based (GA into accrual-based (NA data as a crucial step, preventing accounting manipulation, thus increasing reliability of informative outputs for both micro and macro purposes.

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....

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

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

International Nuclear Information System (INIS)

Kress, R.L.; Jansen, J.F.; Basher, A.M.H.

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

A manipulator

International Nuclear Information System (INIS)

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

1984-01-01

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

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

International Nuclear Information System (INIS)

Whyley, S.R.

1985-01-01

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

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.

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

2015-01-01

Background The robot-assisted minimally-invasive surgery is well recognized as a feasible solution for diagnosis and treatment of the prostate cancer in human. Methods In this paper the kinematics of a parallel 4 Degrees-of-Freedom (DOF) surgical manipulator designed for minimally invasive in-bore prostate percutaneous interventions through the patient's perineum. The proposed manipulator takes advantage of 4 sliders actuated by MRI-compatible piezoelectric motors and incremental rotary encoders. Errors, mostly originating from the design and manufacturing process, need to be identified and reduced before the robot is deployed in the clinical trials. Results The manipulator has undergone several experiments to evaluate the repeatability and accuracy of the needle placement which is an essential concern in percutaneous prostate interventions. Conclusion The acquired results endorse the sustainability, precision (about 1 mm in air (in x or y direction) at the needle's reference point) and reliability of the manipulator. PMID:26111458

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.

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.

An Application of a Pneumatic Muscles Actuator for a Delta Pneumatic Manipulator

Directory of Open Access Journals (Sweden)

Pawel A. LASKI

2014-12-01

Full Text Available The main aim of this study was to use pneumatic muscle actuators in the construction of the delta manipulator with a closed kinematic chain. The paper presents a solid models of the manipulator and the kinematic diagram. Based on the kinematic diagram and using DH notation (Denavit-Hartenberg manipulator kinematic models was determined. On the basis of developed solid model simulation studies were conducted and the shape and size of the workspace determined. On the basis of 3D models prototype of the manipulator was constructed. Experimental studies were performed to select the regulators settings P, PI, PID for one of the pair of BMDS (Bi-Muscular Driving System muscle-type drives. Based on integral quality indicators the used types of regulators were compared and proposed final controller. Performed experimental studies confirm the possibility of muscle control in the BMDS (Bi-Muscular Driving System type system drives and tuning controller settings using the Ziegler-Nichols method.

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.

Technology and control for hydraulic manipulators

International Nuclear Information System (INIS)

Measson, Y.; David, O.; Louveau, F.; Friconneau, J.P.

2003-01-01

Hydraulic manipulators are candidate for fusion reactor maintenance. Their main advantages are their large payload with respect to volume and mass, their reliability and their robustness. However, due to their force control limitations, they are disqualified for precise manipulation and are dangerous for the environment and themselves in case of unexpected collision. CEA, in collaboration with CYBERNETIX and IFREMER has developed the advanced hydraulic robot MAESTRO. Force and hybrid control has been developed in order to avoid the previous problems. Using 'pressure' control servo-valve instead of the standard 'flow' control servo-valve (standard configuration of the MAESTRO) makes a real simplification of the control loop. No more pressure sensors are needed for monitoring the hydraulic joint in force control mode and using this kind of valves makes big safety improvements. The French company IN-LHC, designed and manufactured a prototype of servo-valve that fits the performances and space constraints of the Maestro arm. A characterisation of this new product was made on a mock-up and a set of these prototypes integrated in the Maestro slave-arm. A comparison between the two actuating technologies was made and showed that the performances of the pressure servo-valves make it applicable to general application

Manipulators in teleoperation

International Nuclear Information System (INIS)

Hamel, W.R.

1985-01-01

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

Characteristics of manipulative in mathematics laboratory

Science.gov (United States)

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

2017-12-01

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

Lateral and vertical manipulations of single atoms on the Ag(1 1 1) surface with the copper single-atom and trimer-apex tips

International Nuclear Information System (INIS)

Xie Yiqun; Yang Tianxing; Ye Xiang; Huang Lei

2011-01-01

We study the lateral and vertical manipulations of single Ag and Cu atoms on the Ag(1 1 1) surface with the Cu single-atom and trimer-apex tips using molecular statics simulations. The reliability of the lateral manipulation with the Cu single-atom tip is investigated, and compared with that for the Ag tips. We find that overall the manipulation reliability (MR) increases with the decreasing tip height, and in a wide tip-height range the MR is better than those for both the Ag single-atom and trimer-apex tips. This is due to the stronger attractive force of the Cu tip and its better stability against the interactions with the Ag surface. With the Cu trimer-apex tip, the single Ag and Cu adatoms can be picked up from the flat Ag(1 1 1) surface, and moreover a reversible vertical manipulation of single Ag atoms on the stepped Ag(1 1 1) surface is possible, suggesting a method to modify two-dimensional Ag nanostructures on the Ag(1 1 1) surface with the Cu trimer-apex tip.

Manipulators for production and research

International Nuclear Information System (INIS)

Munro, Ian

1987-01-01

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

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.

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.

Continuous micro-vortex-based nanoparticle manipulation via focused surface acoustic waves.

Science.gov (United States)

Collins, David J; Ma, Zhichao; Han, Jongyoon; Ai, Ye

2016-12-20

Despite increasing demand in the manipulation of nanoscale objects for next generation biological and industrial processes, there is a lack of methods for reliable separation, concentration and purification of nanoscale objects. Acoustic methods have proven their utility in contactless manipulation of microscale objects mainly relying on the acoustic radiation effect, though the influence of acoustic streaming has typically prevented manipulation at smaller length scales. In this work, however, we explicitly take advantage of the strong acoustic streaming in the vicinity of a highly focused, high frequency surface acoustic wave (SAW) beam emanating from a series of focused 6 μm substrate wavelength interdigital transducers patterned on a piezoelectric lithium niobate substrate and actuated with a 633 MHz sinusoidal signal. This streaming field serves to focus fluid streamlines such that incoming particles interact with the acoustic field similarly regardless of their initial starting positions, and results in particle displacements that would not be possible with a travelling acoustic wave force alone. This streaming-induced manipulation of nanoscale particles is maximized with the formation of micro-vortices that extend the width of the microfluidic channel even with the imposition of a lateral flow, occurring when the streaming-induced flow velocities are an order of magnitude larger than the lateral one. We make use of this acoustic streaming to demonstrate the continuous and differential focusing of 100 nm, 300 nm and 500 nm particles.

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

NARCIS (Netherlands)

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

2005-01-01

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

Application of identification techniques to remote manipulator system flight data

Science.gov (United States)

Shepard, G. D.; Lepanto, J. A.; Metzinger, R. W.; Fogel, E.

1983-01-01

This paper addresses the application of identification techniques to flight data from the Space Shuttle Remote Manipulator System (RMS). A description of the remote manipulator, including structural and control system characteristics, sensors, and actuators is given. A brief overview of system identification procedures is presented, and the practical aspects of implementing system identification algorithms are discussed. In particular, the problems posed by desampling rate, numerical error, and system nonlinearities are considered. Simulation predictions of damping, frequency, and system order are compared with values identified from flight data to support an evaluation of RMS structural and control system models. Finally, conclusions are drawn regarding the application of identification techniques to flight data obtained from a flexible space structure.

Study on the reliability of large coal-fired and nuclear power plants. Factors affecting power plant reliability. Volume I. Final report

International Nuclear Information System (INIS)

1975-01-01

The study consisted of a comparative evaluation of 2 nuclear units (Indian Point 2 - Consolidated Edison of New York, Turkey Point 4 - Florida Power and Light Company) and 2 coal-fired units (Bull Run and Widows Creek Unit 8 - Tennessee Valley Authority). The purpose of the study was to identify and assess the underlying causes of unit reliability and the causes of the observed differences in reliability performance of the units. Recommended actions for improving the reliability of one of the study units was to be presented in a format useful to other utility companies for improving reliability of their generating units. The emphasis of the study was on the aspects of management, manning, operations, and maintenance which had a significant impact on unit reliability. Volume 1 includes a summary, a description of the major findings from the comparative evaluation, conclusions based on these findings, and recommendations for improving the reliability of the below average units

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

International Nuclear Information System (INIS)

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

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

International Nuclear Information System (INIS)

Yu, Seung Nam; Lee, Jong Kwang

2012-01-01

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

Guide to improving the performance of a manipulator system for nuclear fuel handling through computer controls. Final report

International Nuclear Information System (INIS)

Evans, J.M. Jr.; Albus, J.S.; Barbera, A.J.; Rosenthal, R.; Truitt, W.B.

1975-11-01

The Office of Developmental Automation and Control Technology of the Institute for Computer Sciences and Technology of the National Bureau of Standards provides advising services, standards and guidelines on interface and computer control systems, and performance specifications for the procurement and use of computer controlled manipulators and other computer based automation systems. These outputs help other agencies and industry apply this technology to increase productivity and improve work quality by removing men from hazardous environments. In FY 74 personnel from the Oak Ridge National Laboratory visited NBS to discuss the feasibility of using computer control techniques to improve the operation of remote control manipulators in nuclear fuel reprocessing. Subsequent discussions led to an agreement for NBS to develop a conceptual design for such a computer control system for the PaR Model 3000 manipulator in the Thorium Uranium Recycle Facility (TURF) at ORNL. This report provides the required analysis and conceptual design. Complete computer programs are included for testing of computer interfaces and for actual robot control in both point-to-point and continuous path modes

Judged seriousness of environmental losses: reliability and cause of loss

Science.gov (United States)

Thomas C. Brown; Dawn Nannini; Robert B. Gorter; Paul A. Bell; George L. Peterson

2002-01-01

Public judgments of the seriousness of environmental losses were found to be internally consistent for most respondents, and largely unaffected by attempts to manipulate responses by altering the mix of losses being judged. Both findings enhance confidence in the feasibility of developing reliable rankings of the seriousness of environmental losses to aid resource...

Reliability of the Fermilab Antiproton Source

International Nuclear Information System (INIS)

Harms, E. Jr.

1993-05-01

This paper reports on the reliability of the Fermilab Antiproton source since it began operation in 1985. Reliability of the complex as a whole as well as subsystem performance is summarized. Also discussed is the trending done to determine causes of significant machine downtime and actions taken to reduce the incidence of failure. Finally, results of a study to detect previously unidentified reliability limitations are presented

Hydraulic manipulator research at ORNL

International Nuclear Information System (INIS)

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

1997-01-01

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

Hydraulic manipulator research at ORNL

Energy Technology Data Exchange (ETDEWEB)

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

1997-03-01

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

Reactionless robust finite-time control for manipulation of passive objects by free-floating space robots

International Nuclear Information System (INIS)

Guo Sheng-Peng; Li Dong-Xu; Meng Yun-He; Fan Cai-Zhi

2014-01-01

On-orbit servicing requires efficient techniques for manipulating passive objects. The paper aims at developing a reactionless control method that drives the manipulator to manipulate passive objects with high precision, while inducing no disturbances to its base attitude. To this end, decomposition of the target dynamics from the base dynamics is discussed, so that they can be considered as two independent subsystems. A reactionless nonlinear controller is presented, which ensures high-precision manipulation of the targets and that the base orientation is unchanged. This is achieved by combining the robust finite-time control with the reaction null space. Finally, the performance of the proposed method is examined by comparing it with that of a reactionless PD controller and a pure finite-time controller. (electromagnetism, optics, acoustics, heat transfer, classical mechanics, and fluid dynamics)

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....

Breast surgical specimen radiographs: How reliable are they?

International Nuclear Information System (INIS)

Britton, P.D.; Sonoda, L.I.; Yamamoto, A.K.; Koo, B.; Soh, E.; Goud, A.

2011-01-01

Radiography of the excised surgical specimen following wire guided localisation of impalpable breast lesions is standard surgical practice. The aims of the study were to establish the reliability of the breast specimen radiograph (SR) in determining lesion excision and to determine whether the radiographic margin correlated with the histological margin. The clinical, imaging, SR and pathological details of 106 patients with a pre-operative diagnosis of breast cancer were retrospectively reviewed. The reliability of orientation was estimated and the appearance and distance from the mammographic abnormality to each radial margin were measured and correlated with surgical histological findings. The overall accuracy of the specimen radiograph in determining whether the mammographic lesion was present was 99%. The SR could be orientated 'very reliably' or 'reliably' in 80% of patients however in only 48% of patients did the closest margin on the SR correspond with the same nearest margin at final histology. A maximum measurement of 11 mm or more from the lesion to the specimen edge was associated with a 77% likelihood of having a clear final histological margin (taken as 5 mm or more) and if <11 mm a 58% chance of having involved final histological margins. There was however a wide overlap in the results with patients having an apparently wide SR margin but histologically involved margins and vice versa. The SR is reliable at determining whether the target lesion has been removed. The correlation of SR margin orientation and measurement with final histological measurement is however far less reliable.

A Novel Reconfiguration Strategy of a Delta-Type Parallel Manipulator

Directory of Open Access Journals (Sweden)

Albert Lester Balmaceda-Santamaría

2016-02-01

Full Text Available This work introduces a novel reconfiguration strategy for a Delta-type parallel robot. The robot at hand, whose patent is pending, is equipped with an intermediate mechanism that allows for modifying the operational Cartesian workspace. Furthermore, singularities of the robot may be ameliorated owing to the inherent kinematic redundancy introduced by four actuable kinematic joints. The velocity and acceleration analyses of the parallel manipulator are carried out by resorting to reciprocal-screw theory. Finally, the manipulability of the new robot is investigated based on the computation of the condition number associated with the active Jacobian matrix, a well-known procedure. The results obtained show improved performance of the robot introduced when compared with results generated for another Delta-type robot.

Reliability analysis and computation of computer-based safety instrumentation and control used in German nuclear power plant. Final report; Zuverlaessigkeitsuntersuchung und -berechnung rechnerbasierter Sicherheitsleittechnik zum Einsatz in deutschen Kernkraftwerken. Abschlussbericht

Energy Technology Data Exchange (ETDEWEB)

Ding, Yongjian [Hochschule Magdeburg-Stendal, Magdeburg (Germany). Inst. fuer Elektrotechnik; Krause, Ulrich [Magdeburg Univ. (Germany). Inst. fuer Apparate- und Umwelttechnik; Gu, Chunlei

2014-08-21

The trend of technological advancement in the field of safety instrumentation and control (I and C) leads to increasingly frequent use of computer-based (digital) control systems which consisting of distributed, connected bus communications computers and their functionalities are freely programmable by qualified software. The advantages of the new I and C system over the old I and C system with hard-wired technology are e.g. in the higher flexibility, cost-effective procurement of spare parts, higher hardware reliability (through higher integration density, intelligent self-monitoring mechanisms, etc.). On the other hand, skeptics see the new technology with the computer-based I and C a higher potential by influences of common cause failures (CCF), and the easier manipulation by sabotage (IT Security). In this joint research project funded by the Federal Ministry for Economical Affaires and Energy (BMWi) (2011-2014, FJZ 1501405) the Otto-von-Guericke-University Magdeburg and Magdeburg-Stendal University of Applied Sciences are therefore trying to develop suitable methods for the demonstration of the reliability of the new instrumentation and control systems with the focus on the investigation of CCF. This expertise of both houses shall be extended to this area and a scientific contribution to the sound reliability judgments of the digital safety I and C in domestic and foreign nuclear power plants. First, the state of science and technology will be worked out through the study of national and international standards in the field of functional safety of electrical and I and C systems and accompanying literature. On the basis of the existing nuclear Standards the deterministic requirements on the structure of the new digital I and C system will be determined. The possible methods of reliability modeling will be analyzed and compared. A suitable method called multi class binomial failure rate (MCFBR) which was successfully used in safety valve applications will be

Pupil responses and pain ratings to heat stimuli: Reliability and effects of expectations and a conditioning pain stimulus.

Science.gov (United States)

Eisenach, James C; Curry, Regina; Aschenbrenner, Carol A; Coghill, Robert C; Houle, Timothy T

2017-03-01

The locus coeruleus (LC) signals salience to sensory stimuli and these responses can modulate the experience of pain stimuli. The pupil dilation response (PDR) to noxious stimuli is thought to be a surrogate for LC responses, but PDR response to Peltier-controlled noxious heat stimuli, the most commonly used method in experimental pain research, has not been described. Healthy volunteers were presented with randomly presented heat stimuli of 5 sec duration and provided pain intensity ratings to each stimulus. Pupillometry was performed and a method developed to quantify the PDR relevant to these stimuli. The stimulus response, reliability, and effect of commonly used manipulations on pain experience were explored. A method of artifact removal and adjusting for lag from stimulus initiation to PDR response was developed, resulting in a close correlation between pain intensity rating and PDR across a large range of heat stimuli. A reliable assessment of PDR within an individual was achieved with fewer presentations as heat stimulus intensity increased. The correlation between pain rating and PDR was disrupted when cognitive load is increased by manipulating expectations or presenting a second pain stimulus. The PDR began later after skin heating than electrical stimuli and this is the first examination of the PDR using standard nociceptive testing and manipulations of expectations and competing noxious stimulation. A method is described applying PDR to standard heat nociceptive testing, demonstrating stimulus response, reliability, and disruption by cognitive manipulation. Copyright © 2017 Elsevier B.V. All rights reserved.

Compliant Aerial Manipulators

DEFF Research Database (Denmark)

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

2016-01-01

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

Tubular manipulators: a new concept for intracochlear positioning of an auditory prosthesis

Directory of Open Access Journals (Sweden)

Rau Thomas S.

2015-09-01

Full Text Available The aim of this study was to investigate the applicability of tubular manipulators as an actuator mechanism for intracochlear positioning of the electrode array (EA of a cochlear implant (CI. This is motivated by the vision of an atraumatic insertion of the EA into the inner ear (cochlea without any damage to the intracochlear structures in combination with a well-defined final position. To realize this, an actuator mechanism is required which allows consideration of the patient-specific anatomy. We propose a tubular manipulator for this task. It consists of three concentric tubes: A straight outer tube serves as a guiding sleeve to enter the inner ear (cochlea and two additional telescoping, superelastic, helically precurved tubes. By selecting helical tube parameters of both tubes prior insertion, a patient-specific curling behaviour of the tubular manipulator can be achieved. For preliminary investigation, segmentation and skeletonization of 5 human scala tympani were performed to determine their centrelines. These centrelines were considered as individual ideal insertion paths. An optimization algorithm was developed to identify suitable tube set parameters (curvature, diameter, length, torsion, stiffness as well as configuration parameters (translation and rotation of the 2 inner tubes. Different error values describing the deviation of the shape of the tubes with respect to the insertion path were used to quantify the optimization results. In all cases tube set parameters for a final position within the cochlea were found, while keeping the maximum error below 1mm. These preliminary results are promising in terms of the potential applicability of tubular manipulators for positioning auditory prosthesis inside the scala tympani of the inner ear.

Does cervical lordosis change after spinal manipulation for non-specific neck pain? A prospective cohort study.

Science.gov (United States)

Shilton, Michael; Branney, Jonathan; de Vries, Bas Penning; Breen, Alan C

2015-01-01

The association between cervical lordosis (sagittal alignment) and neck pain is controversial. Further, it is unclear whether spinal manipulative therapy can change cervical lordosis. This study aimed to determine whether cervical lordosis changes after a course of spinal manipulation for non-specific neck pain. Posterior tangents of C2 and C6 were drawn on the lateral cervical fluoroscopic images of 29 patients with subacute/chronic non-specific neck pain and 30 healthy volunteers matched for age and gender, recruited August 2011 to April 2013. The resultant angle was measured using 'Image J' digital geometric software. The intra-observer repeatability (measurement error and reliability) and intra-subject repeatability (minimum detectable change (MDC) over 4 weeks) were determined in healthy volunteers. A comparison of cervical lordosis was made between patients and healthy volunteers at baseline. Change in lordosis between baseline and 4-week follow-up was determined in patients receiving spinal manipulation. Intra-observer measurement error for cervical lordosis was acceptable (SEM 3.6°) and reliability was substantial ICC 0.98, 95 % CI 0.962-0991). The intra-subject MDC however, was large (13.5°). There was no significant difference between lordotic angles in patients and healthy volunteers (p = 0.16). The mean cervical lordotic increase over 4 weeks in patients was 2.1° (9.2) which was not significant (p = 0.12). This study found no difference in cervical lordosis (sagittal alignment) between patients with mild non-specific neck pain and matched healthy volunteers. Furthermore, there was no significant change in cervical lordosis in patients after 4 weeks of cervical spinal manipulation.

Sliding Mode Tracking Control of Manipulator Based on the Improved Reaching Law

Directory of Open Access Journals (Sweden)

Wei-Na ZHAI

2013-04-01

Full Text Available Due to the mechanical hand often have serious uncertainty, as the state in which the different and external changes, also its parameters are changing, this is very adverse to achieve precise control. In this paper, the traditional sliding mode variable structure was improved, the sign function is replaced by saturated function based on the double power reaching law, by adjusting the values of e1, e2, a, b, g and k to effectively improve the manipulator joint reaching speed, track expected trajectory fast and shorten the system response time. Finally, the method is used for simulation of manipulator trajectory tracking, compared to two reaching law control algorithms. The simulation results show that the control algorithm has good dynamic performance, which can effectively restrain the chattering and quickly track the desired trajectory. Therefore, the improved reaching law can effectively improve the performance of robotic manipulator.

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

An evolutionary resolution of manipulation conflict.

Science.gov (United States)

González-Forero, Mauricio

2014-07-01

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

Reliability of magnetic particle inspection performed through coatings: Final report

International Nuclear Information System (INIS)

1988-07-01

The magnetic particle examination (MT) technique can reliably examine containment welds without removing their protective coatings. This study has investigated a variety of MT methods used in the oil and gas industry for their suitability for nuclear plant applications. 102 figs

Research on Longitudinal Vibration Characteristic of the Six-Cable-Driven Parallel Manipulator in FAST

Directory of Open Access Journals (Sweden)

Zhihua Liu

2013-01-01

Full Text Available The first adjustable feed support system in FAST is a six-cable-driven parallel manipulator. Due to flexibility of the cables, the cable-driven parallel manipulator bears a concern of possible vibration caused by wind disturbance or internal force from the fine drive system. The purpose of this paper is to analyze vibration characteristic of the six-cable-driven parallel manipulator in FAST. The tension equilibrium equation of the six-cable-driven parallel manipulator is set up regarding the cables as catenaries. Then, vibration equation is established considering the longitudinal vibration of the cables. On this basis, the natural frequencies are depicted in figures since both analytical and numerical solutions are ineffective. Influence of the sags of the cables on the natural frequencies is discussed. It is shown that the sags of the cables will decrease the natural frequencies of the six-cable-driven parallel manipulator. Simplification to acquire the natural frequencies is proposed in this paper. The results justify effectiveness of the simplification to calculate the first-order natural frequencies. Distribution of the first-order natural frequencies in the required workspace is provided based on the simplification method. Finally, parameters optimization is implemented in terms of natural frequencies for building the six-cable-driven parallel manipulator in FAST.

Assessing segment- and corridor-based travel-time reliability on urban freeways : final report.

Science.gov (United States)

2016-09-01

Travel time and its reliability are intuitive performance measures for freeway traffic operations. The objective of this project was to quantify segment-based and corridor-based travel time reliability measures on urban freeways. To achieve this obje...

Manipulation, salience, and nudges.

Science.gov (United States)

Noggle, Robert

2018-03-01

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

Assembly, destruction and manipulation of atomic, molecular and complex systems

International Nuclear Information System (INIS)

Le Padellec, Arnaud Pierre Frederic

2003-04-01

In this report for Accreditation to Supervise Researches (HDR), the author first indicates his professional curriculum (diplomas, teaching activities, responsibilities in the field of education and research, publications), and then proposes a presentation of his scientific works and researches. He notably proposes an overview of the different experimental techniques he implemented: CRYRING storage ring, confluent beams, flow post-discharge with mass spectrometry and Langmuir probe, crossed beams, and so on. He reports works dealing with the manipulation and destruction of atomic, molecular and complex systems: detachment of atomic anions by electronic impact, detachment and dissociation of small carbon aggregates by electronic impact, dissociative recombination, dissociative ionisation and excitation, creation of pairs of ions, manipulation of sodium fluoride aggregates. He finally presents research projects regarding the assembly of molecular and complex systems

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 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....

Cell manipulation in microfluidics

International Nuclear Information System (INIS)

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

2013-01-01

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

Manipulator comparative testing program

International Nuclear Information System (INIS)

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

1986-01-01

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

Adaptive Neural Output Feedback Control for Uncertain Robot Manipulators with Input Saturation

Directory of Open Access Journals (Sweden)

Rong Mei

2017-01-01

Full Text Available This paper presents an adaptive neural output feedback control scheme for uncertain robot manipulators with input saturation using the radial basis function neural network (RBFNN and disturbance observer. First, the RBFNN is used to approximate the system uncertainty, and the unknown approximation error of the RBFNN and the time-varying unknown external disturbance of robot manipulators are integrated as a compounded disturbance. Then, the state observer and the disturbance observer are proposed to estimate the unmeasured system state and the unknown compounded disturbance based on RBFNN. At the same time, the adaptation technique is employed to tackle the control input saturation problem. Utilizing the estimate outputs of the RBFNN, the state observer, and the disturbance observer, the adaptive neural output feedback control scheme is developed for robot manipulators using the backstepping technique. The convergence of all closed-loop signals is rigorously proved via Lyapunov analysis and the asymptotically convergent tracking error is obtained under the integrated effect of the system uncertainty, the unmeasured system state, the unknown external disturbance, and the input saturation. Finally, numerical simulation results are presented to illustrate the effectiveness of the proposed adaptive neural output feedback control scheme for uncertain robot manipulators.

Structural Reliability Analysis of Wind Turbines: A Review

Directory of Open Access Journals (Sweden)

Zhiyu Jiang

2017-12-01

Full Text Available The paper presents a detailed review of the state-of-the-art research activities on structural reliability analysis of wind turbines between the 1990s and 2017. We describe the reliability methods including the first- and second-order reliability methods and the simulation reliability methods and show the procedure for and application areas of structural reliability analysis of wind turbines. Further, we critically review the various structural reliability studies on rotor blades, bottom-fixed support structures, floating systems and mechanical and electrical components. Finally, future applications of structural reliability methods to wind turbine designs are discussed.

Reliability test: X-ray ring exit chambers crotch radiation absorbers. Final report

International Nuclear Information System (INIS)

Lynch, D.R.; Morgan, J.

1999-01-01

This report details the efforts by engineers at the National Synchrotron Light Source (NSLS) of Brookhaven National Laboratory (BNL) to evaluate the reliability of water-cooled radiation absorbers used in the NSLS X-ray ring. These absorbers are part of the 16 dipole vacuum chambers which comprise the arc sections of the ring. They are located at the intersections (crotch) of the beamline exit ports with the electron beam chamber, and are commonly referred to as crotches. The purpose of these efforts was to demonstrate the reliability of the crotches under operating conditions that the crotches will be subjected to over the entire expected life of the ring. The efforts described include engineering calculations, finite element analysis, conceptual design for a reliability test, test implementation and descriptions, results and conclusions related to these analyses and tests

PSO based neuro fuzzy sliding mode control for a robot manipulator

Directory of Open Access Journals (Sweden)

M. Vijay

2017-05-01

Full Text Available This paper presents the control strategy of two degrees of freedom (2DOF rigid robot manipulator based on the coupling of artificial neuro fuzzy inference system (ANFIS with sliding mode control (SMC. Initially SMC with proportional integral derivative (PID sliding surface is adapted to control the robot manipulator. The parameters of the sliding surface are obtained by minimizing a quadratic performance indices using particle swarm optimization (PSO. Variations of SMC i.e. boundary sliding mode control (BSMC and boundary sliding mode control with PID sliding surface (PIDBSMC are developed for optimized performance index. Finally an ANFIS adaptive controller is proposed to generate the adaptive control signal and found to be more robust with regard to disturbances in input torque.

Reliability Based Optimization of Structural Systems

DEFF Research Database (Denmark)

Sørensen, John Dalsgaard

1987-01-01

The optimization problem to design structural systems such that the reliability is satisfactory during the whole lifetime of the structure is considered in this paper. Some of the quantities modelling the loads and the strength of the structure are modelled as random variables. The reliability...... is estimated using first. order reliability methods ( FORM ). The design problem is formulated as the optimization problem to minimize a given cost function such that the reliability of the single elements satisfies given requirements or such that the systems reliability satisfies a given requirement....... For these optimization problems it is described how a sensitivity analysis can be performed. Next, new optimization procedures to solve the optimization problems are presented. Two of these procedures solve the system reliability based optimization problem sequentially using quasi-analytical derivatives. Finally...

Master-slave manipulator

International Nuclear Information System (INIS)

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

1981-01-01

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

Leadership Manipulation and Ethics in Storytelling

OpenAIRE

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

2013-01-01

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

Theoretical modelling of tip effects in the pushing manipulation of C60 on the Si(001) surface

International Nuclear Information System (INIS)

Martsinovich, N; Kantorovich, L

2008-01-01

We present the results of our theoretical studies on the repulsive (pushing) manipulation of a C 60 molecule on the Si(001) surface with several scanning tunnelling microscopy tips. We show that, for silicon tips, tip-C 60 bonds are formed even with tips that do not initially have dangling bonds, and this tip-C 60 interaction drives the manipulation of the molecule. The details of the atomic structure of the tip and its position relative to the molecule do not have a significant effect on the mechanism and the sequence of adsorption configurations during the pushing manipulation of C 60 along the trough, where the trough itself provides a guiding effect. The pushing manipulation is thus a very robust process that occurs largely independently of the tip structure. On the other hand, the pushing manipulation across an Si-Si dimer row into the neighbouring trough proceeds in a more complex way, with tip deformation and detachment more likely to occur. We demonstrate the role of tip deformation and tip-molecule bond rearrangement in the continuous manipulation of the molecule. Finally, we calculate and analyse the forces acting on the tip during manipulation and identify characteristic patterns

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.

A taxonomy for human reliability analysis

International Nuclear Information System (INIS)

Beattie, J.D.; Iwasa-Madge, K.M.

1984-01-01

A human interaction taxonomy (classification scheme) was developed to facilitate human reliability analysis in a probabilistic safety evaluation of a nuclear power plant, being performed at Ontario Hydro. A human interaction occurs, by definition, when operators or maintainers manipulate, or respond to indication from, a plant component or system. The taxonomy aids the fault tree analyst by acting as a heuristic device. It helps define the range and type of human errors to be identified in the construction of fault trees, while keeping the identification by different analysts consistent. It decreases the workload associated with preliminary quantification of the large number of identified interactions by including a category called 'simple interactions'. Fault tree analysts quantify these according to a procedure developed by a team of human reliability specialists. The interactions which do not fit into this category are called 'complex' and are quantified by the human reliability team. The taxonomy is currently being used in fault tree construction in a probabilistic safety evaluation. As far as can be determined at this early stage, the potential benefits of consistency and completeness in identifying human interactions and streamlining the initial quantification are being realized

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...

MATHEMATICAL MODEL MANIPULATOR ROBOTS

Directory of Open Access Journals (Sweden)

O. N. Krakhmalev

2015-12-01

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

Adaptive control of robotic manipulators

Science.gov (United States)

Seraji, H.

1987-01-01

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

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.

Calculating system reliability with SRFYDO

Energy Technology Data Exchange (ETDEWEB)

Morzinski, Jerome [Los Alamos National Laboratory; Anderson - Cook, Christine M [Los Alamos National Laboratory; Klamann, Richard M [Los Alamos National Laboratory

2010-01-01

SRFYDO is a process for estimating reliability of complex systems. Using information from all applicable sources, including full-system (flight) data, component test data, and expert (engineering) judgment, SRFYDO produces reliability estimates and predictions. It is appropriate for series systems with possibly several versions of the system which share some common components. It models reliability as a function of age and up to 2 other lifecycle (usage) covariates. Initial output from its Exploratory Data Analysis mode consists of plots and numerical summaries so that the user can check data entry and model assumptions, and help determine a final form for the system model. The System Reliability mode runs a complete reliability calculation using Bayesian methodology. This mode produces results that estimate reliability at the component, sub-system, and system level. The results include estimates of uncertainty, and can predict reliability at some not-too-distant time in the future. This paper presents an overview of the underlying statistical model for the analysis, discusses model assumptions, and demonstrates usage of SRFYDO.

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.

Using Manipulatives in Math Instruction.

Science.gov (United States)

Marzola, Eileen S.

1987-01-01

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

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

Balanced articulated manipulator

International Nuclear Information System (INIS)

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

1976-01-01

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

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.

Lifetime Reliability Assessment of Concrete Slab Bridges

DEFF Research Database (Denmark)

Thoft-Christensen, Palle

A procedure for lifetime assesment of the reliability of short concrete slab bridges is presented in the paper. Corrosion of the reinforcement is the deterioration mechanism used for estimating the reliability profiles for such bridges. The importance of using sensitivity measures is stressed....... Finally the produce is illustrated on 6 existing UK bridges....

Direct Manipulation in Virtual Reality

Science.gov (United States)

Bryson, Steve

2003-01-01

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

Manipulation robot system based on visual guidance for sealing blocking plate of steam generator

International Nuclear Information System (INIS)

Duan Xingguang; Wang Yonggui; Li Meng; Kong Xiangzhan; Liu Qingsong

2016-01-01

To reduce labor intensity and irradiation exposure time inside the steam generator during the maintenance period of the nuclear power plant, a blocking plate manipulation robot system, including manipulation robot and pneumatic control console, is developed as an automatic remote-control tool to help staff to complete sealing steam generator primary pipes. The manipulation robot for fastening/loosening bolts utilizes visual guidance for target position, and the recognition algorithm is exerted to extract the bolt center coordinate values from image captured by camera in the procedure. The control strategy based on the position and current feedback is proposed for single bolt operation and whole bolts automatic operation. Meanwhile, the virtual interactive interface and remote monitoring are designed to improve the operability and safety. Finally, the relative experiments have verified the work effectiveness and the future work would be discussed. (author)

The Assumption of a Reliable Instrument and Other Pitfalls to Avoid When Considering the Reliability of Data

Science.gov (United States)

Nimon, Kim; Zientek, Linda Reichwein; Henson, Robin K.

2012-01-01

The purpose of this article is to help researchers avoid common pitfalls associated with reliability including incorrectly assuming that (a) measurement error always attenuates observed score correlations, (b) different sources of measurement error originate from the same source, and (c) reliability is a function of instrumentation. To accomplish our purpose, we first describe what reliability is and why researchers should care about it with focus on its impact on effect sizes. Second, we review how reliability is assessed with comment on the consequences of cumulative measurement error. Third, we consider how researchers can use reliability generalization as a prescriptive method when designing their research studies to form hypotheses about whether or not reliability estimates will be acceptable given their sample and testing conditions. Finally, we discuss options that researchers may consider when faced with analyzing unreliable data. PMID:22518107

Dataglove-based interface for impedance control of manipulators in cooperative human–robot environments

International Nuclear Information System (INIS)

Paredes-Madrid, L; Gonzalez de Santos, P

2013-01-01

A dataglove-based interface is presented for tracking the forces applied by the hand during contact tasks with a 6-degree-of-freedom (DOF) manipulator. The interface uses 11 force sensors carefully placed on the palm-side fabric of a 16 DOF dataglove. The force sensors use piezoresistive technology to measure the individual force components from the hand. Based on the dataglove measurements, these components are transformed and summed to assemble the resultant force vector. Finally, this force vector is translated into the manipulator frame using orientation measurements from an inertial measurement unit placed on the dorsal side of the dataglove. Static tests show that the dataglove-based interface can effectively measure the applied hand force, but there are inaccuracies in orientation and magnitude when compared to the load cell measurements used as the reference for error calculation. Promising results were achieved when controlling the 6 DOF manipulator based on the force readings acquired from the dataglove interface; the decoupled dynamics of the dataglove interface with respect to the robot structure yielded smooth force readings of the human intention that could be effectively used in the impedance control of the manipulator. (paper)

The Integration of the Image Sensor with a 3-DOF Pneumatic Parallel Manipulator

Directory of Open Access Journals (Sweden)

Hao-Ting Lin

2016-07-01

Full Text Available The study aims to integrate the image sensor for a three-axial pneumatic parallel manipulator which can pick and place objects automatically by the feature information of the image processed through the SURF algorithm. The SURF algorithm is adopted for defining and matching the features of a target object and an object database. In order to accurately mark the center of target and strengthen the feature matching results, the random sample and consensus method (RANSAC is utilized. The ASUS Xtion Pro Live depth camera which can directly estimate the 3-D location of the target point is used in this study. A set of coordinate estimation calibrations is developed for enhancing the accuracy of target location estimation. This study also presents hand gesture recognition exploiting skin detection and noise elimination to determine the active finger count for input signals of the parallel manipulator. The end-effector of the parallel manipulator can be manipulated to the desired poses according to the measured finger count. Finally, the proposed methods are successfully to achieve the feature recognition and pick and place of the target object.

Geometric control of manipulators

International Nuclear Information System (INIS)

Thiruarooran, C.

1996-01-01

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

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...... driving many cellular processes. The forces on a molecular scale are exactly in the range that can be manipulated and probed with single molecule force spectroscopy. The natural environment of a biomolecule is inside a living cell, hence, this is the most relevant environment for probing their function....... In vivo studies are, however, challenged by the complexity of the cell. In this review, we start with presenting relevant theoretical tools for analyzing single molecule data obtained in intracellular environments followed by a description of state-of-the art visualization techniques. The most commonly...

Soft Robotic Manipulation of Onions and Artichokes in the Food Industry

Directory of Open Access Journals (Sweden)

R. Morales

2014-04-01

Full Text Available This paper presents the development of a robotic solution for a problem of fast manipulation and handling of onions or artichokes in the food industry. The complete solution consists of a parallel robotic manipulatior, a specially designed end-effector based on a customized vacuum suction cup, and a computer vision software developed for pick and place operations. First, the selection and design process of the proposed robotic solution to fit with the initial requeriments is presented, including the customized vacuum suction cup. Then, the kinematic analysis of the parallel manipulator needed to develop the robot control system is reviewed. Moreover, computer vision application is presented inthe paper. Hardware details of the implementation of the building prototype are also shown. Finally, conclusions and future work show the current status of the project.

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

CSIR Research Space (South Africa)

Dube, C

2011-11-01

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

Incorporating travel time reliability into the Highway Capacity Manual.

Science.gov (United States)

2014-01-01

This final report documents the activities performed during SHRP 2 Reliability Project L08: Incorporating Travel Time Reliability into the Highway Capacity Manual. It serves as a supplement to the proposed chapters for incorporating travel time relia...

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.

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 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

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.

Reliability of power system with open access

International Nuclear Information System (INIS)

Ehsani, A.; Ranjbar, A. M.; Fotuhi Firuzabad, M.; Ehsani, M.

2003-01-01

Recently, in many countries, electric utility industry is undergoing considerable changes in regard to its structure and regulation. It can be clearly seen that the thrust towards privatization and deregulation or re regulation of the electric utility industry will introduce numerous reliability problems that will require new criteria and analytical tools that recognize the residual uncertainties in the new environment. In this paper, different risks and uncertainties in competitive electricity markets are briefly introduced; the approach of customers, operators, planners, generation bodies and network providers to the reliability of deregulated system is studied; the impact of dispersed generation on system reliability is evaluated; and finally, the reliability cost/reliability worth issues in the new competitive environment are considered

Applications of magnetorheological brakes in manual control of lifting devices and manipulators

International Nuclear Information System (INIS)

Chciuk, M; Milecki, A; Myszkowski, A

2009-01-01

The article is aimed to design and testing of joystick with force feedback used in direct, human control of lifting device. The paper starts with the basic description of designed and tested by us MR rotary brake. Some initial laboratory investigations results of such brakes are presented. The usage of MR brakes in 2 axis joystick is proposed. Such, built by as joystick, is described. It was used as Human-Machine Interface in active control of lifting device. The designed and built 2 axis manipulator with electrohydraulic drive is described. In the paper, the based on PC with input/output card, control system of mentioned above joystick with MR brake and manipulator is described. Finally the control algorithm is proposed.

Position Control of a 3-CPU Spherical Parallel Manipulator

Directory of Open Access Journals (Sweden)

Massimo Callegari

2013-01-01

Full Text Available The paper presents the first experimental results on the control of a prototypal robot designed for the orientation of parts or tools. The innovative machine is a spherical parallel manipulator actuated by 3 linear motors; several position control schemes have been tested and compared with the final aim of designing an interaction controller. The relative simplicity of machine kinematics allowed to test algorithms requiring the closed-loop evaluation of both inverse and direct kinematics; the compensation of gravitational terms has been experimented as well.

In Praise of Manipulation

NARCIS (Netherlands)

Dowding, Keith; Van Hees, Martin

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

Powered manipulator control arm

International Nuclear Information System (INIS)

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

1975-01-01

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

The direct manipulation shell

International Nuclear Information System (INIS)

Allen, M.E.; Christiansen, M.

1992-01-01

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

Image manipulation as research misconduct.

Science.gov (United States)

Parrish, Debra; Noonan, Bridget

2009-06-01

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

Long-reach manipulators for decommissioning

International Nuclear Information System (INIS)

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

1993-01-01

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

The Manipulative Discourse of Gandalf

Directory of Open Access Journals (Sweden)

Farid Mohammadi

2014-07-01

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

Experimental and Numerical Study on the Semi-Closed Loop Control of a Planar Parallel Robot Manipulator

Directory of Open Access Journals (Sweden)

Yong-Lin Kuo

2014-01-01

Full Text Available This paper implements the model predictive control to fulfill the position control of a 3-DOF 3-RRR planar parallel manipulator. The research work covers experimental and numerical studies. First, an experimental hardware-in-the-loop system to control the manipulator is constructed. The manipulator is driven by three DC motors, and each motor has an encoder to measure the rotating angles of the motors. The entire system is designed as a semiclosed-loop control system. The controller receives the encoder signals as inputs to produce signals driving the motors. Secondly, the motor parameters are obtained by system identification, and the controllers are designed based on these parameters. Finally, the numerical simulations are performed by incorporating the manipulator kinematics and the motor dynamics; the results are compared with those from the experiments. Both results show that they are in good agreement at steady state. There are two main contributions in this paper. One is the application of the model predictive control to the planar parallel manipulator, and the other one is to overcome the effects of the uncertainties of the DC motors and the performance of the position control due to the dynamic behavior of the manipulator.

Hydraulic manipulator

International Nuclear Information System (INIS)

Sinha, A.K.; Srikrishnamurty, G.

1990-01-01

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

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......). A collection of methodologies based on Physics-of-Failure (PoF) approach and mission profile analysis are presented in this paper to perform reliability-oriented design of power electronic systems. The corresponding design procedures and reliability prediction models are provided. Further on, a case study...... 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....

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

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

International Nuclear Information System (INIS)

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

2014-01-01

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

CLIMAN - a mobile manipulator concept

International Nuclear Information System (INIS)

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

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

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

Interpersonal relationship manipulation at a personal level

Directory of Open Access Journals (Sweden)

Andreja Hribernik

2010-12-01

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

A Large-Scale Multibody Manipulator Soft Sensor Model and Experiment Validation

Directory of Open Access Journals (Sweden)

Wu Ren

2014-01-01

Full Text Available Stress signal is difficult to obtain in the health monitoring of multibody manipulator. In order to solve this problem, a soft sensor method is presented. In the method, stress signal is considered as dominant variable and angle signal is regarded as auxiliary variable. By establishing the mathematical relationship between them, a soft sensor model is proposed. In the model, the stress information can be deduced by angle information which can be easily measured for such structures by experiments. Finally, test of ground and wall working conditions is done on a multibody manipulator test rig. The results show that the stress calculated by the proposed method is closed to the test one. Thus, the stress signal is easier to get than the traditional method. All of these prove that the model is correct and the method is feasible.

Simulation of robot manipulators

International Nuclear Information System (INIS)

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

1995-01-01

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

Human reliability in complex systems: an overview

International Nuclear Information System (INIS)

Embrey, D.E.

1976-07-01

A detailed analysis is presented of the main conceptual background underlying the areas of human reliability and human error. The concept of error is examined and generalized to that of human reliability, and some of the practical and methodological difficulties of reconciling the different standpoints of the human factors specialist and the engineer discussed. Following a survey of general reviews available on human reliability, quantitative techniques for prediction of human reliability are considered. An in-depth critical analysis of the various quantitative methods is then presented, together with the data bank requirements for human reliability prediction. Reliability considerations in process control and nuclear plant, and also areas of design, maintenance, testing and emergency situations are discussed. The effects of stress on human reliability are analysed and methods of minimizing these effects discussed. Finally, a summary is presented and proposals for further research are set out. (author)

A six degrees of freedom mems manipulator

NARCIS (Netherlands)

de Jong, B.R.

2006-01-01

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

A control method for manipulators with redundancy

International Nuclear Information System (INIS)

Furusho, Junji; Usui, Hiroyuki

1989-01-01

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

Computer control of a multi-link manipulator

International Nuclear Information System (INIS)

Holt, J.E.; Thiruarooran, C.

1988-01-01

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

Dynamic Control of Kinematically Redundant Robotic Manipulators

Directory of Open Access Journals (Sweden)

Erling Lunde

1987-07-01

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

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

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…

Active manipulation of the selective alignment by two laser pulses

International Nuclear Information System (INIS)

Zeng-Qiang, Yang; Zhi-Rong, Guo; Gui-Xian, Ge

2010-01-01

This paper solves numerically the full time-dependent Schrödinger equation based on the rigid rotor model, and proposes a novel strategy to determine the optimal time delay of the two laser pulses to manipulate the molecular selective alignment. The results illustrate that the molecular alignment generated by the first pulse can be suppressed or enhanced selectively, the relative populations of even and odd rotational states in the final rotational wave packet can be manipulated selectively by precisely inserting the peak of the second laser pulse at the time when the slope for the alignment parameter by the first laser locates a local maximum for the even rotational states and a local minimum for the odds, and vice versa. The selective alignment can be further optimised by selecting the intensity ratio of the two laser pulses on the condition that the total laser intensity and pulse duration are kept constant. (atomic and molecular physics)

Test-retest reliability of infant event related potentials evoked by faces.

Science.gov (United States)

Munsters, N M; van Ravenswaaij, H; van den Boomen, C; Kemner, C

2017-04-05

Reliable measures are required to draw meaningful conclusions regarding developmental changes in longitudinal studies. Little is known, however, about the test-retest reliability of face-sensitive event related potentials (ERPs), a frequently used neural measure in infants. The aim of the current study is to investigate the test-retest reliability of ERPs typically evoked by faces in 9-10 month-old infants. The infants (N=31) were presented with neutral, fearful and happy faces that contained only the lower or higher spatial frequency information. They were tested twice within two weeks. The present results show that the test-retest reliability of the face-sensitive ERP components is moderate (P400 and Nc) to substantial (N290). However, there is low test-retest reliability for the effects of the specific experimental manipulations (i.e. emotion and spatial frequency) on the face-sensitive ERPs. To conclude, in infants the face-sensitive ERP components (i.e. N290, P400 and Nc) show adequate test-retest reliability, but not the effects of emotion and spatial frequency on these ERP components. We propose that further research focuses on investigating elements that might increase the test-retest reliability, as adequate test-retest reliability is necessary to draw meaningful conclusions on individual developmental trajectories of the face-sensitive ERPs in infants. Copyright © 2017 The Authors. Published by Elsevier Ltd.. All rights reserved.

Remote controlled in-pipe manipulators for milling, welding and EC-testing, for application in BWRS

International Nuclear Information System (INIS)

Seeberger, E.K.

2000-01-01

Many pipes in power plants and industrial facilities have piping sections, which are not accessible from the outside or which are difficult to access. Accordingly, remote controlled pipe machining manipulators have been built which enable in-pipe inspection and repair. Since the 1980s, defects have been found at the Inconel welds of the RPV nozzles of boiling water reactors throughout the world. These defects comprise cracks caused by stress corrosion cracking in areas of manual welds made using the weld filler metal Inconel 182. The cracks were found in Inconel-182 buttering at the ferritic nozzles as well as in the welded joints connecting to the fully-austenitic safe ends (Inconel 600 and stainless steel). These welds are not accessible from outside. The ferritic nozzle is cladded with austenitic material on the inside. The adjacent buttering was applied manually using the weld filler metal Inconel 182. The safe end made of Inconel 600 was welded to the nozzle also using Inconel 182 as the filler metal. The repair problems for inside were solved with remote-controlled in-pipe manipulators which enable in-pipe inspection and repair. A complete systems of manipulators has been developed and qualified for application in nuclear power plants. The tasks that must be performed with this set of in-pipe manipulator are as follows: 1st step - Insertion of the milling/ET manipulator into piping to the work location; 2nd step Detection of the transition line with the ferritic measurement probe; 3rd step - Performance of a surface crack examination by eddy current (ET) method; 4th step - Milling of the groove and preparation for weld backlay and, in case of ET indications, elimination of such flaws also by milling. 5th step - Welding of backlay and/or repair weld using the GTA pulsed arc technique; 6th step - After welding it is necessary to prepare the surface for eddy current testing. A final milling inside the pipe is done with the milling manipulator to adjust the

High precision redundant robotic manipulator

International Nuclear Information System (INIS)

Young, K.K.D.

1998-01-01

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

Bioprinting Living Biofilms through Optogenetic Manipulation.

Science.gov (United States)

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

2018-04-18

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

System reliability analysis with natural language and expert's subjectivity

International Nuclear Information System (INIS)

Onisawa, T.

1996-01-01

This paper introduces natural language expressions and expert's subjectivity to system reliability analysis. To this end, this paper defines a subjective measure of reliability and presents the method of the system reliability analysis using the measure. The subjective measure of reliability corresponds to natural language expressions of reliability estimation, which is represented by a fuzzy set defined on [0,1]. The presented method deals with the dependence among subsystems and employs parametrized operations of subjective measures of reliability which can reflect expert 's subjectivity towards the analyzed system. The analysis results are also expressed by linguistic terms. Finally this paper gives an example of the system reliability analysis by the presented method

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

Directory of Open Access Journals (Sweden)

Moharam Habibnejad Korayem

2012-10-01

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

Low back pain and its treatment by spinal manipulation: measures of flexibility and asymmetry.

Science.gov (United States)

Hoehler, F K; Tobis, J S

1982-02-01

Nineteen low back pain patients and eight patients not suffering from low back pain were given several tests of flexibility and asymmetry by two different examiners. Three criteria of reliability and validity were used: (1) significant agreement between independent observers, (2) significantly different scores in the groups with and without low back pain, and (3) significant improvement following a successful spinal manipulation. Tests of anterior flexion and asymmetry of foot eversion met only the first and second criteria while tests of hamstring tightness and asymmetry of voluntary straight leg raising met only the first and third criteria. Passive and voluntary straight leg raising tests were the only measures that met all three criteria. Therefore, of the objective tests investigated here, only passive or voluntary straight leg raising can be strongly recommended for use in the evaluation of spinal manipulative therapy for low back pain.

Master-slave-manipulator 'EMSM I'

International Nuclear Information System (INIS)

Koehler, G.W.; Salaske, M.

1976-01-01

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

Master-slave-manipulator EMSM I

International Nuclear Information System (INIS)

Koehler, G.W.; Salaske, M.

1976-01-01

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

[Case-control study on bone setting manipulation for the treatment of over degree II supination-eversion fractures of ankle joint].

Science.gov (United States)

Qi, Yue-Feng; Chen, Fa-Lin; Bao, Shu-Ren; Li, Cheng-Huan; Zhao, Xing-Wei; Liu, Shi-Ming; Chen, Wen-Xue; Li, Ye; Wang, Peng

2012-08-01

To explore therapeutic effects of bone setting manipulation for the treatment of over degree II supination-eversion fractures of ankle,and analyze manipulative reduction mechanism. From 2005 to 2008, 95 patients with over degree II supination-eversion fractures of ankle were treated respectively by manipulation and operation. There were 43 cases [11 males and 32 females with an average age of (44.95 +/- 12.65) years] in manipulation group, and 2 cases were degree II, 11 cases were degree III, and 30 cases were degree IV. There were 52 cases [21 males and 31 females with an average age of (39.96 +/- 13.28) years] in operative group,and 6 cases were degree II, 18 cases were degree III, and 28 cases were degree IV. Bone setting manipulation and hard splint external fixation were applied to manipulative group. Operative reduction internal fixation was performed in operative group. X-ray was used to evaluate reduction of fracture before and after treatment, 2 months after treatment. Ankle joint function was evaluated according to Olerud-Molander scoring system after 6 months treatment. All patients were followed up with good reduction. Three cases occurred wound complication in operative group, but not in manipulative group. In manipulation group, 19 cases got excellent results, 20 cases good and 4 cases fair; while in operative group, 30 cases got excellent results, 20 cases good and 2 cases poor. There were no significant differences in fracture reduction and ankle joint function recovery between two groups (P > 0.05). Efficacy of operative treatment was better than that of manipulative treatment at degree IV fracture (P ankle joint fractures, which has advantages of simple and safe operation, reliable efficacy. For ankle join fracture at degree IV, manipulative reduction should be adopted earlier, and operative treatment also necessary

Structuring Light to Manipulate Multipolar Resonances for Metamaterial Applications

Science.gov (United States)

Das, Tanya

Multipolar electromagnetic phenomena in sub-wavelength resonators are at the heart of metamaterial science and technology. Typically, researchers engineer multipolar light-matter interactions by modifying the size, shape, and composition of the resonators. Here, we instead engineer multipolar interactions by modifying properties of the incident radiation. In this dissertation, we propose a new framework for determining the scattering response of resonators based on properties of the local excitation field. First, we derive an analytical theory to determine the scattering response of spherical nanoparticles under any type of illumination. Using this theory, we demonstrate the ability to drastically manipulate the scattering properties of a spherical nanoparticle by varying the illumination and demonstrate excitation of a longitudinal quadrupole mode that cannot be accessed with conventional illumination. Next, we investigate the response of dielectric dimer structures illuminated by cylindrical vector beams. Using finite-difference time-domain simulations, we demonstrate significant modification of the scattering spectra of dimer antennas and reveal how the illumination condition gives rise to these spectra through manipulation of electric and magnetic mode hybridization. Finally, we present a simple and efficient numerical simulation based on local field principles for extracting the multipolar response of any resonator under illumination by structured light. This dissertation enhances the understanding of fundamental light-matter interactions in metamaterials and lays the foundation for researchers to identify, quantify, and manipulate multipolar light-matter interactions through optical beam engineering.

Using Manipulatives to Teach Elementary Mathematics

Science.gov (United States)

Boggan, Matthew; Harper, Sallie; Whitmire, Anna

2010-01-01

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

I Have a Dream: Organic Movements Include Gene Manipulation to Improve Sustainable Farming

Directory of Open Access Journals (Sweden)

Gerhart U. Ryffel

2017-03-01

Full Text Available Several papers in a Special Issue of Sustainability have recently discussed various aspects to evaluate whether organic farming and gene manipulation are compatible. A special emphasis was given to new plant breeding techniques (NPBTs. These new approaches allow the most predictable genetic alterations of crop plants in ways that the genetically modified plant is identical to a plant generated by conventional breeding. The articles of the Special Issue present the arguments pro and contra the inclusion of the plants generated by NPBTs in organic farming. Organic movements have not yet made a final decision whether some of these techniques should be accepted or banned. In my view these novel genetically manipulated (GM crops could be used in such a way as to respect the requirements for genetically manipulated organisms (GMOs formulated by the International Federation of Organic Movements (IFOAM. Reviewing the potential benefits of disease-resistant potatoes and bananas, it seems possible that these crops support organic farming. To this end, I propose specific requirements that the organic movements should proactively formulate as their standards to accept specific GM crops.

LMFBR fuel analysis. Task C. Reliability aspects of LMFBRs. Final report, July 1, 1975--September 30, 1976

International Nuclear Information System (INIS)

Apostolakis, G.E.; Cave, L.; Epler, E.P.; Ilberg, D.; Kastenberg, W.E.

1976-11-01

The reliability program which was established for the Clinch River Fast Breeder Reactor Project is reviewed. The review reveals several problems and uncertainties which need to be appropriately addressed by the reliability program. The main problems are stated to be the choice of the reliability criterion, the prospects of attaining high reliabilities of systems and critical structures, the role of external phenomena as well as the verification by tests and the reliability assurance program

Sampled control of vibration in suspended cask by using vibration manipulation functions

International Nuclear Information System (INIS)

Kotake, Shigeo

2014-01-01

Safe and reliable operation is most important for decommissioning the Fukushima 1 nuclear power plant. Especially it requires for transferring spent nuclear fuels from fuel pool to storage cask. Since the heavy cask will be suspended during the transferring operation, there is a risk of dropping it in case of the strike of large earthquakes. In this study, we introduce analytical functions to suppress residual vibration of a suspended cask by using vibration manipulation function. Hence the oscillation of the cask can be feedforward or sampled-data controlled by moving a trolley with analog actuator, the possible risk could be reduced. (author)

Research review and development trends of human reliability analysis techniques

International Nuclear Information System (INIS)

Li Pengcheng; Chen Guohua; Zhang Li; Dai Licao

2011-01-01

Human reliability analysis (HRA) methods are reviewed. The theoretical basis of human reliability analysis, human error mechanism, the key elements of HRA methods as well as the existing HRA methods are respectively introduced and assessed. Their shortcomings,the current research hotspot and difficult problems are identified. Finally, it takes a close look at the trends of human reliability analysis methods. (authors)

Nano-manipulation of single DNA molecules

International Nuclear Information System (INIS)

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

2004-01-01

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

Task based synthesis of serial manipulators

Directory of Open Access Journals (Sweden)

Sarosh Patel

2015-05-01

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

Reliability metrics extraction for power electronics converter stressed by thermal cycles

DEFF Research Database (Denmark)

Ma, Ke; Choi, Uimin; Blaabjerg, Frede

2017-01-01

Due to the continuous demands for highly reliable and cost-effective power conversion, the quantified reliability performances of the power electronics converter are becoming emerging needs. The existing reliability modelling approaches for the power electronics converter mainly focuses on the pr...... performance of power electronics system. The final predicted results showed good accuracy with much more reliability information compared to the existing approaches, and the quantified reliability correlation to the mission profiles of converter is mathematically established....

Collision Detection for Underwater ROV Manipulator Systems

Directory of Open Access Journals (Sweden)

Satja Sivčev

2018-04-01

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

Effect of image resolution manipulation in rearfoot angle measurements obtained with photogrammetry.

Science.gov (United States)

Sacco, I C N; Picon, A P; Ribeiro, A P; Sartor, C D; Camargo-Junior, F; Macedo, D O; Mori, E T T; Monte, F; Yamate, G Y; Neves, J G; Kondo, V E; Aliberti, S

2012-09-01

The aim of this study was to investigate the influence of image resolution manipulation on the photogrammetric measurement of the rearfoot static angle. The study design was that of a reliability study. We evaluated 19 healthy young adults (11 females and 8 males). The photographs were taken at 1536 pixels in the greatest dimension, resized into four different resolutions (1200, 768, 600, 384 pixels) and analyzed by three equally trained examiners on a 96-pixels per inch (ppi) screen. An experienced physiotherapist marked the anatomic landmarks of rearfoot static angles on two occasions within a 1-week interval. Three different examiners had marked angles on digital pictures. The systematic error and the smallest detectable difference were calculated from the angle values between the image resolutions and times of evaluation. Different resolutions were compared by analysis of variance. Inter- and intra-examiner reliability was calculated by intra-class correlation coefficients (ICC). The rearfoot static angles obtained by the examiners in each resolution were not different (P > 0.05); however, the higher the image resolution the better the inter-examiner reliability. The intra-examiner reliability (within a 1-week interval) was considered to be unacceptable for all image resolutions (ICC range: 0.08-0.52). The whole body image of an adult with a minimum size of 768 pixels analyzed on a 96-ppi screen can provide very good inter-examiner reliability for photogrammetric measurements of rearfoot static angles (ICC range: 0.85-0.92), although the intra-examiner reliability within each resolution was not acceptable. Therefore, this method is not a proper tool for follow-up evaluations of patients within a therapeutic protocol.

Adaptive tuning of a 2DOF controller for robust cell manipulation using IPMC actuators

International Nuclear Information System (INIS)

McDaid, A J; Aw, K C; Haemmerle, E; Xie, S Q; Shahinpoor, M

2011-01-01

Rapid advancement in medicine and bioscience is causing demand for faster, more accurate and dexterous as well as safer and more reliable micro-manipulators capable of handling biological cells. Current micro-manipulation techniques commonly damage cell walls and membranes due to their stiffness and rigidity. Ionic polymer-metal composite (IPMC) actuators have inherent compliance and with their ability to operate well in fluid and cellular environments they present a unique solution for safe cell manipulation. The reason for the downfall of IPMCs is that their complex behaviour makes them hard to control precisely in unknown environments and in the presence of sizeable external disturbances. This paper presents a novel scheme for adaptively tuning IPMC actuators for precise and robust micro-manipulation of biological cells. A two-degree-of-freedom (2DOF) controller is developed to allow optimal performance for both disturbance rejection (DR) and set point (SP) tracking. These criteria are optimized using a proposed IFT algorithm which adaptively updates the controller parameters, with no model or prior knowledge of the operating conditions, to achieve a compliant manipulation system which can precisely track targets in the presence of large external disturbances, as will be encountered in real biological environments. Experiments are presented showing the performance optimization of an IPMC actuator in the presence of external mechanical disturbances as well as the optimization of the SP tracking. The IFT algorithm successfully tunes the DR and SP to an 85% and 69% improvement, respectively. Results are also presented for a one-degree-of-freedom (1DOF) controller tuned first for DR and then for SP, for a comparison with the 2DOF controller. Validation has been undertaken to verify that the 2DOF controller does indeed outperform both 1DOF controllers over a variety of operating conditions.

Stainless steel decontamination manipulators

International Nuclear Information System (INIS)

Sullivan, R.J.

1986-01-01

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

Development of the maintenance process by the servo manipulator for the parts of the equipment outside the MSM's workspace in a hot cell

International Nuclear Information System (INIS)

Lee, J. Y.; Kim, S. H.; Song, D. K.; Park, B. S.; Yun, G. S.

2003-01-01

In this study, the maintenance process by the servo manipulator for the parts of the equipment that cannot be reached by MSM in the hot cell was developed. To do this, the virtual mock up is implemented using virtual prototyping technology. And, Using this mock-up, the workspace of the manipulators in the hot cell and the operator's view through the wall-mounted lead glass are analyzed. And the path planning of the servo manipulator using the collision detection of the virtual mockup is established. Also, the maintenance process for the parts of the equipment that are located out area of the MSM's workspace by the servo manipulator is proposed and verified through the graphic simulation. The proposed remote maintenance process of the equipment can be effectively used in the real hot cell operation. Also, the implemented virtual mock-up of the hot cell can be effecively used in analyzing the various hot cell operation and in enhancing the reliability and safety of the spent fuel manaement

3D Laser Scanner for Underwater Manipulation.

Science.gov (United States)

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

2018-04-04

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

78 FR 22773 - Revisions to Reliability Standard for Transmission Vegetation Management; Correction

Science.gov (United States)

2013-04-17

...; Order No. 777] Revisions to Reliability Standard for Transmission Vegetation Management; Correction... modifying certain Reliability Standards. DATES: Effective on May 28, 2013. FOR FURTHER INFORMATION CONTACT... Requirement R2 of Reliability Standard FAC-003-2 within 45 days of the effective date of the Final Rule, while...

Exploitation examination of reliability of coal dust systems

International Nuclear Information System (INIS)

Dojchinovski, Ilija; Trajkovski, Kole

1997-01-01

Designers and operators wish is, long, failure free operation at designed parameters of every system. Always we know the system start up time, but we don't know how long this system will operate successfully. Because of that in this article is given a method how, step by step, to determine the reliability of the system. Reliability parameters are obtained from experimental and operational data. When reliability parameters are determined then it is very easy to compare reliability of similar systems, for example excavators, or different systems, such as truck and rubber band transport system. Practical use of the theory of reliability is by purchasing of the systems when manufacturers have to have and present reliability parameters and on this way we can decide which system satisfies our needs regarding the quality-price-reliability. Reliability can be practically used in system operation where: 1) system reliability is maintained with proper start, use and shutdown of the system; 2) a system reliability is maintained with good maintenance organization; 3) a system reliability is maintained with innovations and improvements with final purpose removing of the imperfections experienced through the operation. Reliability is very important parameter in power generation plants. (Author)

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.

System Integration for Real-time Mobile Manipulation

OpenAIRE

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

2014-01-01

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

Modeling manipulation in medical education.

Science.gov (United States)

Dailey, Jason I

2010-05-01

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

Classifier Fusion With Contextual Reliability Evaluation.

Science.gov (United States)

Liu, Zhunga; Pan, Quan; Dezert, Jean; Han, Jun-Wei; He, You

2018-05-01

Classifier fusion is an efficient strategy to improve the classification performance for the complex pattern recognition problem. In practice, the multiple classifiers to combine can have different reliabilities and the proper reliability evaluation plays an important role in the fusion process for getting the best classification performance. We propose a new method for classifier fusion with contextual reliability evaluation (CF-CRE) based on inner reliability and relative reliability concepts. The inner reliability, represented by a matrix, characterizes the probability of the object belonging to one class when it is classified to another class. The elements of this matrix are estimated from the -nearest neighbors of the object. A cautious discounting rule is developed under belief functions framework to revise the classification result according to the inner reliability. The relative reliability is evaluated based on a new incompatibility measure which allows to reduce the level of conflict between the classifiers by applying the classical evidence discounting rule to each classifier before their combination. The inner reliability and relative reliability capture different aspects of the classification reliability. The discounted classification results are combined with Dempster-Shafer's rule for the final class decision making support. The performance of CF-CRE have been evaluated and compared with those of main classical fusion methods using real data sets. The experimental results show that CF-CRE can produce substantially higher accuracy than other fusion methods in general. Moreover, CF-CRE is robust to the changes of the number of nearest neighbors chosen for estimating the reliability matrix, which is appealing for the applications.

Enhancement of electromechanical manipulator performance by external sensory feedback

International Nuclear Information System (INIS)

Um, Taejun; Yoon, Jisup; Jung, Wootae; Lee, Jaesol.

1990-01-01

The electromechanical manipulator (EMM) is widely used in nuclear facilities because of its strength and mechanical reliability. Nevertheless, the lack of internal position or force feedback makes it unsuitable for many tasks that require a high level of dexterity. At the remote handling department of Korea Atomic Energy Research Institute, a series of research and development (R and D) activities was conducted to provide a higher degree of intelligence to the EMM with the aid of external sensory devices. These R and D activities focus on remote viewing and remote measurement in radioactive environments. As a result, an improved EMM system was achieved that incorporates various sensory devices such as a motion tracking system and a laser vision system. This paper presents detailed technical descriptions of these sensors and test results

Are chiropractic tests for the lumbo-pelvic spine reliable and valid? A systematic critical literature review

DEFF Research Database (Denmark)

Hestbaek, L; Leboeuf-Yde, C

2000-01-01

OBJECTIVE: To systematically review the peer-reviewed literature about the reliability and validity of chiropractic tests used to determine the need for spinal manipulative therapy of the lumbo-pelvic spine, taking into account the quality of the studies. DATA SOURCES: The CHIROLARS database......-pelvic spine were included. DATA EXTRACTION: Data quality were assessed independently by the two reviewers, with a quality score based on predefined methodologic criteria. Results of the studies were then evaluated in relation to quality. DATA SYNTHESIS: None of the tests studied had been sufficiently...... evaluated in relation to reliability and validity. Only tests for palpation for pain had consistently acceptable results. Motion palpation of the lumbar spine might be valid but showed poor reliability, whereas motion palpation of the sacroiliac joints seemed to be slightly reliable but was not shown...

Generic component reliability data for research reactors PSA. Final report of the CRP on data acquisition for research reactor PSA. Working material

International Nuclear Information System (INIS)

1993-01-01

The scope of this document is to provide the final reference generic component reliability database information for a variety of research reactor types. As noted in Section 2.1 and Table 3a, many years of component data are represented in the database so that it is expected that the report should provide representative data valid for a number of years. The database provides component failure rates on a time and/or a demand related basis according to the operational modes of the components. At the current time an update of the database is not planned. As a result of the implementation of data collection systems in the research reactors represented in these studies, updating of data from individual facilities could be made available from the contributing research reactor facilities themselves. As noted in Section 1.2, the report does not include detailed discussion of information regarding component classification and reliability parameter definitions. The report does provide some insights and discussion regarding the practicalities of the data collection process and some guidelines for database usage. 9 refs, tabs

Generic component reliability data for research reactors PSA. Final report of the CRP on data acquisition for research reactor PSA. Working material

Energy Technology Data Exchange (ETDEWEB)

NONE

1994-12-31

The scope of this document is to provide the final reference generic component reliability database information for a variety of research reactor types. As noted in Section 2.1 and Table 3a, many years of component data are represented in the database so that it is expected that the report should provide representative data valid for a number of years. The database provides component failure rates on a time and/or a demand related basis according to the operational modes of the components. At the current time an update of the database is not planned. As a result of the implementation of data collection systems in the research reactors represented in these studies, updating of data from individual facilities could be made available from the contributing research reactor facilities themselves. As noted in Section 1.2, the report does not include detailed discussion of information regarding component classification and reliability parameter definitions. The report does provide some insights and discussion regarding the practicalities of the data collection process and some guidelines for database usage. 9 refs, tabs.

Professional responsibility in relation to cervical spine manipulation.

Science.gov (United States)

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

2002-01-01

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

Reliability Based Ship Structural Design

DEFF Research Database (Denmark)

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

1996-01-01

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...... 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...... 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...

An Analysis of Manipulation Strategies in Stock Markets

OpenAIRE

Rasim Ozcan

2012-01-01

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

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

OpenAIRE

Boyer-Thurgood, Jennifer M.

2017-01-01

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

An integrated approach to human reliability analysis -- decision analytic dynamic reliability model

International Nuclear Information System (INIS)

Holmberg, J.; Hukki, K.; Norros, L.; Pulkkinen, U.; Pyy, P.

1999-01-01

The reliability of human operators in process control is sensitive to the context. In many contemporary human reliability analysis (HRA) methods, this is not sufficiently taken into account. The aim of this article is that integration between probabilistic and psychological approaches in human reliability should be attempted. This is achieved first, by adopting such methods that adequately reflect the essential features of the process control activity, and secondly, by carrying out an interactive HRA process. Description of the activity context, probabilistic modeling, and psychological analysis form an iterative interdisciplinary sequence of analysis in which the results of one sub-task maybe input to another. The analysis of the context is carried out first with the help of a common set of conceptual tools. The resulting descriptions of the context promote the probabilistic modeling, through which new results regarding the probabilistic dynamics can be achieved. These can be incorporated in the context descriptions used as reference in the psychological analysis of actual performance. The results also provide new knowledge of the constraints of activity, by providing information of the premises of the operator's actions. Finally, the stochastic marked point process model gives a tool, by which psychological methodology may be interpreted and utilized for reliability analysis

3D Laser Scanner for Underwater Manipulation

Directory of Open Access Journals (Sweden)

Albert Palomer

2018-04-01

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

A Method on Dynamic Path Planning for Robotic Manipulator Autonomous Obstacle Avoidance Based on an Improved RRT Algorithm.

Science.gov (United States)

Wei, Kun; Ren, Bingyin

2018-02-13

In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human-Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the process of improving robotic manipulator intelligence. Among the path-planning methods, the Rapidly Exploring Random Tree (RRT) algorithm based on random sampling has been widely applied in dynamic path planning for a high-dimensional robotic manipulator, especially in a complex environment because of its probability completeness, perfect expansion, and fast exploring speed over other planning methods. However, the existing RRT algorithm has a limitation in path planning for a robotic manipulator in a dynamic unstructured environment. Therefore, an autonomous obstacle avoidance dynamic path-planning method for a robotic manipulator based on an improved RRT algorithm, called Smoothly RRT (S-RRT), is proposed. This method that targets a directional node extends and can increase the sampling speed and efficiency of RRT dramatically. A path optimization strategy based on the maximum curvature constraint is presented to generate a smooth and curved continuous executable path for a robotic manipulator. Finally, the correctness, effectiveness, and practicability of the proposed method are demonstrated and validated via a MATLAB static simulation and a Robot Operating System (ROS) dynamic simulation environment as well as a real autonomous obstacle avoidance experiment in a dynamic unstructured environment for a robotic manipulator. The proposed method not only provides great practical engineering significance for a robotic manipulator's obstacle avoidance in an intelligent factory, but also theoretical reference value for other type of robots' path planning.

A portable modular architecture for robotic manipulator control

International Nuclear Information System (INIS)

Butler, P.L.

1993-01-01

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

Research on the Reliability Testing of Electrical Automation Control Equipment

OpenAIRE

Yongjie Luo

2014-01-01

According to the author’s many years’ work experience, this paper first discusses the concepts of electrical automation control equipment reliability testing, and then analyzes the test method of electrical automation control equipment reliability testing, finally, on this basis, this article discusses how to determine the reliability test method of electrical automation control equipment. Results of this study will provide a useful reference for electrical automation control equipment reliab...

Managerial Incentives and Stock Price Manipulation

OpenAIRE

Peng, Lin; Röell, Ailsa A

2009-01-01

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

Kinematic sensitivity of robot manipulators

Science.gov (United States)

Vuskovic, Marko I.

1989-01-01

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

A links manipulator simulation program interim report

International Nuclear Information System (INIS)

Noble, R.A.

1987-04-01

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

Kinematics of a Hybrid Manipulator by Means of Screw Theory

International Nuclear Information System (INIS)

Gallardo-Alvarado, J

2005-01-01

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

Reliability in the design phase

International Nuclear Information System (INIS)

Siahpush, A.S.; Hills, S.W.; Pham, H.; Majumdar, D.

1991-12-01

A study was performed to determine the common methods and tools that are available to calculated or predict a system's reliability. A literature review and software survey are included. The desired product of this developmental work is a tool for the system designer to use in the early design phase so that the final design will achieve the desired system reliability without lengthy testing and rework. Three computer programs were written which provide the first attempt at fulfilling this need. The programs are described and a case study is presented for each one. This is a continuing effort which will be furthered in FY-1992. 10 refs

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

, representative diagnosis performance metrics have been defined and their closed-form solutions obtained for the Markov model. These equations enable model parameterization from traces of implemented diagnosis components. The diagnosis model has been integrated in a reliability model assessing the impact...... 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....

Manipulators

International Nuclear Information System (INIS)

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

2005-01-01

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

Managing collaboration in the nanoManipulator

DEFF Research Database (Denmark)

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

2003-01-01

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

76 FR 16263 - Revision to Electric Reliability Organization Definition of Bulk Electric System

Science.gov (United States)

2011-03-23

...; Order No. 743-A] Revision to Electric Reliability Organization Definition of Bulk Electric System AGENCY... certain provisions of the Final Rule. Order No. 743 directed the Electric Reliability Organization (ERO) to revise the definition of the term ``bulk electric system'' through the ERO's Reliability Standards...

75 FR 72909 - Revision to Electric Reliability Organization Definition of Bulk Electric System

Science.gov (United States)

2010-11-26

... Bulk-Power System. See Rules Concerning Certification of the Electric Reliability Organization; and... Bulk-Power System in North America because it protects the reliability of the bulk electric system and... Electric Reliability Organization Definition of Bulk Electric System; Final Rule #0;#0;Federal Register...

Positional control of space robot manipulator

Science.gov (United States)

Kurochkin, Vladislav; Shymanchuk, Dzmitry

2018-05-01

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

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

Science.gov (United States)

Evans, David W

2010-06-01

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

Better with Byzantine: Manipulation-Optimal Mechanisms

Science.gov (United States)

Othman, Abraham; Sandholm, Tuomas

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

The TFTR maintenance manipulator

International Nuclear Information System (INIS)

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

1989-01-01

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

MANIPULATING CONSUMERS THROUGH ADVERTISING

Directory of Open Access Journals (Sweden)

Nicoleta -Andreea Neacşu

2012-12-01

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

A Method for Improving the Pose Accuracy of a Robot Manipulator Based on Multi-Sensor Combined Measurement and Data Fusion

Science.gov (United States)

Liu, Bailing; Zhang, Fumin; Qu, Xinghua

2015-01-01

An improvement method for the pose accuracy of a robot manipulator by using a multiple-sensor combination measuring system (MCMS) is presented. It is composed of a visual sensor, an angle sensor and a series robot. The visual sensor is utilized to measure the position of the manipulator in real time, and the angle sensor is rigidly attached to the manipulator to obtain its orientation. Due to the higher accuracy of the multi-sensor, two efficient data fusion approaches, the Kalman filter (KF) and multi-sensor optimal information fusion algorithm (MOIFA), are used to fuse the position and orientation of the manipulator. The simulation and experimental results show that the pose accuracy of the robot manipulator is improved dramatically by 38%∼78% with the multi-sensor data fusion. Comparing with reported pose accuracy improvement methods, the primary advantage of this method is that it does not require the complex solution of the kinematics parameter equations, increase of the motion constraints and the complicated procedures of the traditional vision-based methods. It makes the robot processing more autonomous and accurate. To improve the reliability and accuracy of the pose measurements of MCMS, the visual sensor repeatability is experimentally studied. An optimal range of 1 × 0.8 × 1 ∼ 2 × 0.8 × 1 m in the field of view (FOV) is indicated by the experimental results. PMID:25850067

Development of reliability-based safety enhancement technology

International Nuclear Information System (INIS)

Kim, Kil Yoo; Han, Sang Hoon; Jang, Seung Cherl

2002-04-01

This project aims to develop critical technologies and the necessary reliability DB for maximizing the economics in the NPP operation with keeping the safety using the information of the risk (or reliability). For the research goal, firstly the four critical technologies(Risk Informed Tech. Spec. Optimization, Risk Informed Inservice Testing, On-line Maintenance, Maintenance Rule) for RIR and A have been developed. Secondly, KIND (Korea Information System for Nuclear Reliability Data) has been developed. Using KIND, YGN 3,4 and UCN 3,4 component reliability DB have been established. A reactor trip history DB for all NPP in Korea also has been developed and analyzed. Finally, a detailed reliability analysis of RPS/ESFAS for KNSP has been performed. With the result of the analysis, the sensitivity analysis also has been performed to optimize the AOT/STI of tech. spec. A statistical analysis procedure and computer code have been developed for the set point drift analysis

Reliability analysis techniques for the design engineer

International Nuclear Information System (INIS)

Corran, E.R.; Witt, H.H.

1982-01-01

This paper describes a fault tree analysis package that eliminates most of the housekeeping tasks involved in proceeding from the initial construction of a fault tree to the final stage of presenting a reliability analysis in a safety report. It is suitable for designers with relatively little training in reliability analysis and computer operation. Users can rapidly investigate the reliability implications of various options at the design stage and evolve a system which meets specified reliability objectives. Later independent review is thus unlikely to reveal major shortcomings necessitating modification and project delays. The package operates interactively, allowing the user to concentrate on the creative task of developing the system fault tree, which may be modified and displayed graphically. For preliminary analysis, system data can be derived automatically from a generic data bank. As the analysis proceeds, improved estimates of critical failure rates and test and maintenance schedules can be inserted. The technique is applied to the reliability analysis of the recently upgraded HIFAR Containment Isolation System. (author)

Interaction control of a redundant mobile manipulator

International Nuclear Information System (INIS)

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

1998-01-01

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

On stiffening cables of a long reach manipulator

International Nuclear Information System (INIS)

Wang, S.L.; Santiago, P.

1996-01-01

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

Manipulation Robustness of Collaborative Filtering

OpenAIRE

Benjamin Van Roy; Xiang Yan

2010-01-01

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

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

Directory of Open Access Journals (Sweden)

Lagerev I.A.

2016-09-01

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

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...

Manipulator system for remote maintenance of fusion experimental reactor

International Nuclear Information System (INIS)

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

1991-01-01

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

Dynamic whole-body robotic manipulation

Science.gov (United States)

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

2013-05-01

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

Data manipulation with R

CERN Document Server

Abedin, Jaynal

2014-01-01

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

Stock Market Manipulation on the Hong Kong Stock Exchange

Directory of Open Access Journals (Sweden)

Dionigi Gerace

2014-10-01

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

Managing collaboration in the nanoManipulator

DEFF Research Database (Denmark)

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

2004-01-01

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

CircleBoard-Pro: Concrete manipulative-based learning cycle unit for learning geometry

Science.gov (United States)

Jamhari, Wongkia, Wararat

2018-01-01

Currently, a manipulative is commonly used in mathematics education as a supported tool for teaching and learning. With engaging natural interaction of a concrete manipulative and advantages of a learning cycle approach, we proposed the concrete manipulative-based learning cycle unit to promote mathematics learning. Our main objectives are to observe possibilities on the use of a concrete manipulative in learning geometry, and to assess students' understanding of a specific topic, angle properties in a circle, of secondary level students. To meet the first objective, the concrete manipulative, called CricleBoard-Pro, was designed. CircleBoard-Pro is built for easy to writing on or deleting from, accurate angle measurement, and flexible movement. Besides, learning activities and worksheets were created for helping students to learn angle properties in a circle. Twenty eighth graders on a lower secondary school in Indonesia were voluntarily involved to learn mathematics using CircleBoard-Pro with the designed learning activities and worksheets. We informally observed students' performance by focusing on criteria of using manipulative tools in learning mathematics while the learning activities were also observed in terms of whether they work and which step of activities need to be improved. The results of this part showed that CircleBoard-Pro complied the criteria of the use of the manipulative in learning mathematics. Nevertheless, parts of learning activities and worksheets need to be improved. Based on the results of the observation, CircleBoard-Pro, learning activities, and worksheets were merged together and became the CircleBoardPro embedded on 5E (Engage - Explore - Explain - Elaborate - Evaluate) learning cycle unit. Then, students understanding were assessed to reach the second objective. Six ninth graders from an Indonesian school in Thailand were recruited to participate in this study. Conceptual tests for both pre-and post-test, and semi

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

International Nuclear Information System (INIS)

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

1986-01-01

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

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.

A reliability analysis tool for SpaceWire network

Science.gov (United States)

Zhou, Qiang; Zhu, Longjiang; Fei, Haidong; Wang, Xingyou

2017-04-01

A SpaceWire is a standard for on-board satellite networks as the basis for future data-handling architectures. It is becoming more and more popular in space applications due to its technical advantages, including reliability, low power and fault protection, etc. High reliability is the vital issue for spacecraft. Therefore, it is very important to analyze and improve the reliability performance of the SpaceWire network. This paper deals with the problem of reliability modeling and analysis with SpaceWire network. According to the function division of distributed network, a reliability analysis method based on a task is proposed, the reliability analysis of every task can lead to the system reliability matrix, the reliability result of the network system can be deduced by integrating these entire reliability indexes in the matrix. With the method, we develop a reliability analysis tool for SpaceWire Network based on VC, where the computation schemes for reliability matrix and the multi-path-task reliability are also implemented. By using this tool, we analyze several cases on typical architectures. And the analytic results indicate that redundancy architecture has better reliability performance than basic one. In practical, the dual redundancy scheme has been adopted for some key unit, to improve the reliability index of the system or task. Finally, this reliability analysis tool will has a directive influence on both task division and topology selection in the phase of SpaceWire network system design.

Particle Manipulation Methods in Droplet Microfluidics.

Science.gov (United States)

Tenje, Maria; Fornell, Anna; Ohlin, Mathias; Nilsson, Johan

2018-02-06

This Feature describes the different particle manipulation techniques available in the droplet microfluidics toolbox to handle particles encapsulated inside droplets and to manipulate whole droplets. We address the advantages and disadvantages of the different techniques to guide new users.

Synchronized motion control and precision positioning compensation of a 3-DOFs macro-micro parallel manipulator fully actuated by piezoelectric actuators

Science.gov (United States)

Zhang, Quan; Li, Chaodong; Zhang, Jiantao; Zhang, Xu

2017-11-01

The macro-micro combined approach, as an effective way to realize trans-scale nano-precision positioning with multi-dimensions and high velocity, plays a significant role in integrated circuit manufacturing field. A 3-degree-of-freedoms (3-DOFs) macro-micro manipulator is designed and analyzed to compromise the conflictions among the large stroke, high precision and multi-DOFs. The macro manipulator is a 3-Prismatic-Revolute-Revolute (3-PRR) structure parallel manipulator which is driven by three linear ultrasonic motors. The dynamic model and the cross-coupling error based synchronized motion controller of the 3-PRR parallel manipulator are theoretical analyzed and experimental tested. To further improve the positioning accuracy, a 3-DOFs monolithic compliant manipulator actuated by three piezoelectric stack actuators is designed. Then a multilayer BP neural network based inverse kinematic model identifier is developed to perform the positioning control. Finally, by forming the macro-micro structure, the dual stage manipulator successfully achieved the positioning task from the point (2 mm, 2 mm, 0 rad) back to the original point (0 mm, 0 mm, 0 rad) with the translation errors in X and Y directions less than ±50 nm and the rotation error around Z axis less than ±1 μrad, respectively.

Reliability analysis of stiff versus flexible piping

International Nuclear Information System (INIS)

Lu, S.C.

1985-01-01

The overall objective of this research project is to develop a technical basis for flexible piping designs which will improve piping reliability and minimize the use of pipe supports, snubbers, and pipe whip restraints. The current study was conducted to establish the necessary groundwork based on the piping reliability analysis. A confirmatory piping reliability assessment indicated that removing rigid supports and snubbers tends to either improve or affect very little the piping reliability. The authors then investigated a couple of changes to be implemented in Regulatory Guide (RG) 1.61 and RG 1.122 aimed at more flexible piping design. They concluded that these changes substantially reduce calculated piping responses and allow piping redesigns with significant reduction in number of supports and snubbers without violating ASME code requirements. Furthermore, the more flexible piping redesigns are capable of exhibiting reliability levels equal to or higher than the original stiffer design. An investigation of the malfunction of pipe whip restraints confirmed that the malfunction introduced higher thermal stresses and tended to reduce the overall piping reliability. Finally, support and component reliabilities were evaluated based on available fragility data. Results indicated that the support reliability usually exhibits a moderate decrease as the piping flexibility increases. Most on-line pumps and valves showed an insignificant reduction in reliability for a more flexible piping design

Fast control of a M.A. 23 manipulator

International Nuclear Information System (INIS)

Mouhamed, Mayez al.

1981-07-01

The present paper deals with the problem of the control of manipulating robots. Several methodologies used to define the basic elements of a command language are described. Our main interest lies in the movement coordination level. For this purpose we shall study in more detail the functions built around a module representing a geometrical model. Then the problem of effort analysis by computer is investigated. Two heuristic methods enabling the computation of the forces applied to the effector are proposed. The functions described above are implemented in a 16 bits microprocessor unit (INTEL 8086) associated with a floating point coprocessor (INTEL 8087). Finally, the performance of the control system, particularly the 8 ms command cycle and the low cost of system are discussed [fr

Manipulation or Mobilisation for Neck Pain

NARCIS (Netherlands)

Gross, Anita; Miller, Jordan; D'Sylva, Jonathan; Burnie, Stephen J.; Goldsmith, Charles H.; Graham, Nadine; Haines, Ted; Brønfort, Gert; Hoving, Jan L.

2010-01-01

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

Modeling of Continuum Manipulators Using Pythagorean Hodograph Curves.

Science.gov (United States)

Singh, Inderjeet; Amara, Yacine; Melingui, Achille; Mani Pathak, Pushparaj; Merzouki, Rochdi

2018-05-10

Research on continuum manipulators is increasingly developing in the context of bionic robotics because of their many advantages over conventional rigid manipulators. Due to their soft structure, they have inherent flexibility, which makes it a huge challenge to control them with high performances. Before elaborating a control strategy of such robots, it is essential to reconstruct first the behavior of the robot through development of an approximate behavioral model. This can be kinematic or dynamic depending on the conditions of operation of the robot itself. Kinematically, two types of modeling methods exist to describe the robot behavior; quantitative methods describe a model-based method, and qualitative methods describe a learning-based method. In kinematic modeling of continuum manipulator, the assumption of constant curvature is often considered to simplify the model formulation. In this work, a quantitative modeling method is proposed, based on the Pythagorean hodograph (PH) curves. The aim is to obtain a three-dimensional reconstruction of the shape of the continuum manipulator with variable curvature, allowing the calculation of its inverse kinematic model (IKM). It is noticed that the performances of the PH-based kinematic modeling of continuum manipulators are considerable regarding position accuracy, shape reconstruction, and time/cost of the model calculation, than other kinematic modeling methods, for two cases: free load manipulation and variable load manipulation. This modeling method is applied to the compact bionic handling assistant (CBHA) manipulator for validation. The results are compared with other IKMs developed in case of CBHA manipulator.

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...

Agent Control for Reconfigurable Open Kinematic Chain Manipulators

Directory of Open Access Journals (Sweden)

Janez Sluga

2013-10-01

Full Text Available This paper presents a method for the autonomous control of differently structured open kinematic chains based on multi-agent system technology. The appropriate level of distributing local autonomy (agents to a manipulative structure is defined, which makes it possible to dynamically change the number, type and structure of manipulative components without modifying their behavioural logic. To achieve fast reconfigurable and scalable manipulative systems, a new multi-agent method is developed for controlling the manipulator kinematics. The new method enables independent manipulator structure from the control system because of its structural and system modularity. The proposed method consists of kinematic equations for use in an agent environment, agent motion-planning algorithms, evaluation functions, agent control logic and kinematic algorithms. The results of simulations and real-world experiments demonstrate the usefulness of the approach for different non-redundant and redundant manipulation structures.

Nonlinear dynamic analysis and state space representation of a manipulator under viscoelastic material conditions

Directory of Open Access Journals (Sweden)

Esfandiar, H.

2013-05-01

Full Text Available In this paper, based on the VoigtKelvin constitutive model, nonlinear dynamic modelling and state space representation of a viscoelastic beam acting as a flexible robotic manipulator is investigated. Complete nonlinear dynamic modelling of a viscoelastic beam without premature linearisation of dynamic equations is developed. The adopted method is capable of reproducing nonlinear dynamic effects, such as beam stiffening due to centrifugal and Coriolis forces induced by rotation of the joints. Structural damping effects on the models dynamic behaviour are also shown. A reliable model for a viscoelastic beam is subsequently presented. The governing equations of motion are derived using Hamiltons principle, and using the finite difference method, nonlinear partial differential equations are reduced to ordinary differential equations. For the purpose of flexible manipulator control, the standard form of state space equations for the viscoelastic link and the actuator is obtained. Simulation results indicate substantial improvements in dynamic behaviour, and a parameter sensitivity study is carried out to investigate the effect of structural damping on the vibration amplitude.

Sistem kontrol gerak kinematika robot gripper manipulator

Directory of Open Access Journals (Sweden)

Wayan Widhiada

2018-01-01

Full Text Available Abstrak Sistem robot manipulator ini merupakan mekanisme lengan yang terdiri dari serangkaian segmen yang digunakan untuk menangkap dan memindahkan benda dengan beberapa derajat kebebasan. Dalam perkembangannya, robot manipulator telah digunakan dalam melaksanakan misi tertentu dan membantu operasi di ruang angkasa. Robot biasanya berinteraksi dengan sistem tangan, dan dalam kegiatan industri tangan biasanya disebut sebagai gripper. Penulis menggunakan metode simulasi teknik yang dapat menentukan sistem gerak kinematika robot. Simulasi teknik adalah metode yang digunakan untuk mendesain dan menganalisa gerakan robot dimana hasil dari respon gerakan robot yang didapat mendekati hasil dalam keadaan sebenarnya. Simulasi juga dapat menghemat waktu dan biaya yang digunakan dalam mendesain robot gripper manipulator lima jari dengan elemen prismatik. Dengan menggunakan kontrol PID diharapkan respon gerak kinematik dari setiap joint robot manipulator mencapai perfomance yang terbaik seperti overshoot yang kecil, dan kondisi tenang (steady state dalam waktu yang singkat disertai dengan keselahan penggerak yang kecil. Melalui proses Advance tuning pada PID kontrol selesai didapatkan parameter penguat pada PID kontrol yaitu Kp = 0.7194, Ki = 8.306 dan Kd = 0.0061sehingga tercapai performance gerakan kinematika robot gripper manipulator yang terbaik sesuai yang dikehendaki oleh user dengan rise time yang singkat 0.52 detik, waktu puncak yang singkat 0.52 detik, maksimum overshoot yang kecil 1,8%, kesetebailan response dicapai pada 0.76 detik dan kesalahan penggerak yang sangat kecil 0.32%. Kata kunci: Robot gripper manipulator, PID control, gerakan kinematika Abstract A robot gripper manipulator system mechanism comprising a series of segments that are used to capture and move objects with multiple degrees of freedom. In the process, the robot manipulator has been used in carrying out the specific mission and assist operations in space. Robot manipulator

A dissociation between engagement and learning: Enthusiastic instructions fail to reliably improve performance on a memory task.

Directory of Open Access Journals (Sweden)

Benjamin A Motz

Full Text Available Despite widespread assertions that enthusiasm is an important quality of effective teaching, empirical research on the effect of enthusiasm on learning and memory is mixed and largely inconclusive. To help resolve these inconsistencies, we conducted a carefully-controlled laboratory experiment, investigating whether enthusiastic instructions for a memory task would improve recall accuracy. Scripted videos, either enthusiastic or neutral, were used to manipulate the delivery of task instructions. We also manipulated the sequence of learning items, replicating the spacing effect, a known cognitive technique for memory improvement. Although spaced study reliably improved test performance, we found no reliable effect of enthusiasm on memory performance across two experiments. We did, however, find that enthusiastic instructions caused participants to respond to more item prompts, leaving fewer test questions blank, an outcome typically associated with increased task motivation. We find no support for the popular claim that enthusiastic instruction will improve learning, although it may still improve engagement. This dissociation between motivation and learning is discussed, as well as its implications for education and future research on student learning.

A dissociation between engagement and learning: Enthusiastic instructions fail to reliably improve performance on a memory task.

Science.gov (United States)

Motz, Benjamin A; de Leeuw, Joshua R; Carvalho, Paulo F; Liang, Kaley L; Goldstone, Robert L

2017-01-01

Despite widespread assertions that enthusiasm is an important quality of effective teaching, empirical research on the effect of enthusiasm on learning and memory is mixed and largely inconclusive. To help resolve these inconsistencies, we conducted a carefully-controlled laboratory experiment, investigating whether enthusiastic instructions for a memory task would improve recall accuracy. Scripted videos, either enthusiastic or neutral, were used to manipulate the delivery of task instructions. We also manipulated the sequence of learning items, replicating the spacing effect, a known cognitive technique for memory improvement. Although spaced study reliably improved test performance, we found no reliable effect of enthusiasm on memory performance across two experiments. We did, however, find that enthusiastic instructions caused participants to respond to more item prompts, leaving fewer test questions blank, an outcome typically associated with increased task motivation. We find no support for the popular claim that enthusiastic instruction will improve learning, although it may still improve engagement. This dissociation between motivation and learning is discussed, as well as its implications for education and future research on student learning.

A Molecular Analysis of Training Multiple versus Single Manipulations to Establish a Generalized Manipulative Imitation Repertoire

Science.gov (United States)

Hartley, Breanne K.

2009-01-01

This study evaluates the necessity of training multiple versus single manipulative-imitations per object in order to establish generalized manipulative-imitation. Training took place in Croyden Avenue School's Early Childhood Developmental Delay preschool classroom in Kalamazoo, MI. Two groups of 3 children each were trained to imitate in order to…

Evaluation of Remote Collaborative Manipulation for Scientific Data Analysis

OpenAIRE

Fleury , Cédric; Duval , Thierry; Gouranton , Valérie; Steed , Anthony

2012-01-01

International audience; In the context of scientific data analysis, we propose to compare a remote collaborative manipulation technique with a single user manipulation technique. The manipulation task consists in positioning a clipping plane in order to perform cross-sections of scientific data which show several points of interest located inside this data. For the remote collaborative manipulation, we have chosen to use the 3-hand manipulation technique proposed by Aguerreche et al. which is...

Reconfigurable mobile manipulation for accident response

International Nuclear Information System (INIS)

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

2000-01-01

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

Phenomena of Inter-age Manipulations in Interaction "Teacher-Student"

Directory of Open Access Journals (Sweden)

Miklyaeva A.V.,

2017-01-01

Full Text Available Thearticlepresentsthe results of studies of the phenomenon empirical inter-age manipulation in the pedagogical interaction. Inter-age manipulation is considered a form of manipulation carried out on the basis of an appeal to the participants in the interaction age roles. Based on the results of a survey 109 teenagers 13-15 years, using a questionnaire, color test of relations and projective drawing shows that inter-age manipulation is a common way to impact on the students, elected teacher. Teachers are the subjects of inter-age manipulation more often than students. It was revealed that the effectiveness of inter-age manipulation in pedagogical interaction increases if it is meaningful is consistent with the normative content of age roles, as well as «inter-age distance" between the teacher and the students. The greatest effectiveness of have inter-age manipulation undertaken for older teachers, and manipulation "from below" from young teachers

Analysis of time-dependent reliability of degenerated reinforced concrete structure

Directory of Open Access Journals (Sweden)

Zhang Hongping

2016-07-01

Full Text Available Durability deterioration of structure is a highly random process. The maintenance of degenerated structure involves the calculation of the reliability of time-dependent structure. This study introduced reinforced concrete structure resistance decrease model and related statistical parameters of uncertainty, analyzed resistance decrease rules of corroded bending element of reinforced concrete structure, and finally calculated timedependent reliability of the corroded bending element of reinforced concrete structure, aiming to provide a specific theoretical basis for the application of time-dependent reliability theory.

An approach for assessing human decision reliability

International Nuclear Information System (INIS)

Pyy, P.

2000-01-01

This paper presents a method to study human reliability in decision situations related to nuclear power plant disturbances. Decisions often play a significant role in handling of emergency situations. The method may be applied to probabilistic safety assessments (PSAs) in cases where decision making is an important dimension of an accident sequence. Such situations are frequent e.g. in accident management. In this paper, a modelling approach for decision reliability studies is first proposed. Then, a case study with two decision situations with relatively different characteristics is presented. Qualitative and quantitative findings of the study are discussed. In very simple decision cases with time pressure, time reliability correlation proved out to be a feasible reliability modelling method. In all other decision situations, more advanced probabilistic decision models have to be used. Finally, decision probability assessment by using simulator run results and expert judgement is presented

Intrajudge and Interjudge Reliability of the Stuttering Severity Instrument-Fourth Edition.

Science.gov (United States)

Davidow, Jason H; Scott, Kathleen A

2017-11-08

The Stuttering Severity Instrument (SSI) is a tool used to measure the severity of stuttering. Previous versions of the instrument have known limitations (e.g., Lewis, 1995). The present study examined the intra- and interjudge reliability of the newest version, the Stuttering Severity Instrument-Fourth Edition (SSI-4) (Riley, 2009). Twelve judges who were trained on the SSI-4 protocol participated. Judges collected SSI-4 data while viewing 4 videos of adults who stutter at Time 1 and 4 weeks later at Time 2. Data were analyzed for intra- and interjudge reliability of the SSI-4 subscores (for Frequency, Duration, and Physical Concomitants), total score, and final severity rating. Intra- and interjudge reliability across the subscores and total score concurred with the manual's reported reliability when reliability was calculated using the methods described in the manual. New calculations of judge agreement produced different values from those in the manual-for the 3 subscores, total score, and final severity rating-and provided data absent from the manual. Clinicians and researchers who use the SSI-4 should carefully consider the limitations of the instrument. Investigation into the multitasking demands of the instrument may provide information on whether separating the collection of data for specific variables will improve intra- and interjudge reliability of those variables.

Reliability of steam-turbine rotors. Task 1. Lifetime prediction analysis system. Final report

International Nuclear Information System (INIS)

Nair, P.K.; Pennick, H.G.; Peters, J.E.; Wells, C.H.

1982-12-01

Task 1 of RP 502, Reliability of Steam Turbine Rotors, resulted in the development of a computerized lifetime prediction analysis system (STRAP) for the automatic evaluation of rotor integrity based upon the results of a boresonic examination of near-bore defects. Concurrently an advanced boresonic examination system (TREES), designed to acquire data automatically for lifetime analysis, was developed and delivered to the maintenance shop of a major utility. This system and a semi-automated, state-of-the-art system (BUCS) were evaluated on two retired rotors as part of the Task 2 effort. A modified nonproprietary version of STRAP, called SAFER, is now available for rotor lifetime prediction analysis. STRAP and SAFER share a common fracture analysis postprocessor for rapid evaluation of either conventional boresonic amplitude data or TREES cell data. The final version of this postprocessor contains general stress intensity correlations for elliptical cracks in a radial stress gradient and provision for elastic-plastic instability of the ligament between an imbedded crack and the bore surface. Both linear elastic and ligament rupture models were developed for rapid analysis of linkup within three-dimensional clusters of defects. Bore stress-rupture criteria are included, but a creep-fatigue crack growth data base is not available. Physical and mechanical properties of air-melt 1CrMoV forgings are built into the program; however, only bounding values of fracture toughness versus temperature are available. Owing to the lack of data regarding the probability of flaw detection for the boresonic systems and of quantitative verification of the flaw linkup analysis, automatic evlauation of boresonic results is not recommended, and the lifetime prediction system is currently restricted to conservative, deterministic analysis of specified flaw geometries

Laser Diode Beam Basics, Manipulations and Characterizations

CERN Document Server

Sun, Haiyin

2012-01-01

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

Manipulatives Work!

Science.gov (United States)

Moch, Peggy L.

2001-01-01

Fifth graders (n=16) engaged in manipulative activities to improve their grasp of math concepts; one-third were identified as exceptional children. Posttest results after 12 lessons showed the overall class average increased from 49% to 59% and all areas improved compared to pretest scores. Attitude changes were also apparent. (Contains 24…

Seismic qualification of existing safety class manipulators

International Nuclear Information System (INIS)

Wu, Ting-shu; Moran, T.J.

1992-01-01

There are two bridge type electromechanical manipulators within a nuclear fuel handling facility which were constructed over twenty-five years ago. At that time, there were only minimal seismic considerations. These manipulators together with the facility are being reactivated. Detailed analyses have shown that the manipulators will satisfy the requirements of ANSI/AISC N690-1984 when they are subjected to loadings including the site specific design basis earthquake. 4 refs

Non-collocated fuzzy logic and input shaping control strategy for elastic joint manipulator: vibration suppression and time response analysis

Energy Technology Data Exchange (ETDEWEB)

Rashidifar, Mohammed Amin [Faculty of Mechanical Engineering, Islamic Azad University, SHADEGAN (Iran, Islamic Republic of); Rashidifar, Ali Amin, E-mail: rashidifar_58@yahoo.com [Computer Science, Islamic Azad University, SHADEGAN (Iran, Islamic Republic of)

2014-07-01

Conventional model-based control strategies are very complex and difficult to synthesize due to high complexity of the dynamics of robots manipulator considering joint elasticity. This paper presents investigations into the development of hybrid control schemes for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, initially a collocated proportional-derivative (P D)-type Fuzzy Logic Controller (FLC) is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated Fuzzy Logic Controller and input shaping scheme for vibration reduction of the flexible joint system. The positive zero-vibration-derivative-derivative (ZVDD) shaper is designed based on the properties of the system. Simulation 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. (Author)

Control of master-slave manipulator using virtual force

International Nuclear Information System (INIS)

Kosuge, Kazuhiro; Fukuda, Toshio; Itoh, Tomotaka; Sakamoto, Keizoh; Noma, Yasuo.

1994-01-01

We propose a control system for a master-slave manipulator system having a rate-controlled slave manipulator. In this system, the master manipulator is stiffness-controlled in the Cartesian coordinate system, and the slave manipulator is damping-controlled in the Cartesian coordinate system. The desired velocity of the slave arm is given by a displacement of the master arm from a nominal position. The operator feels virtual contact force from the environment because the contact force is proportional to the displacement when the slave arm motion is constrained by the environment. The proposed method is experimentally applied to manipulators with three degrees of freedom. The experimental results illustrate the validity of the proposed system. (author)

Dynamic Output Feedback Based Active Decentralized Fault-Tolerant Control for Reconfigurable Manipulator with Concurrent Failures

Directory of Open Access Journals (Sweden)

Yuanchun Li

2015-01-01

Full Text Available The goal of this paper is to describe an active decentralized fault-tolerant control (ADFTC strategy based on dynamic output feedback for reconfigurable manipulators with concurrent actuator and sensor failures. Consider each joint module of the reconfigurable manipulator as a subsystem, and treat the fault as the unknown input of the subsystem. Firstly, by virtue of linear matrix inequality (LMI technique, the decentralized proportional-integral observer (DPIO is designed to estimate and compensate the sensor fault online; hereafter, the compensated system model could be derived. Then, the actuator fault is estimated similarly by another DPIO using LMI as well, and the sufficient condition of the existence of H∞ fault-tolerant controller in the dynamic output feedback is presented for the compensated system model. Furthermore, the dynamic output feedback controller is presented based on the estimation of actuator fault to realize active fault-tolerant control. Finally, two 3-DOF reconfigurable manipulators with different configurations are employed to verify the effectiveness of the proposed scheme in simulation. The main advantages of the proposed scheme lie in that it can handle the concurrent faults act on the actuator and sensor on the same joint module, as well as there is no requirement of fault detection and isolation process; moreover, it is more feasible to the modularity of the reconfigurable manipulator.

How to Make the Most of Math Manipulatives.

Science.gov (United States)

Burns, Marilyn

1996-01-01

A discussion of how to use math manipulatives to teach elementary students focuses on essential program elements: what math manipulatives are and why they are used, common questions about math manipulatives, how one teacher introduced the geoboard into the classroom, and pattern block activities. (SM)

Security Techniques for Prevention of Rank Manipulation in Social Tagging Services including Robotic Domains

Directory of Open Access Journals (Sweden)

Okkyung Choi

2014-01-01

Full Text Available With smartphone distribution becoming common and robotic applications on the rise, social tagging services for various applications including robotic domains have advanced significantly. Though social tagging plays an important role when users are finding the exact information through web search, reliability and semantic relation between web contents and tags are not considered. Spams are making ill use of this aspect and put irrelevant tags deliberately on contents and induce users to advertise contents when they click items of search results. Therefore, this study proposes a detection method for tag-ranking manipulation to solve the problem of the existing methods which cannot guarantee the reliability of tagging. Similarity is measured for ranking the grade of registered tag on the contents, and weighted values of each tag are measured by means of synonym relevance, frequency, and semantic distances between tags. Lastly, experimental evaluation results are provided and its efficiency and accuracy are verified through them.

Security techniques for prevention of rank manipulation in social tagging services including robotic domains.

Science.gov (United States)

Choi, Okkyung; Jung, Hanyoung; Moon, Seungbin

2014-01-01

With smartphone distribution becoming common and robotic applications on the rise, social tagging services for various applications including robotic domains have advanced significantly. Though social tagging plays an important role when users are finding the exact information through web search, reliability and semantic relation between web contents and tags are not considered. Spams are making ill use of this aspect and put irrelevant tags deliberately on contents and induce users to advertise contents when they click items of search results. Therefore, this study proposes a detection method for tag-ranking manipulation to solve the problem of the existing methods which cannot guarantee the reliability of tagging. Similarity is measured for ranking the grade of registered tag on the contents, and weighted values of each tag are measured by means of synonym relevance, frequency, and semantic distances between tags. Lastly, experimental evaluation results are provided and its efficiency and accuracy are verified through them.

Satyam’s Manipulative Accounting Methodology Unveiled: An Experience of an Asian Economy

Directory of Open Access Journals (Sweden)

MADAN LAL BHASIN

2017-01-01

Full Text Available Manipulative accounting practices are perennial and such practices have occurred in all eras, in all countries and affected millions of corporations. Unfortunately, there are few loopholes in accounting and auditing standards, which provide leeway and thus motivate accounting professionals to use aggressively manipulation practices. In fact, manipulative accounting (MA involves the intentional cooking-up of financial records towards a pre-determined target. Every company indeed maneuvers the numbers, to a certain extent, as formally reported in its financial statements (FS to achieve budgetary targets and generously reward senior managers. From Enron, WorldCom to Satyam, it appeared that window-dressing leading to MA is a serious problem that is increasing both in its frequency and severity, which undermines the integrity of financial reports and eroded investors’ confidence. The responsibility of preventing, detecting and investigating financial frauds rests squarely on Board of Directors and they should adopt preventive steps. Despite the raft of CG, and financial disclosure reforms, corporate accounting still remains murky and companies continue to find ways to play ‘hide-and-seek’ game with the system. Satyam computers were once the crown jewel of Indian IT-industry but were brought to the ground by its founders in 2009 as a result of financial manipulations in FS. The present study provides a snapshot of how Mr. Raju (CEO and Chairman mastermind this maze of AM practices? Undoubtedly, Satyam scam is illegal and unethical in which computers were cleverly used to manipulate account books by creating fake invoices, inflating revenues, falsifying the cash and bank balances, showing non-existent interest on fixed deposits, showing ghost employees, and so on. Satyam fraud has shattered the dreams of investors, shocked the government and regulators and led to questioning of the accounting practices of auditors and CG norms in India. Finally

Computational simulator of robotic manipulators

International Nuclear Information System (INIS)

Leal, Alexandre S.; Campos, Tarcisio P.R.

1995-01-01

Robotic application for industrial plants is discussed and a computational model for a mechanical manipulator of three links is presented. A neural network feed-forward type has been used to model the dynamic control of the manipulator. A graphic interface was developed in C programming language as a virtual world in order to visualize and simulate the arm movements handling radioactive waste environment. (author). 7 refs, 5 figs

Advanced manipulator system for large hot cells

International Nuclear Information System (INIS)

Vertut, J.; Moreau, C.; Brossard, J.P.

1981-01-01

Large hot cells can be approached as extrapolated from smaller ones as wide, higher or longer in size with the same concept of using mechanical master slave manipulators and high density windows. This concept leads to a large number of working places and corresponding equipments, with a number of penetrations through the biological protection. When the large cell does not need a permanent operation of number of work places, as in particular to serve PIE machines and maintain the facility, use of servo manipulators with a large supporting unit and extensive use of television appears optimal. The advance on MA 23 and supports will be described including the extra facilities related to manipulators introduction and maintenance. The possibility to combine a powered manipulator and MA 23 (single or pair) on the same boom crane system will be described. An advance control system to bring the minimal dead time to control support movement, associated to the master slave arm operation is under development. The general television system includes over view cameras, associated with the limited number of windows, and manipulators camera. A special new system will be described which brings an automatic control of manipulator cameras and saves operator load and dead time. Full scale tests with MA 23 and support will be discussed. (author)

Digital Manipulation in Scientific Images: Some Ethical Considerations.

Science.gov (United States)

Hayden, James E.

2000-01-01

Discusses the importance of images in the publishing and presentation of scientific research. Explains the use of photographs as scientific data in research. Lists some reasons for the manipulation of images, and clarifies the acceptable and unacceptable limits of manipulation and image manipulation policy. (Author/YDS)

Manipulating stored phonological input during verbal working memory

Science.gov (United States)

Cogan, Gregory B.; Iyer, Asha; Melloni, Lucia; Thesen, Thomas; Friedman, Daniel; Doyle, Werner; Devinsky, Orrin; Pesaran, Bijan

2016-01-01

Verbal working memory (vWM), involves storing and manipulating information in phonological sensory input. An influential theory of vWM proposes that manipulation is carried out by a central executive while storage is performed by two interacting systems: A phonological input buffer that captures sound-based information and an articulatory rehearsal system that controls speech motor output. Whether, when, and how neural activity in the brain encodes these components remains unknown. Here, we read-out the contents of vWM from neural activity in human subjects as they manipulate stored speech sounds. As predicted, we identify storage systems that contain both phonological sensory and articulatory motor representations. Surprisingly however, we find that manipulation does not involve a single central executive but rather involves two systems with distinct contributions to successful manipulation. We propose, therefore, that multiple subsystems comprise the central executive needed to manipulate stored phonological input for articulatory motor output in vWM. PMID:27941789

The development of radiation hardened tele-robot system - Development of path-planning and control technology for tele-operated redundant manipulator

Energy Technology Data Exchange (ETDEWEB)

Chang, Pyung Hun; Park, Ki Cheol; Park, Suk Ho [Korea Advanced Institute of Science and Technology, Taejon (Korea)

1999-04-01

This project focuses on the development of the control system for a teleoperated redundant manipulator, which performs many tasks dexterously, while avoiding obstacles, instead of human workers in the extreme situations like nuclear power plants. To this end, four consecutive research works have been performed. First, two new methods for global path-planning have been developed to inspect the global behavior of the redundant manipulator. Second, characteristics of optimal solutions(COS) under inequality constraints have been analyzed and, using the COS, how to greatly enhance the conventional redundancy resolution methods in terms of performance and repeatability has also been proposed. Third, an effective control method for a redundant manipulator has been developed, which incorporates all kinds of physical limits into practical inequality constraints and is computationally efficient for real-time purposes. Finally, using this control method as the controller of the slave redundant manipulator and developing a master manipulator, the inertial torque and gravitation torque of which are negligible, a force-reflected teleoperation control system has been developed. Through the teleoperation control system, human operator can accurately control the position and the force of the end-effector of the slave manipulator while feeling the interaction force between the slave and the workpiece. In addition, the slave redundant manipulator autonomously can control the impedance and can optimize a given performance measure while avoiding physical limits such as joint angle limits and obstacles. 49 refs., 43 figs., 10 tabs. (Author)

Manipulation of biological samples using micro and nano techniques.

Science.gov (United States)

Castillo, Jaime; Dimaki, Maria; Svendsen, Winnie Edith

2009-01-01

The constant interest in handling, integrating and understanding biological systems of interest for the biomedical field, the pharmaceutical industry and the biomaterial researchers demand the use of techniques that allow the manipulation of biological samples causing minimal or no damage to their natural structure. Thanks to the advances in micro- and nanofabrication during the last decades several manipulation techniques offer us the possibility to image, characterize and manipulate biological material in a controlled way. Using these techniques the integration of biomaterials with remarkable properties with physical transducers has been possible, giving rise to new and highly sensitive biosensing devices. This article reviews the different techniques available to manipulate and integrate biological materials in a controlled manner either by sliding them along a surface (2-D manipulation), by grapping them and moving them to a new position (3-D manipulation), or by manipulating and relocating them applying external forces. The advantages and drawbacks are mentioned together with examples that reflect the state of the art of manipulation techniques for biological samples (171 references).

Improvement of the M/S manipulator maintenance at OSL

International Nuclear Information System (INIS)

Kuwana, Koichi; Ouchi, Hiroshi; Ito, Yutaka; Sato, Yoshihiro; Midorikawa, Mituhiro; Hayakawa, Tuyoshi

2010-01-01

The safeguards inspection samples from the JNFL Rokkasho Reprocessing Plant (RRP) are received and analyzed at the On Site Laboratory (OSL). Since the samples from the input accountancy tank of the RRP contain a lot of fission products, they are treated in a hot-cell line with a M/S (Master /Slave) manipulator. Special equipment and tools were used for the maintenance of the M/S manipulator, especially for the exchange of the M/S manipulator. However, the manipulator exchange work was not easy due to the limitation of the space in the OSL. For solution to this problem, a monorail and monorail hoist equipment was installed onto wall surface of analytical room close to each M/S manipulator, and then it made the exchange of M/S manipulator easy without special equipment and tools. Additionally, operator was freed from the burden of working space arranging for the exchange of M/S manipulator such as removing of analytical equipments. This report represents the improvement of operation for the exchange of M/S manipulator with installation of monorail and hoist equipment. (author)

Lazy motion planning for robotic manipulators

NARCIS (Netherlands)

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

2017-01-01

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

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.

Assessment of the reliability of ultrasonic inspection methods

International Nuclear Information System (INIS)

Haines, N.F.; Langston, D.B.; Green, A.J.; Wilson, R.

1982-01-01

The reliability of NDT techniques has remained an open question for many years. A reliable technique may be defined as one that, when rigorously applied by a number of inspection teams, consistently finds then correctly sizes all defects of concern. In this paper we report an assessment of the reliability of defect detection by manual ultrasonic methods applied to the inspection of thick section pressure vessel weldments. Initially we consider the available data relating to the inherent physical capabilities of ultrasonic techniques to detect cracks in weldment and then, independently, we assess the likely variability in team to team performance when several teams are asked to follow the same specified test procedure. The two aspects of 'capability' and 'variability' are brought together to provide quantitative estimates of the overall reliability of ultrasonic inspection of thick section pressure vessel weldments based on currently existing data. The final section of the paper considers current research programmes on reliability and presents a view on how these will help to further improve NDT reliability. (author)

Can earnings manipulation create value?

OpenAIRE

Anton Miglo

2008-01-01

Existing literature usually considers earnings manipulation to be a negative social phenomenon. We argue that earnings manipulation can be a part of the equilibrium relationships between firm's insiders and outsiders. We consider an optimal contract between an entrepreneur and an investor where the entrepreneur is subject to a double moral hazard problem (one being the choice of production effort and the other being intertemporal substitution, which consists of transferring cash flows between...

A Geometry Deformation Model for Braided Continuum Manipulators

Directory of Open Access Journals (Sweden)

S. M. Hadi Sadati

2017-06-01

Full Text Available Continuum manipulators have gained significant attention in the robotic community due to their high dexterity, deformability, and reachability. Modeling of such manipulators has been shown to be very complex and challenging. Despite many research attempts, a general and comprehensive modeling method is yet to be established. In this paper, for the first time, we introduce the bending effect in the model of a braided extensile pneumatic actuator with both stiff and bendable threads. Then, the effect of the manipulator cross-section deformation on the constant curvature and variable curvature models is investigated using simple analytical results from a novel geometry deformation method and is compared to experimental results. We achieve 38% mean reference error simulation accuracy using our constant curvature model for a braided continuum manipulator in presence of body load and 10% using our variable curvature model in presence of extensive external loads. With proper model assumptions and taking to account the cross-section deformation, a 7–13% increase in the simulation mean error accuracy is achieved compared to a fixed cross-section model. The presented models can be used for the exact modeling and design optimization of compound continuum manipulators by providing an analytical tool for the sensitivity analysis of the manipulator performance. Our main aim is the application in minimal invasive manipulation with limited workspaces and manipulators with regional tunable stiffness in their cross section.

Using wind plant data to increase reliability.

Energy Technology Data Exchange (ETDEWEB)

Peters, Valerie A. (Sandia National Laboratories, Livermore, CA); Ogilvie, Alistair B.; McKenney, Bridget L.

2011-01-01

Operators interested in improving reliability should begin with a focus on the performance of the wind plant as a whole. To then understand the factors which drive individual turbine performance, which together comprise the plant performance, it is necessary to track a number of key indicators. Analysis of these key indicators can reveal the type, frequency, and cause of failures and will also identify their contributions to overall plant performance. The ideal approach to using data to drive good decisions includes first determining which critical decisions can be based on data. When those required decisions are understood, then the analysis required to inform those decisions can be identified, and finally the data to be collected in support of those analyses can be determined. Once equipped with high-quality data and analysis capabilities, the key steps to data-based decision making for reliability improvements are to isolate possible improvements, select the improvements with largest return on investment (ROI), implement the selected improvements, and finally to track their impact.

Physics Based Vision Systems for Robotic Manipulation

Data.gov (United States)

National Aeronautics and Space Administration — With the increase of robotic manipulation tasks (TA4.3), specifically dexterous manipulation tasks (TA4.3.2), more advanced computer vision algorithms will be...

A methodology to incorporate organizational factors into human reliability analysis

International Nuclear Information System (INIS)

Li Pengcheng; Chen Guohua; Zhang Li; Xiao Dongsheng

2010-01-01

A new holistic methodology for Human Reliability Analysis (HRA) is proposed to model the effects of the organizational factors on the human reliability. Firstly, a conceptual framework is built, which is used to analyze the causal relationships between the organizational factors and human reliability. Then, the inference model for Human Reliability Analysis is built by combining the conceptual framework with Bayesian networks, which is used to execute the causal inference and diagnostic inference of human reliability. Finally, a case example is presented to demonstrate the specific application of the proposed methodology. The results show that the proposed methodology of combining the conceptual model with Bayesian Networks can not only easily model the causal relationship between organizational factors and human reliability, but in a given context, people can quantitatively measure the human operational reliability, and identify the most likely root causes or the prioritization of root causes caused human error. (authors)

Implementation and analysis of trajectory schemes for informate: a serial link robot manipulator

International Nuclear Information System (INIS)

Rauf, A.; Ahmed, S.M.; Asif, M.; Ahmad, M.

1997-01-01

Trajectory planning schemes generally interpolate or approximate the desired path by a class of polynomial functions and generate a sequence of time based control set points for the control of the manipulator movement from certain initial configuration to final configuration. Schemes for trajectory generation can be implemented in Joint space and in Cartesian space. This paper describes Joint Space trajectory schemes and Cartesian Space trajectory schemes and their implementation for Infomate, a six degrees of freedom serial link robot manipulator. LSPBs and cubic Spline are chosen as interpolating functions of time for each type of schemes. Modules developed have been incorporated in an OLP system for Infomate. Trajectory planning Schemes discussed in this paper incorporate the constraints of velocities and accelerations of the actuators. comparison with respect to computation and motion time is presented for above mentioned trajectory schemes. Algorithms have been developed that enable the end effector to follow a straight line; other paths like circle, ellipse, etc. can be approximated by straight line segments. (author)

Distinguishing manipulated stocks via trading network analysis

Science.gov (United States)

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

2011-10-01

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

Development of a maintenance manipulator for TFTR

International Nuclear Information System (INIS)

Holloway, C.

1986-01-01

The maintenance manipulator is a device permanently connected to the Tokamak Fusion Test Reactor (TFTR) vacuum vessel and is located in close proximity to the tokamak. It is used for the inspection and maintenance of in-vessel components whilst the machine remains under vacuum. The total system comprises a vacuum vessel ante-chamber that houses the manipulator, an articulated boom and carriage that transports and positions a dexterous end-effector, and end-effector that supports maintenance tooling, and an inspection system. Because of the maintenance manipulator's operating environment, there are many challenging engineering features, i.e., temperatures up to 150 0 C, changing magnetic fields in space and time that act on the manipulator whilst it is at rest, neutron neutron fluxes of up to 10/sup 11/cm/sup -2/s/sup -1/, and, last but not least, UHV conditions. This paper describes the development of the vacuum system, the maintenance manipulator, and inspective devices. It includes the methods employed to overcome the engineering difficulties and the application of information gained from other advanced technology programs, such as space and nuclear fission

Item Analysis to Improve Reliability for an Internal Medicine Undergraduate OSCE

Science.gov (United States)

Auewarakul, Chirayu; Downing, Steven M.; Praditsuwan, Rungnirand; Jaturatamrong, Uapong

2005-01-01

Utilization of objective structured clinical examinations (OSCEs) for final assessment of medical students in Internal Medicine requires a representative sample of OSCE stations. The reliability and generalizability of OSCE scores provides validity evidence for OSCE scores and supports its contribution to the final clinical grade of medical…

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.

Reliability evaluation of microgrid considering incentive-based demand response

Science.gov (United States)

Huang, Ting-Cheng; Zhang, Yong-Jun

2017-07-01

Incentive-based demand response (IBDR) can guide customers to adjust their behaviour of electricity and curtail load actively. Meanwhile, distributed generation (DG) and energy storage system (ESS) can provide time for the implementation of IBDR. The paper focus on the reliability evaluation of microgrid considering IBDR. Firstly, the mechanism of IBDR and its impact on power supply reliability are analysed. Secondly, the IBDR dispatch model considering customer’s comprehensive assessment and the customer response model are developed. Thirdly, the reliability evaluation method considering IBDR based on Monte Carlo simulation is proposed. Finally, the validity of the above models and method is studied through numerical tests on modified RBTS Bus6 test system. Simulation results demonstrated that IBDR can improve the reliability of microgrid.

Nondestructive examination (NDE) Reliability for Inservice Inspection of Light Water Reactors

International Nuclear Information System (INIS)

Doctor, S.R.; Good, M.S.; Heasler, P.G.; Hockey, R.L.; Simonen, F.A.; Spanner, J.C.; Taylor, T.T.; Vo, T.V.

1992-07-01

The Evaluation and Improvement of NDE reliability for Inservice Inspection of Light Water Reactors (NDE Reliability) Program at the Pacific Northwest Laboratory was established by the Nuclear Regulatory Commission to determine the reliability of current inservice inspection (ISI) techniques and to develop recommendations that will ensure a suitably high inspection reliability. The objectives of this program include determining the reliability of ISI performed on the primary systems of commercial light-water reactors (LWRs); using probabilistic fracture mechanics analysis to determine the impact of NDE unreliability on system safety; and evaluating reliability improvements that can be achieved with improved and advanced technology. A final objective is to formulate recommended revisions to the Regulatory and ASME Code requirements, based on material properties, service conditions, and NDE uncertainties

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.

Methodology for allocating reliability and risk

International Nuclear Information System (INIS)

Cho, N.Z.; Papazoglou, I.A.; Bari, R.A.

1986-05-01

This report describes a methodology for reliability and risk allocation in nuclear power plants. The work investigates the technical feasibility of allocating reliability and risk, which are expressed in a set of global safety criteria and which may not necessarily be rigid, to various reactor systems, subsystems, components, operations, and structures in a consistent manner. The report also provides general discussions on the problem of reliability and risk allocation. The problem is formulated as a multiattribute decision analysis paradigm. The work mainly addresses the first two steps of a typical decision analysis, i.e., (1) identifying alternatives, and (2) generating information on outcomes of the alternatives, by performing a multiobjective optimization on a PRA model and reliability cost functions. The multiobjective optimization serves as the guiding principle to reliability and risk allocation. The concept of ''noninferiority'' is used in the multiobjective optimization problem. Finding the noninferior solution set is the main theme of the current approach. The final step of decision analysis, i.e., assessment of the decision maker's preferences could then be performed more easily on the noninferior solution set. Some results of the methodology applications to a nontrivial risk model are provided, and several outstanding issues such as generic allocation, preference assessment, and uncertainty are discussed. 29 refs., 44 figs., 39 tabs

Pose Space Surface Manipulation

Directory of Open Access Journals (Sweden)

Yusuke Yoshiyasu

2012-01-01

Full Text Available Example-based mesh deformation techniques produce natural and realistic shapes by learning the space of deformations from examples. However, skeleton-based methods cannot manipulate a global mesh structure naturally, whereas the mesh-based approaches based on a translational control do not allow the user to edit a local mesh structure intuitively. This paper presents an example-driven mesh editing framework that achieves both global and local pose manipulations. The proposed system is built with a surface deformation method based on a two-step linear optimization technique and achieves direct manipulations of a model surface using translational and rotational controls. With the translational control, the user can create a model in natural poses easily. The rotational control can adjust the local pose intuitively by bending and twisting. We encode example deformations with a rotation-invariant mesh representation which handles large rotations in examples. To incorporate example deformations, we infer a pose from the handle translations/rotations and perform pose space interpolation, thereby avoiding involved nonlinear optimization. With the two-step linear approach combined with the proposed multiresolution deformation method, we can edit models at interactive rates without losing important deformation effects such as muscle bulging.

Final Report: System Reliability Model for Solid-State Lighting (SSL) Luminaires

Energy Technology Data Exchange (ETDEWEB)

Davis, J. Lynn [RTI International, Research Triangle Park, NC (United States)

2017-05-31

The primary objectives of this project was to develop and validate reliability models and accelerated stress testing (AST) methodologies for predicting the lifetime of integrated SSL luminaires. This study examined the likely failure modes for SSL luminaires including abrupt failure, excessive lumen depreciation, unacceptable color shifts, and increased power consumption. Data on the relative distribution of these failure modes were acquired through extensive accelerated stress tests and combined with industry data and other source of information on LED lighting. This data was compiled and utilized to build models of the aging behavior of key luminaire optical and electrical components.

Development of an optimum end-effector with a nano-scale uneven surface for non-adhesion cell manipulation using a micro-manipulator

International Nuclear Information System (INIS)

Horade, M; Kojima, M; Kamiyama, K; Kurata, T; Mae, Y; Arai, T

2015-01-01

In order to realize effective micro-manipulation using a micro-manipulator system, an optimum end-effector is proposed. Cell-manipulation experiments using mouse fibroblast cells are conducted, and the usability of the proposed end-effector is confirmed. A key advantage of the micro-manipulator is high-accuracy, high-speed 3D micro- and nano-scale positioning. Micro-manipulation has often been used in research involving biological cells. However, there are two important concerns with the micro-manipulator system: gripping efficiency and the release of gripped objects. When it is not possible to grip a micro-object, such as a cell, near its center, the object may be dropped during manipulation. Since the acquisition of exact position information for a micro-object in the vertical direction is difficult using a microscope, the gripping efficiency of the end-effector should be improved. Therefore, technical skill or operational support is required. Since, on the micro-scale, surface forces such as the adsorption force are greater than body forces, such as the gravitational force, the adhesion force between the end-effector and the object is strong. Therefore, manipulation techniques without adhesion are required for placed an object at an arbitrary position. In the present study, we consider direct physical contact between the end-effector and objects. First, the design and materials of the end-effector for micro-scale manipulation were optimized, and an end-effector with an optimum shape to increase the grip force was fabricated. Second, the surface of the end-effector tip was made uneven, and the adhesion force from increasing on the micro-scale was prevented. When an end-effector with an uneven surface was used, release without adhesion was successful 85.0% of the time. On the other hand, when an end-effector without an uneven surface was used, release without adhesion was successful 6.25% of the time. Therefore, the superiority of a structure with an uneven

Judging Nudging : Answering the Manipulation Objection

NARCIS (Netherlands)

Nys, Thomas; Engelen, Bart

2017-01-01

Is it ever justified to ‘nudge’ people towards their own health? In this article, we argue that it is. We do so by arguing (1) that nudges are not necessarily – as is commonly thought – manipulative; (2) that even those nudges that are manipulative can be justified, for instance, when they preserve

Surgical manipulation of mammalian embryos in vitro.

Science.gov (United States)

Naruse, I; Keino, H; Taniguchi, M

1997-04-01

Whole-embryo culture systems are useful in the fields of not only embryology but also teratology, toxicology, pharmacology, and physiology. Of the many advantages of whole-embryo culture, we focus here on the surgical manipulation of mammalian embryos. Whole-embryo culture allows us to manipulate mammalian embryos, similarly to fish, amphibian and avian embryos. Many surgical experiments have been performed in mammalian embryos in vitro. Such surgical manipulation alters the destiny of morphogenesis of the embryos and can answer many questions concerning developmental issues. As an example of surgical manipulation using whole-embryo culture systems, one of our experiments is described. Microsurgical electrocauterization of the deep preaxial mesodermal programmed cell death zone (fpp) in the footplate prevented the manifestation of polydactyly in genetic polydactyly mouse embryos (Pdn/Pdn), in which fpp was abolished.

The Effect of Incorrect Reliability Information on Expectations, Perceptions, and Use of Automation.

Science.gov (United States)

Barg-Walkow, Laura H; Rogers, Wendy A

2016-03-01

We examined how providing artificially high or low statements about automation reliability affected expectations, perceptions, and use of automation over time. One common method of introducing automation is providing explicit statements about the automation's capabilities. Research is needed to understand how expectations from such introductions affect perceptions and use of automation. Explicit-statement introductions were manipulated to set higher-than (90%), same-as (75%), or lower-than (60%) levels of expectations in a dual-task scenario with 75% reliable automation. Two experiments were conducted to assess expectations, perceptions, compliance, reliance, and task performance over (a) 2 days and (b) 4 days. The baseline assessments showed initial expectations of automation reliability matched introduced levels of expectation. For the duration of each experiment, the lower-than groups' perceptions were lower than the actual automation reliability. However, the higher-than groups' perceptions were no different from actual automation reliability after Day 1 in either study. There were few differences between groups for automation use, which generally stayed the same or increased with experience using the system. Introductory statements describing artificially low automation reliability have a long-lasting impact on perceptions about automation performance. Statements including incorrect automation reliability do not appear to affect use of automation. Introductions should be designed according to desired outcomes for expectations, perceptions, and use of the automation. Low expectations have long-lasting effects. © 2015, Human Factors and Ergonomics Society.

Preparation, Single-Molecule Manipulation, and Energy Transfer Investigation of a Polyfluorene-graft-DNA polymer.

Science.gov (United States)

Madsen, Mikael; Christensen, Rasmus S; Krissanaprasit, Abhichart; Bakke, Mette R; Riber, Camilla F; Nielsen, Karina S; Zelikin, Alexander N; Gothelf, Kurt V

2017-08-04

Conjugated polymers have been intensively studied due to their unique optical and electronic properties combined with their physical flexibility and scalable bottom up synthesis. Although the bulk qualities of conjugated polymers have been extensively utilized in research and industry, the ability to handle and manipulate conjugated polymers at the nanoscale lacks significantly behind. Here, the toolbox for controlled manipulation of conjugated polymers was expanded through the synthesis of a polyfluorene-DNA graft-type polymer (poly(F-DNA)). The polymer possesses the characteristics associated with the conjugated polyfluorene backbone, but the protruding single-stranded DNA provides the material with an exceptional addressability. This study demonstrates controlled single-molecule patterning of poly(F-DNA), as well as energy transfer between two different polymer-DNA conjugates. Finally, highly efficient DNA-directed quenching of polyfluorene fluorescence was shown. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

Comprehending emergent systems phenomena through direct-manipulation animation

Science.gov (United States)

Aguirre, Priscilla Abel

This study seeks to understand the type of interaction mode that best supports learning and comprehension of emergent systems phenomena. Given that the literature has established that students hold robust misconceptions of such phenomena, this study investigates the influence of using three types of interaction; speed-manipulation animation (SMN), post-manipulation animation (PMA) and direct-manipulation animation (DMA) for increasing comprehension and testing transfer of the phenomena, by looking at the effect of simultaneous interaction of haptic and visual channels on long term and working memories when seeking to comprehend emergent phenomena. The questions asked were: (1) Does the teaching of emergent phenomena, with the aid of a dynamic interactive modeling tool (i.e., SMA, PMA or DMA), improve students' mental model construction of systems, thus increasing comprehension of this scientific concept? And (2) does the teaching of emergent phenomena, with the aid of a dynamic interactive modeling tool, give the students the necessary complex cognitive skill which can then be applied to similar (near transfer) and/or novel, but different, (far transfer) scenarios? In an empirical study undergraduate and graduate students were asked to participate in one of three experimental conditions: SMA, PMA, or DMA. The results of the study found that it was the participants of the SMA treatment condition that had the most improvement in post-test scores. Students' understanding of the phenomena increased most when they used a dynamic model with few interactive elements (i.e., start, stop, and speed) that allowed for real time visualization of one's interaction on the phenomena. Furthermore, no indication was found that the learning of emergent phenomena, with the aid of a dynamic interactive modeling tool, gave the students the necessary complex cognitive skill which could then be applied to similar (near transfer) and/or novel, but different, (far transfer) scenarios

Automatic camera tracking for remote manipulators

International Nuclear Information System (INIS)

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

1984-07-01

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

Automatic camera tracking for remote manipulators

International Nuclear Information System (INIS)

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

1984-04-01

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

Electrokinetic Phenomena in Chemically Manipulated Environments

Science.gov (United States)

Nery Azevedo, Rodrigo

diffusiophoretic velocity in zwitterions scales with the square of the intercharge distance. Finally, I demonstrate further applications of our hydrogel membrane-integrated devices by showcasing several case studies of unique experiments using our technique. I show diffusiophoresis under previously untested solutes such as butanol, acids, glycerol, and sucrose. I demonstrate a proof-of-principle experiment for colloidal tagging in microfluidic devices and for the study of chemotaxis. Lastly, I examine AC electrophoresis in chemically manipulated environments and I show the ability of our device to perform electrophoretic measurements in spatially homogeneous and time-evolving systems.

Near real time/low latency data collection for climate warming manipulations and an elevated CO2 SPRUCE experiment

Science.gov (United States)

Krassovski, M.; Hanson, P. J.; Riggs, J. S.; Nettles, W. R., IV

2017-12-01

Climate change studies are one of the most important aspects of modern science and related experiments are getting bigger and more complex. One such experiment is the Spruce and Peatland Responses Under Climatic and Environmental Change experiment (SPRUCE, http://mnspruce.ornl.gov) conducted in in northern Minnesota, 40 km north of Grand Rapids, in the USDA Forest Service Marcell Experimental Forest (MEF). The SPRUCE experimental mission is to assess ecosystem-level biological responses of vulnerable, high carbon terrestrial ecosystems to a range of climate warming manipulations and an elevated CO2 atmosphere. This manipulation experiment generates a lot of observational data and requires a reliable onsite data collection system, dependable methods to transfer data to a robust scientific facility, and real-time monitoring capabilities. This presentation shares our experience of establishing near real time/low latency data collection and monitoring system using satellite communication.

A systematic review of the use of dosage form manipulation to obtain required doses to inform use of manipulation in paediatric practice.

Science.gov (United States)

Richey, Roberta H; Hughes, Clare; Craig, Jean V; Shah, Utpal U; Ford, James L; Barker, Catrin E; Peak, Matthew; Nunn, Anthony J; Turner, Mark A

2017-02-25

This study sought to determine whether there is an evidence base for drug manipulation to obtain the required dose, a common feature of paediatric clinical practice. A systematic review of the data sources, PubMed, EMBASE, CINAHL, IPA and the Cochrane database of systematic reviews, was used. Studies that considered the dose accuracy of manipulated medicines of any dosage form, evidence of safety or harm, bioavailability, patient experience, tolerability, contamination and comparison of methods of manipulation were included. Case studies and letters were excluded. Fifty studies were eligible for inclusion, 49 of which involved tablets being cut, split, crushed or dispersed. The remaining one study involved the manipulation of suppositories of one drug. No eligible studies concerning manipulation of oral capsules or liquids, rectal enemas, nebuliser solutions, injections or transdermal patches were identified. Twenty four of the tablet studies considered dose accuracy using weight and/or drug content. In studies that considered weight using adapted pharmacopoeial specifications, the percentage of halved tablets meeting these specifications ranged from 30% to 100%. Eighteen studies investigated bioavailability, pharmacokinetics or clinical outcomes following manipulations which included nine delayed or modified release formulations. In each of these nine studies the entirety of the dosage form was administered. Only one of the 18 studies was identified where drugs were manipulated to obtain a proportion of the dosage form, and that proportion administered. The five studies that considered patient perception found that having to manipulate the tablets did not have a negative impact on adherence. Of the 49 studies only two studies reported investigating children. This review yielded limited evidence to support manipulation of medicines for children. The results cannot be extrapolated between dosage forms, methods of manipulation or between different brands of the same

Manipulators in deep ocean environments, needs versus technology

International Nuclear Information System (INIS)

Mackey, L.A.; Stenovec, G.M.

1984-01-01

As exploration and production proceed into deeper water, remotely operated vehicles (ROVs) and their manipulators acquire many of the tasks now performed by divers in shallower water. The resulting increased complexity of work tasks requires more dexterious manipulators. Even the most sophisticated of the manipulators today cannot perform many of the work tasks now performed by divers in shallower waters. Manipulators cannot yet duplicate the functions of the human hand. How much technology must be improved to perform the desired tasks, and how much adapting of the work task or equipment must be done to achieve a workable underwater robotics environment?

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. © 2015 The Author(s) Published by the Royal Society. All rights reserved.

Interpersonal relationship manipulation at a personal level

OpenAIRE

Andreja Hribernik

2010-01-01

Manipulation is not unknown or strange to any of us. We have all experienced it, or perhaps even practiced it. It is wrong not to recognize it, to find excuses for it, and, above all, it is wrong not to decide to change one’s behaviour. Long-lasting use of manipulation leaves consequences on all the parties involved: the victim, the observer and the perpetrator. Manipulation is a relation between persons which does not consider the needs of everybody involved. It means exploitation and mislea...

W-026, acceptance test report manipulator system

International Nuclear Information System (INIS)

Watson, T.L.

1997-01-01

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

Reliability analysis of idealized tunnel support system using probability-based methods with case studies

Science.gov (United States)

Gharouni-Nik, Morteza; Naeimi, Meysam; Ahadi, Sodayf; Alimoradi, Zahra

2014-06-01

In order to determine the overall safety of a tunnel support lining, a reliability-based approach is presented in this paper. Support elements in jointed rock tunnels are provided to control the ground movement caused by stress redistribution during the tunnel drive. Main support elements contribute to stability of the tunnel structure are recognized owing to identify various aspects of reliability and sustainability in the system. The selection of efficient support methods for rock tunneling is a key factor in order to reduce the number of problems during construction and maintain the project cost and time within the limited budget and planned schedule. This paper introduces a smart approach by which decision-makers will be able to find the overall reliability of tunnel support system before selecting the final scheme of the lining system. Due to this research focus, engineering reliability which is a branch of statistics and probability is being appropriately applied to the field and much effort has been made to use it in tunneling while investigating the reliability of the lining support system for the tunnel structure. Therefore, reliability analysis for evaluating the tunnel support performance is the main idea used in this research. Decomposition approaches are used for producing system block diagram and determining the failure probability of the whole system. Effectiveness of the proposed reliability model of tunnel lining together with the recommended approaches is examined using several case studies and the final value of reliability obtained for different designing scenarios. Considering the idea of linear correlation between safety factors and reliability parameters, the values of isolated reliabilities determined for different structural components of tunnel support system. In order to determine individual safety factors, finite element modeling is employed for different structural subsystems and the results of numerical analyses are obtained in

Final Technical Report for subcontract number B612144

Energy Technology Data Exchange (ETDEWEB)

Mayali, X. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Marcu, O. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States)

2017-09-11

The original statement of work stipulated that the Subcontractor shall perform bacterial and algal cultivation and manipulation, microbe isolation, preparation of samples for sequencing and isotopic analysis, data analysis, and manuscript preparation. The Subcontractor shall work closely with Dr. Mayali and other LLNL scientists, and shall participate in monthly SFA meetings (either in person or by telephone). The Subcontractor shall deliver a final report at the conclusion of the work.

Reliability Correction for Functional Connectivity: Theory and Implementation

Science.gov (United States)

Mueller, Sophia; Wang, Danhong; Fox, Michael D.; Pan, Ruiqi; Lu, Jie; Li, Kuncheng; Sun, Wei; Buckner, Randy L.; Liu, Hesheng

2016-01-01

Network properties can be estimated using functional connectivity MRI (fcMRI). However, regional variation of the fMRI signal causes systematic biases in network estimates including correlation attenuation in regions of low measurement reliability. Here we computed the spatial distribution of fcMRI reliability using longitudinal fcMRI datasets and demonstrated how pre-estimated reliability maps can correct for correlation attenuation. As a test case of reliability-based attenuation correction we estimated properties of the default network, where reliability was significantly lower than average in the medial temporal lobe and higher in the posterior medial cortex, heterogeneity that impacts estimation of the network. Accounting for this bias using attenuation correction revealed that the medial temporal lobe’s contribution to the default network is typically underestimated. To render this approach useful to a greater number of datasets, we demonstrate that test-retest reliability maps derived from repeated runs within a single scanning session can be used as a surrogate for multi-session reliability mapping. Using data segments with different scan lengths between 1 and 30 min, we found that test-retest reliability of connectivity estimates increases with scan length while the spatial distribution of reliability is relatively stable even at short scan lengths. Finally, analyses of tertiary data revealed that reliability distribution is influenced by age, neuropsychiatric status and scanner type, suggesting that reliability correction may be especially important when studying between-group differences. Collectively, these results illustrate that reliability-based attenuation correction is an easily implemented strategy that mitigates certain features of fMRI signal nonuniformity. PMID:26493163

Erratum: Comparative Analysis of Some Reliability Characteristics of ...

African Journals Online (AJOL)

... are analyzed using kolmogorov's forward equation method. Comparisons are performed for specific values of system parameters. Finally, the configurations are ranked based on MTSF and ( AV(∞)) and the results show that configuration 3 is optimal. Keywords: Reliability, Availability, Deterioration, Repair, Replacement.

The search engine manipulation effect (SEME) and its possible impact on the outcomes of elections.

Science.gov (United States)

Epstein, Robert; Robertson, Ronald E

2015-08-18

Internet search rankings have a significant impact on consumer choices, mainly because users trust and choose higher-ranked results more than lower-ranked results. Given the apparent power of search rankings, we asked whether they could be manipulated to alter the preferences of undecided voters in democratic elections. Here we report the results of five relevant double-blind, randomized controlled experiments, using a total of 4,556 undecided voters representing diverse demographic characteristics of the voting populations of the United States and India. The fifth experiment is especially notable in that it was conducted with eligible voters throughout India in the midst of India's 2014 Lok Sabha elections just before the final votes were cast. The results of these experiments demonstrate that (i) biased search rankings can shift the voting preferences of undecided voters by 20% or more, (ii) the shift can be much higher in some demographic groups, and (iii) search ranking bias can be masked so that people show no awareness of the manipulation. We call this type of influence, which might be applicable to a variety of attitudes and beliefs, the search engine manipulation effect. Given that many elections are won by small margins, our results suggest that a search engine company has the power to influence the results of a substantial number of elections with impunity. The impact of such manipulations would be especially large in countries dominated by a single search engine company.

Component fragility data base for reliability and probability studies

International Nuclear Information System (INIS)

Bandyopadhyay, K.; Hofmayer, C.; Kassier, M.; Pepper, S.

1989-01-01

Safety-related equipment in a nuclear plant plays a vital role in its proper operation and control, and failure of such equipment due to an earthquake may pose a risk to the safe operation of the plant. Therefore, in order to assess the overall reliability of a plant, the reliability of performance of the equipment should be studied first. The success of a reliability or a probability study depends to a great extent on the data base. To meet this demand, Brookhaven National Laboratory (BNL) has formed a test data base relating the seismic capacity of equipment specimens to the earthquake levels. Subsequently, the test data have been analyzed for use in reliability and probability studies. This paper describes the data base and discusses the analysis methods. The final results that can be directly used in plant reliability and probability studies are also presented in this paper

Reliability assessment of Indian Point Unit 3 containment structure

International Nuclear Information System (INIS)

Kawakami, J.; Hwang, H.; Chang, M.T.; Reich, M.

1984-01-01

In the current design criteria, the load combinations specified for design of concrete containment structures are in the deterministic formats. However, by applying the probability-based reliability method developed by BNL to the concrete containment structures designed according to the criteria, it is possible to evaluate the reliability levels implied in the current design criteria. For this purpose, the reliability analysis is applied to the Indian Point Unit No. 3 containment. The details of the containment structure such as the geometries and the rebar arrangements, etc., are taken from the working drawings and the final safety analysis reports. Three kinds of loads are considered in the reliability analysis. They are, dead load (D), accidental pressure due to a large LOCA (P), and earthquake ground acceleration (E). Reliability analysis of the containment subjected to all combinations of loads is performed. Results are presented in this report

Reliability Evaluation for Optimizing Electricity Supply in a Developing Country

Directory of Open Access Journals (Sweden)

Mark Ndubuka NWOHU

2007-09-01

Full Text Available The reliability standards for electricity supply in a developing country, like Nigeria, have to be determined on past engineering principles and practice. Because of the high demand of electrical power due to rapid development, industrialization and rural electrification; the economic, social and political climate in which the electric power supply industry now operates should be critically viewed to ensure that the production of electrical power should be augmented and remain uninterrupted. This paper presents an economic framework that can be used to optimize electric power system reliability. Finally the cost models are investigated to take into account the economic analysis of system reliability, which can be periodically updated to improve overall reliability of electric power system.

Autonomous Industrial Mobile Manipulation (AIMM)

DEFF Research Database (Denmark)

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

2012-01-01

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

Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators: Experimental Results for a Forestry Manipulator

Directory of Open Access Journals (Sweden)

Jarmo Nurmi

2017-05-01

Full Text Available This paper addresses the energy-inefficiency problem of four-degrees-of-freedom (4-DOF hydraulic manipulators through redundancy resolution in robotic closed-loop controlled applications. Because conventional methods typically are local and have poor performance for resolving redundancy with respect to minimum hydraulic energy consumption, global energy-optimal redundancy resolution is proposed at the valve-controlled actuator and hydraulic power system interaction level. The energy consumption of the widely popular valve-controlled load-sensing (LS and constant-pressure (CP systems is effectively minimised through cost functions formulated in a discrete-time dynamic programming (DP approach with minimum state representation. A prescribed end-effector path and important actuator constraints at the position, velocity and acceleration levels are also satisfied in the solution. Extensive field experiments performed on a forestry hydraulic manipulator demonstrate the performance of the proposed solution. Approximately 15–30% greater hydraulic energy consumption was observed with the conventional methods in the LS and CP systems. These results encourage energy-optimal redundancy resolution in future robotic applications of hydraulic manipulators.

MA-23-6000: underwater bilateral servo master slave manipulator

International Nuclear Information System (INIS)

Vertut, Jean

The different types of manipulators, recent data on their dexterity and the underwater work possible with servo master slave manipulators are reviewed. The general specifications of the manipulator MA 23-6000 designed for the machine ERIC II are given [fr

Advanced Bimanual Manipulation Results from the DEXMART Project

CERN Document Server

2012-01-01

Dexterous and autonomous manipulation is a key technology for the personal and service robots of the future. Advances in Bimanual Manipulation edited by Bruno Siciliano provides the robotics community with the most noticeable results of the four-year European project DEXMART (DEXterous and autonomous dual-arm hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition). The volume covers a host of highly important topics in the field, concerned with modelling and learning of human manipulation skills, algorithms for task planning, human-robot interaction, and grasping, as well as hardware design of dexterous anthropomorphic hands. The results described in this five-chapter collection are believed to pave the way towards the development of robotic systems endowed with dexterous and human-aware dual-arm/hand manipulation skills for objects, operating with a high degree of autonomy in unstructured real-world environments.

Dielectric nanoresonators for light manipulation

Science.gov (United States)

Yang, Zhong-Jian; Jiang, Ruibin; Zhuo, Xiaolu; Xie, Ya-Ming; Wang, Jianfang; Lin, Hai-Qing

2017-07-01

Nanostructures made of dielectric materials with high or moderate refractive indexes can support strong electric and magnetic resonances in the optical region. They can therefore function as nanoresonators. In addition to plasmonic metal nanostructures that have been widely investigated, dielectric nanoresonators provide a new type of building blocks for realizing powerful and versatile nanoscale light manipulation. In contrast to plasmonic metal nanostructures, nanoresonators made of appropriate dielectric materials are low-cost, earth-abundant and have very small or even negligible light energy losses. As a result, they will find potential applications in a number of photonic devices, especially those that require low energy losses. In this review, we describe the recent progress on the experimental and theoretical studies of dielectric nanoresonators. We start from the basic theory of the electromagnetic responses of dielectric nanoresonators and their fabrication methods. The optical properties of individual dielectric nanoresonators are then elaborated, followed by the coupling behaviors between dielectric nanoresonators, between dielectric nanoresonators and substrates, and between dielectric nanoresonators and plasmonic metal nanostructures. The applications of dielectric nanoresonators are further described. Finally, the challenges and opportunities in this field are discussed.

[Employees in high-reliability organizations: systematic selection of personnel as a final criterion].

Science.gov (United States)

Oubaid, V; Anheuser, P

2014-05-01

Employees represent an important safety factor in high-reliability organizations. The combination of clear organizational structures, a nonpunitive safety culture, and psychological personnel selection guarantee a high level of safety. The cockpit personnel selection process of a major German airline is presented in order to demonstrate a possible transferability into medicine and urology.

Analysis of singularity in redundant manipulators

International Nuclear Information System (INIS)

Watanabe, Koichi

2000-03-01

In the analysis of arm positions and configurations of redundant manipulators, the singularity avoidance problems are important themes. This report presents singularity avoidance computations of a 7 DOF manipulator by using a computer code based on human-arm models. The behavior of the arm escaping from the singular point can be identified satisfactorily through the use of 3-D plotting tools. (author)

Optical Manipulation System Using a Plurality of Optical Traps

DEFF Research Database (Denmark)

2006-01-01

The present invention relates to an optical manipulation system (10) for generation of a plurality of optical traps for manipulation of micro-objects including nano-objects using electromagnetic radiation forces in a micro-object manipulation volume (14), the system comprising a spatially modulat...

WORKSPACE DRAWING FROM A MANIPULATOR ARM WITH 6 DOF

Directory of Open Access Journals (Sweden)

NAIDIN Gigi

2011-06-01

Full Text Available Modelling and simulation is an important aspect in robotic field. Knowing of the workspace is very important to the operation of manipulators arm. This paper investigates operational performance of space manipulator arm destined for industrial manufacturing, by defining and analyzing their workspace and manipulability measure. The authors show that manipulator arm developing requires the consideration of more efficient dynamic models and use of dedicated processing techniques such as Autodesk-Inventor 9, MATLAB, WorkSpace software.

Integrated Reliability-Based Optimal Design of Structures

DEFF Research Database (Denmark)

Sørensen, John Dalsgaard; Thoft-Christensen, Palle

1987-01-01

In conventional optimal design of structural systems the weight or the initial cost of the structure is usually used as objective function. Further, the constraints require that the stresses and/or strains at some critical points have to be less than some given values. Finally, all variables......-based optimal design is discussed. Next, an optimal inspection and repair strategy for existing structural systems is presented. An optimization problem is formulated , where the objective is to minimize the expected total future cost of inspection and repair subject to the constraint that the reliability...... value. The reliability can be measured from an element and/or a systems point of view. A number of methods to solve reliability-based optimization problems has been suggested, see e.g. Frangopol [I]. Murotsu et al. (2], Thoft-Christensen & Sørensen (3] and Sørensen (4). For structures where...

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

CERN Document Server

From, Pal Johan; Pettersen, Kristin Ytterstad

2014-01-01

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

Protozoa manipulation by ultrasound

Directory of Open Access Journals (Sweden)

Yancy Milena Porras Rodríguez

2004-01-01

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

Adjoint sensitivity analysis of dynamic reliability models based on Markov chains - II: Application to IFMIF reliability assessment

Energy Technology Data Exchange (ETDEWEB)

Cacuci, D. G. [Commiss Energy Atom, Direct Energy Nucl, Saclay, (France); Cacuci, D. G.; Balan, I. [Univ Karlsruhe, Inst Nucl Technol and Reactor Safetly, Karlsruhe, (Germany); Ionescu-Bujor, M. [Forschungszentrum Karlsruhe, Fus Program, D-76021 Karlsruhe, (Germany)

2008-07-01

In Part II of this work, the adjoint sensitivity analysis procedure developed in Part I is applied to perform sensitivity analysis of several dynamic reliability models of systems of increasing complexity, culminating with the consideration of the International Fusion Materials Irradiation Facility (IFMIF) accelerator system. Section II presents the main steps of a procedure for the automated generation of Markov chains for reliability analysis, including the abstraction of the physical system, construction of the Markov chain, and the generation and solution of the ensuing set of differential equations; all of these steps have been implemented in a stand-alone computer code system called QUEFT/MARKOMAG-S/MCADJSEN. This code system has been applied to sensitivity analysis of dynamic reliability measures for a paradigm '2-out-of-3' system comprising five components and also to a comprehensive dynamic reliability analysis of the IFMIF accelerator system facilities for the average availability and, respectively, the system's availability at the final mission time. The QUEFT/MARKOMAG-S/MCADJSEN has been used to efficiently compute sensitivities to 186 failure and repair rates characterizing components and subsystems of the first-level fault tree of the IFMIF accelerator system. (authors)

Adjoint sensitivity analysis of dynamic reliability models based on Markov chains - II: Application to IFMIF reliability assessment

International Nuclear Information System (INIS)

Cacuci, D. G.; Cacuci, D. G.; Balan, I.; Ionescu-Bujor, M.

2008-01-01

In Part II of this work, the adjoint sensitivity analysis procedure developed in Part I is applied to perform sensitivity analysis of several dynamic reliability models of systems of increasing complexity, culminating with the consideration of the International Fusion Materials Irradiation Facility (IFMIF) accelerator system. Section II presents the main steps of a procedure for the automated generation of Markov chains for reliability analysis, including the abstraction of the physical system, construction of the Markov chain, and the generation and solution of the ensuing set of differential equations; all of these steps have been implemented in a stand-alone computer code system called QUEFT/MARKOMAG-S/MCADJSEN. This code system has been applied to sensitivity analysis of dynamic reliability measures for a paradigm '2-out-of-3' system comprising five components and also to a comprehensive dynamic reliability analysis of the IFMIF accelerator system facilities for the average availability and, respectively, the system's availability at the final mission time. The QUEFT/MARKOMAG-S/MCADJSEN has been used to efficiently compute sensitivities to 186 failure and repair rates characterizing components and subsystems of the first-level fault tree of the IFMIF accelerator system. (authors)

A world first. Industrial operation of computer-aided master-slave manipulator at the La Hague recycling plant

International Nuclear Information System (INIS)

Brueziere, Jerome; Thro, Jean Francois; Brudieu, Marie-Anne; Piolain, Gerard; Geffard, Franck; Garrec, Philippe; Measson, Yvan; Coudray, Alain; Lelann, Eric

2011-01-01

Since the beginning of industrial nuclear plants like recycling, mechanical master-slave manipulators have been widely used for operation and maintenance in hot cells, in conjunction with shielding windows. In the La Hague plant for instance, all hot cells where maintenance is or could be required are fitted with shielding windows and through-wall telescopic master-slave manipulators. This well mastered solution, if used by highly skilled workers, has demonstrated its capability to perform all the maintenance tasks required, as long as equipment and tools inside the cell were designed accordingly. However, this technology has also shown significant limitations in terms of capacity, flexibility, efficiency and reliability. In order to improve those characteristics, AREVA and CEA have developed together a new technology: computer-aided master-slave manipulators. By replacing the traditional mechanical link, between the 'slave arm' in the cell and the 'master arm', with motors, sensors and electronics, this new tool improves load capacity and provides added flexibility and efficiency, while protecting the slave arm from overload and therefore improving reliability. In addition, this new device was developed to be fully compatible with current La Hague configuration. After developing and testing this solution in realistic but inactive environment, by performing all kinds of operation and maintenance activities with trained workers, the first generation tool was improved by incorporating feed-back and suggestions from operators. Second generation system was then developed, and first introduced in 2010 in an active cell of the La Hague plant, namely a vitrification cell. After a few months in operation, feedback from manufacturing staff was so positive that implementation of several new arms was decided for 2011. This paper will describe how this development benefited from the existing know-how and component library jointly developed by AREVA and CEA, as well as the main

Getting Manipulative about Math.

Science.gov (United States)

Scheer, Janet K.; And Others

1984-01-01

Math manipulatives that are made from inexpensive, common items help students understand basic mathematics concepts. Learning activities using Cheerios, jellybeans, and clay as teaching materials are suggested. (DF)

A novel six-degrees-of-freedom series-parallel manipulator

Energy Technology Data Exchange (ETDEWEB)

Gallardo-Alvarado, J.; Rodriguez-Castro, R.; Aguilar-Najera, C. R.; Perez-Gonzalez, L. [Instituto Tecnologico de Celaya, Celaya (Mexico)

2012-06-15

This paper addresses the description and kinematic analyses of a new non-redundant series-parallel manipulator. The primary feature of the robot is to have a decoupled topology consisting of a lower parallel manipulator, for controlling the orientation of the coupler platform, assembled in series connection with a upper parallel manipulator, for controlling the position of the output platform, capable to provide arbitrary poses to the output platform with respect to the fixed platform. The forward displacement analysis is carried-out in semi-closed form solutions by resorting to simple closure equations. On the other hand; the velocity, acceleration and singularity analyses of the manipulator are approached by means of the theory of screws. Simple and compact expressions are derived here for solving the infinitesimal kinematics by taking advantage of the concept of reciprocal screws. Furthermore, the analysis of the Jacobians of the robot shows that the lower parallel manipulator is practically free of singularities. In order to illustrate the performance of the manipulator, a numerical example which consists of solving the inverse/forward kinematics of the series-parallel manipulator as well as its singular configurations is provided.

Manipulation of the Commodity Futures Market Delivery Process.

OpenAIRE

Pirrong, Stephen Craig

1993-01-01

An analysis of the futures market delivery 'end game' specifies necessary and sufficient conditions for long and short traders to manipulate futures prices at contract expiration. The empirical and welfare implications of manipulation are derived as well. Manipulation is most likely to occur in markets where economic frictions (such as transportation and transactions costs) make it inefficient to return excessive deliveries to their original owners. These consumption distortions induce price ...

Even Middle Graders Can Learn with Manipulatives.

Science.gov (United States)

Holden, Linda

1987-01-01

Math manipulatives let students see the components of an abstract problem, help build a concrete language for talking about math concepts, and encourage students to gain confidence in their ability to figure things out. Many suggestions for using manipulatives in math instruction are offered. (MT)

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...... components that are some 10000 times smaller....

Short-term combined effects of thoracic spine thrust manipulation and cervical spine nonthrust manipulation in individuals with mechanical neck pain: a randomized clinical trial.

Science.gov (United States)

Masaracchio, Michael; Cleland, Joshua A; Hellman, Madeleine; Hagins, Marshall

2013-03-01

Randomized clinical trial. To investigate the short-term effects of thoracic spine thrust manipulation combined with cervical spine nonthrust manipulation (experimental group) versus cervical spine nonthrust manipulation alone (comparison group) in individuals with mechanical neck pain. Research has demonstrated improved outcomes with both nonthrust manipulation directed at the cervical spine and thrust manipulation directed at the thoracic spine in patients with neck pain. Previous studies have not determined if thoracic spine thrust manipulation may increase benefits beyond those provided by cervical nonthrust manipulation alone. Sixty-four participants with mechanical neck pain were randomized into 1 of 2 groups, an experimental or comparison group. Both groups received 2 treatment sessions of cervical spine nonthrust manipulation and a home exercise program consisting of active range-of-motion exercises, and the experimental group received additional thoracic spine thrust manipulations. Outcome measures were collected at baseline and at a 1-week follow-up, and included the numeric pain rating scale, the Neck Disability Index, and the global rating of change. Participants in the experimental group demonstrated significantly greater improvements (Ppain rating scale and Neck Disability Index at the 1-week follow-up compared to those in the comparison group. In addition, 31 of 33 (94%) participants in the experimental group, compared to 11 of 31 participants (35%) in the comparison group, indicated a global rating of change score of +4 or higher at the 1-week follow-up, with an associated number needed to treat of 2. Individuals with neck pain who received a combination of thoracic spine thrust manipulation and cervical spine nonthrust manipulation plus exercise demonstrated better overall short-term outcomes on the numeric pain rating scale, the Neck Disability Index, and the global rating of change.

Development of the heavy manipulator vehicle system

International Nuclear Information System (INIS)

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

1993-01-01

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

A digital joint controller for manipulators

International Nuclear Information System (INIS)

Holt, E.J.; Palmer, D.E.B.

1993-01-01

Nuclear Electric's hydraulic heavy duty manipulators are used at a number of Magnox Power Stations for a wide variety of tasks. In recent years there has been a trend towards the use of manipulators for tasks requiring increasing precision of tip positioning. In order to meet this requirement, a digital controller has been designed to replace the analogue controller board used in almost all manipulator control systems. The new controller allows the programming of a wide range of closed loop control algorithms. Position and drive signal data may be passed to and from the controller by digital means, allowing direct connection to a graphical display system and/or a computer executing a guidance algorithm. The hardware and software design are outlined and performance in the laboratory and the field is reported. (author)

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.

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

International Nuclear Information System (INIS)

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

Manipulator techniques and problems of their application in primary circuit maintenance

International Nuclear Information System (INIS)

Kertscher, F.; Popp, P.

1985-01-01

The fundamental structure and specifications of manipulators (in particular of industrial robots) are presented in order to derive the application conditions and fields for manipulators in primary circuit maintenance. The necessity of applying process-specific manipulator technique in the primary circuit maintenance is based on nuclear safety requirements and on decreasing of the radiation exposure of maintenance personnel. Synchronous manipulators and industrial robots are the types of manipulators used in materials testing, repairing and scrapping. The technical requirements of manipulators are discussed

Reliability technology and nuclear power

International Nuclear Information System (INIS)

Garrick, B.J.; Kaplan, S.

1976-01-01

This paper reviews some of the history and status of nuclear reliability and the evolution of this subject from art towards science. It shows that that probability theory is the appropriate and essential mathematical language of this subject. The authors emphasize that it is more useful to view probability not as a $prime$frequency$prime$, i.e., not as the result of a statistical experiment, but rather as a measure of state of confidence or a state of knowledge. They also show that the probabilistic, quantitative approach has a considerable history of application in the electric power industry in the area of power system planning. Finally, the authors show that the decision theory notion of utility provides a point of view from which risks, benefits, safety, and reliability can be viewed in a unified way thus facilitating understanding, comparison, and communication. 29 refs

A universal microscope manipulator

Directory of Open Access Journals (Sweden)

Peter S. Boyadzhiev

2012-03-01

Full Text Available A modified and improved model of a mechanical manipulator for observation of pinned and mounted insects is described. This device allows movement of the observed object around three perpendicular axes in the field of vision at all magnifications of stereomicroscopes. The main improvement of this new model is positioning of the guiding knobs for rotating around two of the axes next to each other, allowing faster and easier manipulation of the studied object. Thus, one of the main advantages of this device is the possibility to rotate the specimen without the need to refocus. The device enables easily reaching a precession deviation in the intersection point of axes up to 0.5 mm in the process of assembling.

Optoelectronic Tweezers for Microparticle and Cell Manipulation

Science.gov (United States)

Wu, Ming Chiang (Inventor); Chiou, Pei-Yu (Inventor); Ohta, Aaron T. (Inventor)

2014-01-01

An optical image-driven light induced dielectrophoresis (DEP) apparatus and method are described which provide for the manipulation of particles or cells with a diameter on the order of 100 micromillimeters or less. The apparatus is referred to as optoelectric tweezers (OET) and provides a number of advantages over conventional optical tweezers, in particular the ability to perform operations in parallel and over a large area without damage to living cells. The OET device generally comprises a planar liquid-filled structure having one or more portions which are photoconductive to convert incoming light to a change in the electric field pattern. The light patterns are dynamically generated to provide a number of manipulation structures that can manipulate single particles and cells or group of particles/cells. The OET preferably includes a microscopic imaging means to provide feedback for the optical manipulation, such as detecting position and characteristics wherein the light patterns are modulated accordingly.

The Effects on Students' Conceptual Understanding of Electric Circuits of Introducing Virtual Manipulatives within a Physical Manipulatives-Oriented Curriculum

Science.gov (United States)

Zacharia, Zacharias C.; de Jong, Ton

2014-01-01

This study investigates whether Virtual Manipulatives (VM) within a Physical Manipulatives (PM)-oriented curriculum affect conceptual understanding of electric circuits and related experimentation processes. A pre-post comparison study randomly assigned 194 undergraduates in an introductory physics course to one of five conditions: three…

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…

A randomized clinical trial to compare the immediate effects of seated thoracic manipulation and targeted supine thoracic manipulation on cervical spine flexion range of motion and pain.

Science.gov (United States)

Karas, Steve; Olson Hunt, Megan J

2014-05-01

Randomized clinical trial. To determine the effectiveness of seated thoracic manipulation versus targeted supine thoracic manipulation on cervical spine pain and flexion range of motion (ROM). There is evidence that thoracic spine manipulation is an effective treatment for patients with cervical spine pain. This evidence includes a variety of techniques to manipulate the thoracic spine. Although each of them is effective, no research has compared techniques to determine which produces the best outcomes. A total of 39 patients with cervical spine pain were randomly assigned to either a seated thoracic manipulation or targeted supine thoracic manipulation group. Pain and flexion ROM measures were taken before and after the intervention. Pain reduction (post-treatment-pre-treatment) was significantly greater in those patients receiving the targeted supine thoracic manipulation compared to the seated thoracic manipulation (Pmanipulation group. The results of this study indicate that a targeted supine thoracic manipulation may be more effective in reducing cervical spine pain and improving cervical flexion ROM than a seated thoracic manipulation. Future studies should include a variety of patients and physical therapists (PTs) to validate our findings.

Reliability engineering

International Nuclear Information System (INIS)

Lee, Chi Woo; Kim, Sun Jin; Lee, Seung Woo; Jeong, Sang Yeong

1993-08-01

This book start what is reliability? such as origin of reliability problems, definition of reliability and reliability and use of reliability. It also deals with probability and calculation of reliability, reliability function and failure rate, probability distribution of reliability, assumption of MTBF, process of probability distribution, down time, maintainability and availability, break down maintenance and preventive maintenance design of reliability, design of reliability for prediction and statistics, reliability test, reliability data and design and management of reliability.

System Reliability for Offshore Wind Turbines

DEFF Research Database (Denmark)

Marquez-Dominguez, Sergio; Sørensen, John Dalsgaard

2013-01-01

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...... 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...... 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....

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.

Manipulation Robustness of Collaborative Filtering Systems

OpenAIRE

Benjamin Van Roy; Xiang Yan

2009-01-01

A collaborative filtering system recommends to users products that similar users like. Collaborative filtering systems influence purchase decisions, and hence have become targets of manipulation by unscrupulous vendors. We provide theoretical and empirical results demonstrating that while common nearest neighbor algorithms, which are widely used in commercial systems, can be highly susceptible to manipulation, two classes of collaborative filtering algorithms which we refer to as linear and a...

Remote Decontamination Facility and Repair Station for hot-cell manipulators

International Nuclear Information System (INIS)

Ryz, M.A.

1977-01-01

Increasingly high radiation levels on manipulators at the Whiteshell Nuclear Research Establishment, Pinawa, Manitoba, Canada, necessitated design and construction of a Remote Decontamination Facility and Repair Station. This facility reduces radiation levels on manipulators by an order of magnitude over previous hand decontamination techniques. The reduced radiation levels have allowed superior manipulator repair and maintenance, resulting in 50% fewer manipulator breakdowns

Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure

Science.gov (United States)

Zhao, Bo; Li, Yuanchun

2015-01-01

This paper considers a decentralized fault tolerant control (DFTC) scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularization property, the actuator failure is estimated by the proposed decentralized sliding mode observer (DSMO). Moreover, the actuator failure can be treated in view of the local joint information, so its control performance degradation is independent of other normal joints. In addition, the presented DFTC scheme is significantly simplified in terms of the structure of the controller due to its dual closed-loop architecture, and its feasibility is highly reflected in the control of reconfigurable manipulators. Finally, the effectiveness of the proposed DFTC scheme is demonstrated using simulations. PMID:26181826

Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure.

Directory of Open Access Journals (Sweden)

Bo Zhao

Full Text Available This paper considers a decentralized fault tolerant control (DFTC scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularization property, the actuator failure is estimated by the proposed decentralized sliding mode observer (DSMO. Moreover, the actuator failure can be treated in view of the local joint information, so its control performance degradation is independent of other normal joints. In addition, the presented DFTC scheme is significantly simplified in terms of the structure of the controller due to its dual closed-loop architecture, and its feasibility is highly reflected in the control of reconfigurable manipulators. Finally, the effectiveness of the proposed DFTC scheme is demonstrated using simulations.

The Americleft Speech Project: A Training and Reliability Study.

Science.gov (United States)

Chapman, Kathy L; Baylis, Adriane; Trost-Cardamone, Judith; Cordero, Kelly Nett; Dixon, Angela; Dobbelsteyn, Cindy; Thurmes, Anna; Wilson, Kristina; Harding-Bell, Anne; Sweeney, Triona; Stoddard, Gregory; Sell, Debbie

2016-01-01

To describe the results of two reliability studies and to assess the effect of training on interrater reliability scores. The first study (1) examined interrater and intrarater reliability scores (weighted and unweighted kappas) and (2) compared interrater reliability scores before and after training on the use of the Cleft Audit Protocol for Speech-Augmented (CAPS-A) with British English-speaking children. The second study examined interrater and intrarater reliability on a modified version of the CAPS-A (CAPS-A Americleft Modification) with American and Canadian English-speaking children. Finally, comparisons were made between the interrater and intrarater reliability scores obtained for Study 1 and Study 2. The participants were speech-language pathologists from the Americleft Speech Project. In Study 1, interrater reliability scores improved for 6 of the 13 parameters following training on the CAPS-A protocol. Comparison of the reliability results for the two studies indicated lower scores for Study 2 compared with Study 1. However, this appeared to be an artifact of the kappa statistic that occurred due to insufficient variability in the reliability samples for Study 2. When percent agreement scores were also calculated, the ratings appeared similar across Study 1 and Study 2. The findings of this study suggested that improvements in interrater reliability could be obtained following a program of systematic training. However, improvements were not uniform across all parameters. Acceptable levels of reliability were achieved for those parameters most important for evaluation of velopharyngeal function.

A new approach to adaptive control of manipulators

Science.gov (United States)

Seraji, H.

1987-01-01

An approach in which the manipulator inverse is used as a feedforward controller is employed in the adaptive control of manipulators in order to achieve trajectory tracking by the joint angles. The desired trajectory is applied as an input to the feedforward controller, and the controller output is used as the driving torque for the manipulator. An adaptive algorithm obtained from MRAC theory is used to update the controller gains to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal enhance closed-loop stability and achieve faster adaptation. Simulation results demonstrate the effectiveness of the proposed control scheme for different reference trajectories, and despite large variations in the payload.

Manipulator for rotating and translating a sample holder

Science.gov (United States)

van de Water, Jeroen [Breugel, NL; van den Oetelaar, Johannes [Eindhoven, NL; Wagner, Raymond [Gorinchem, NL; Slingerland, Hendrik Nicolaas [Venlo, NL; Bruggers, Jan Willem [Eindhoven, NL; Ottevanger, Adriaan Huibert Dirk [Malden, NL; Schmid, Andreas [Berkeley, CA; Olson, Eric A [Champaign, IL; Petrov, Ivan G [Champaign, IL; Donchev, Todor I [Urbana, IL; Duden, Thomas [Kensington, CA

2011-02-08

A manipulator for use in e.g. a Transmission Electron Microscope (TEM) is described, said manipulator capable of rotating and translating a sample holder (4). The manipulator clasps the round sample holder between two members (3A, 3B), said members mounted on actuators (2A, 2B). Moving the actuators in the same direction results in a translation of the sample holder, while moving the actuators in opposite directions results in a rotation of the sample holder.

Machine Learnig for Robotic Manipulation in cluttered environments

OpenAIRE

Alet Puig, Ferran

2016-01-01

In this thesis we focus on designing the planner for MIT s entry in the Amazon Picking Challenge, a robotic competition aiming at pushing the frontiers of manipulation until robots can substitute human pickers in warehouses. Given a set of manipulation primitives (such as grasping, suction, scooping, placing or pushing) we designed a system capable of learning a planner from a set of manipulation experiments. After learning, given any configuration of objects, the planner can come up with the...

Reliability issues and solutions for coding social communication performance in classroom settings.

Science.gov (United States)

Olswang, Lesley B; Svensson, Liselotte; Coggins, Truman E; Beilinson, Jill S; Donaldson, Amy L

2006-10-01

To explore the utility of time-interval analysis for documenting the reliability of coding social communication performance of children in classroom settings. Of particular interest was finding a method for determining whether independent observers could reliably judge both occurrence and duration of ongoing behavioral dimensions for describing social communication performance. Four coders participated in this study. They observed and independently coded 6 social communication behavioral dimensions using handheld computers. The dimensions were mutually exclusive and accounted for all verbal and nonverbal productions during a specified time frame. The technology allowed for coding frequency and duration for each entered code. Data were collected from 20 different 2-min video segments of children in kindergarten through 3rd-grade classrooms. Data were analyzed for interobserver and intraobserver agreements using time-interval sorting and Cohen's kappa. Further, interval size and total observation length were manipulated to determine their influence on reliability. The data revealed interval sorting and kappa to be a suitable method for examining reliability of occurrence and duration of ongoing social communication behavioral dimensions. Nearly all comparisons yielded medium to large kappa values; interval size and length of observation minimally affected results. Implications The analysis procedure described in this research solves a challenge in reliability: comparing coding by independent observers of both occurrence and duration of behaviors. Results indicate the utility of a new coding taxonomy and technology for application in online observations of social communication in a classroom setting.

Exponential Reliability Coefficient based Reputation Mechanism for isolating selfish nodes in MANETs

Directory of Open Access Journals (Sweden)

J. Sengathir

2015-07-01

Full Text Available In mobile ad hoc networks, cooperation among active mobile nodes is considered to play a vital role in reliable transmission of data. But, the selfish mobile nodes present in an ad hoc environment refuse to forward neighbouring nodes’ packet for conserving its own energy. This intentional selfish behaviour drastically reduces the degree of cooperation maintained between the mobile nodes. Hence, a need arises for devising an effective mechanism which incorporates both energy efficiency and reputation into account for mitigating selfish behaviour in MANETs. In this paper, we propose an Exponential Reliability Coefficient based reputation Mechanism (ERCRM which isolates the selfish nodes from the routing path based on Exponential Reliability Coefficient (ExRC. This reliability coefficient manipulated through exponential failure rate based on moving average method highlights the most recent past behaviour of the mobile nodes for quantifying its genuineness. From the simulation results, it is evident that, the proposed ERCRM approach outperforms the existing Packet Conservation Monitoring Algorithm (PCMA and Spilt Half Reliability Coefficient based Mathematical Model (SHRCM in terms of performance evaluation metrics such as packet delivery ratio, throughput, total overhead and control overhead. Further, this ERCRM mechanism has a successful rate of 28% in isolating the selfish nodes from the routing path. Furthermore, it also aids in framing the exponential threshold point of detection as 0.4, where a maximum number of selfish nodes are identified when compared to the existing models available in the literature.

On the reliability of seasonal climate forecasts

Science.gov (United States)

Weisheimer, A.; Palmer, T. N.

2014-01-01

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. PMID:24789559

Particle manipulation techniques in AEgIS

Energy Technology Data Exchange (ETDEWEB)

Canali, C., E-mail: canali@ge.infn.it; Carraro, C.; Di Noto, L.; Krasnicky, D.; Lagomarsino, V.; Testera, G.; Zavatarelli, S. [Istituto Nazionale Fisica Nucleare Sez. Genova (Italy)

2011-07-15

The AEgIS experiment (http://aegis.web.cern.chhttp://aegis.web.cern.ch) will measure the gravitational acceleration g of antihydrogen. Once performed this could be the first direct test of the gravitational interaction between matter and antimatter. In the AEgIS experiment a beam of antihydrogen will travel horizontally along a path of about 1 m trough a moire deflectometer followed by a position sensitive detector. The g value will be obtained measuring the vertical displacement of the annihilation patterns. Before producing the beam, several tasks have to be performed mainly involving positron and electron plasma manipulation and particles cooling in Malmberg-Penning traps. The AEgIS experiment is currently under construction at CERN, meanwhile several tests involving particle manipulation and particle cooling are in progress. In this report some experimental results involving diocotron manipulation of plasma will be presented.

Nonlinear Control of Hydraulic Manipulator for Decommissioning Nuclear Reactor

Energy Technology Data Exchange (ETDEWEB)

Kim, Myoung-Ho; Lee, Sung-Uk; Kim, Chang-Hoi; Choi, Byung-Seon; Moon, Jei-Kwon [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2016-10-15

Robot technique is need to decommission nuclear reactor because of high radiation environment. Especially, Manipulator systems are useful for dismantling complex structure in a nuclear facility. In addition, Hydraulic system is applied to handle heavy duty object. Since hydraulic system can demonstrate high power. The manipulator with hydraulic power is already developed. To solve this problem, various nonlinear control method includes acceleration control. But, it is difficult because acceleration value is highly noisy. In this paper, the nonlinear control algorithm without acceleration control is studied. To verify, the hydraulic manipulator model had been developed. Furthermore, the numerical simulation is carried out. The nonlinear control without acceleration parameter method is developed for hydraulic manipulator. To verify control algorithm, the manipulator is modeled by MBD and the hydraulic servo system is also derived. In addition, the numerical simulation is also carried out. Especially, PID gain is determined though TDC algorithm. In the result of numerical simulation, tracking performance is good without acceleration control. Thus, the PID though TDC with SMC is good for hydraulic manipulator control.

Nonlinear Control of Hydraulic Manipulator for Decommissioning Nuclear Reactor

International Nuclear Information System (INIS)

Kim, Myoung-Ho; Lee, Sung-Uk; Kim, Chang-Hoi; Choi, Byung-Seon; Moon, Jei-Kwon

2016-01-01

Robot technique is need to decommission nuclear reactor because of high radiation environment. Especially, Manipulator systems are useful for dismantling complex structure in a nuclear facility. In addition, Hydraulic system is applied to handle heavy duty object. Since hydraulic system can demonstrate high power. The manipulator with hydraulic power is already developed. To solve this problem, various nonlinear control method includes acceleration control. But, it is difficult because acceleration value is highly noisy. In this paper, the nonlinear control algorithm without acceleration control is studied. To verify, the hydraulic manipulator model had been developed. Furthermore, the numerical simulation is carried out. The nonlinear control without acceleration parameter method is developed for hydraulic manipulator. To verify control algorithm, the manipulator is modeled by MBD and the hydraulic servo system is also derived. In addition, the numerical simulation is also carried out. Especially, PID gain is determined though TDC algorithm. In the result of numerical simulation, tracking performance is good without acceleration control. Thus, the PID though TDC with SMC is good for hydraulic manipulator control

Application of model based control to robotic manipulators

Science.gov (United States)

Petrosky, Lyman J.; Oppenheim, Irving J.

1988-01-01

A robot that can duplicate humam motion capabilities in such activities as balancing, reaching, lifting, and moving has been built and tested. These capabilities are achieved through the use of real time Model-Based Control (MBC) techniques which have recently been demonstrated. MBC accounts for all manipulator inertial forces and provides stable manipulator motion control even at high speeds. To effectively demonstrate the unique capabilities of MBC, an experimental robotic manipulator was constructed, which stands upright, balancing on a two wheel base. The mathematical modeling of dynamics inherent in MBC permit the control system to perform functions that are impossible with conventional non-model based methods. These capabilities include: (1) Stable control at all speeds of operation; (2) Operations requiring dynamic stability such as balancing; (3) Detection and monitoring of applied forces without the use of load sensors; (4) Manipulator safing via detection of abnormal loads. The full potential of MBC has yet to be realized. The experiments performed for this research are only an indication of the potential applications. MBC has no inherent stability limitations and its range of applicability is limited only by the attainable sampling rate, modeling accuracy, and sensor resolution. Manipulators could be designed to operate at the highest speed mechanically attainable without being limited by control inadequacies. Manipulators capable of operating many times faster than current machines would certainly increase productivity for many tasks.

Design and Transmission Analysis of an Asymmetrical Spherical Parallel Manipulator

DEFF Research Database (Denmark)

Wu, Guanglei; Caro, Stéphane; Wang, Jiawei

2015-01-01

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

Dynamics three-tier hydraulic crane-manipulators

OpenAIRE

Lagerev I.A.; Lagerev A.V.

2018-01-01

The methods and generalized recommendations for modeling dynamic loading of load-bearing elements of steel structures of three-tier hydraulic cranes-manipulators are considered. Mathematical models have been developed to study the dynamics of moving elements of the crane-manipulator, the movement of the load-lifting machine on a stochastic uneven surface with a suspended load. The presented approaches can be used to calculate other types of jib cranes equipped with hydraulic drive.

Counterweight system for master-slave manipulator

International Nuclear Information System (INIS)

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

1981-01-01

A counterweight system is described for use in a remote control master-slave manipulator. The manipulator consists of a rotatable horizontal support adapted to extend through the wall and two longitudinally extensible arms, a master and a slave, pivotally connected one to each end of the support. Within the support there is a means of translating linear motion to rotary motion for transfer through the barrier wall and retranslating to linear motion. (U.K.)

Reliability Analysis for Adhesive Bonded Composite Stepped Lap Joints Loaded in Fatigue

DEFF Research Database (Denmark)

Kimiaeifar, Amin; Sørensen, John Dalsgaard; Lund, Erik

2012-01-01

-1, where partial safety factors are introduced together with characteristic values. Asymptotic sampling is used to estimate the reliability with support points generated by randomized Sobol sequences. The predicted reliability level is compared with the implicitly required target reliability level defined......This paper describes a probabilistic approach to calculate the reliability of adhesive bonded composite stepped lap joints loaded in fatigue using three- dimensional finite element analysis (FEA). A method for progressive damage modelling is used to assess fatigue damage accumulation and residual...... by the wind turbine standard IEC 61400-1. Finally, an approach for the assessment of the reliability of adhesive bonded composite stepped lap joints loaded in fatigue is presented. The introduced methodology can be applied in the same way to calculate the reliability level of wind turbine blade components...

Techniques applied in design optimization of parallel manipulators

CSIR Research Space (South Africa)

Modungwa, D

2011-11-01

Full Text Available the desired dexterous workspace " Robot.Comput.Integrated Manuf., vol. 23, pp. 38 - 46, 2007. [12] A.P. Murray, F. Pierrot, P. Dauchez and J.M. McCarthy, "A planar quaternion approach to the kinematic synthesis of a parallel manipulator " Robotica, vol... design of a three translational DoFs parallel manipulator " Robotica, vol. 24, pp. 239, 2005. [15] J. Angeles, "The robust design of parallel manipulators," in 1st Int. Colloquium, Collaborative Research Centre 562, 2002. [16] S. Bhattacharya, H...

Evidence of market manipulation in the financial crisis

OpenAIRE

Vedant Misra; Marco Lagi; Yaneer Bar-Yam

2011-01-01

We provide direct evidence of market manipulation at the beginning of the financial crisis in November 2007. The type of manipulation, a "bear raid," would have been prevented by a regulation that was repealed by the Securities and Exchange Commission in July 2007. The regulation, the uptick rule, was designed to prevent manipulation and promote stability and was in force from 1938 as a key part of the government response to the 1929 market crash and its aftermath. On November 1, 2007, Citigr...

Indirect Manipulation of a Sphere on a Flat Disk Using Force Information

Directory of Open Access Journals (Sweden)

Masayuki Hara

2009-12-01

Full Text Available The objective of this study is to verify if only the use of robotic force feedback enables indirect and dynamic manipulations which are difficult for human beings to perform. Human beings usually control the trajectory of an object using visual feedback; force/tactile information are secondarily employed because they are further qualitative in comparison with visual information. However, it is supposed that robots have the potential to perform such the tasks without visual information because force/tactile information can be also used quantitatively in the control system. This paper especially focuses on an indirect manipulation of a sphere on a flat plate realized by employing only force information. In this paper, we propose a very simple method to estimate the position of the sphere on the plate which is put on a multi-fingered robot and try to control the trajectory by changing the fingertip heights based on the error between the desired and estimated positions. We also analyze the stability of the proposed control system with an approximate Lyapunov's stability criterion. Finally, this paper shows very attractive robotic demonstrations based on the proposed method.

Development and design optimization of water hydraulic manipulator for ITER

International Nuclear Information System (INIS)

Kekaelaeinen, Teemu; Mattila, Jouni; Virvalo, Tapio

2009-01-01

This paper describes one of the research projects carried out in The Preparation of Remote Handling Engineers for ITER (PREFIT) program within the European Fusion Training Scheme (EFTS). This research project is focusing on the design and optimization of water hydraulic manipulators used to test several remote handling tasks of ITER at Divertor Test Platform 2 (DTP2), Tampere, Finland, and later in ITER. In this project, a water hydraulic manipulator designed and build by Department of Intelligent Hydraulics and Automation in Tampere University of Technology, Finland (TUT/IHA) is further optimized as a case study for a given manipulator requirement specification in order to illustrate and verify developed comprehensive design guidelines and performance metrics. Without meaningful manipulator performance parameters, the evaluation of alternative robot manipulators designs remains ad hoc at best. Therefore, more comprehensive design guidelines and performance metrics are needed for comparing and improving different existing manipulators versus task requirements or for comparing different digital prototypes at early design phase of manipulators. In this paper the description of the project, its background and developments are presented and discussed.

Design principles for six degrees-of-freedom MEMS-based precision manipulators

NARCIS (Netherlands)

Brouwer, Dannis Michel

2007-01-01

In the future, the precision manipulation of small objects will become more and more important for appliances such as data storage, micro assembly, sample manipulation in microscopes, cell manipulation, and manipulation of beam paths by micro mirrors. At the same time, there is a drive towards

Remote telerobotic replacement for master-slave manipulator

International Nuclear Information System (INIS)

Heckendorn, F.M.; Iverson, D.C.; LaValle, D.R.

1997-01-01

A remotely replaceable telerobotic manipulator (TRM) has been developed and deployed at the Defense Waste Processing Facility (DWPF) in support of its radioactive operation. The TRM replaces a Master-Slave Manipulator (MSM). The TRM is in use for both routine and recovery operations for the radioactive waste vitrification melter, the primary production device within the DWPF. The arm was designed for deployment and operation using an existing MSM penetration. This replacement of an existing MSM with a high power robotic device demonstrates the capability to perform similar replacement in other operating facilities. The MSM's were originally deployed in the DWPF to perform routine light capacity tasks. During the testing phase of the DWPF, prior to its radioactive startup in 5/96, the need to remove glass deposits that can form at the melter discharge during filling of glass containment canisters was identified. The combination of high radiation and contamination in the DWPF melter cell during radioactive operation eliminated personnel entry as a recovery option. Therefore remote cleaning methods had to be devised. The MSM's had neither the reach nor the strength required for this task. It became apparent that a robust manipulator arm would be required for recovery from these potential melter discharge pluggage events. The existing wall penetrations, used for the MSM's, could not be altered for seismic and radiological reasons. The new manipulator was required to be of considerable reach, due to existing physical layout, and strength, due to the glass removal requirement. Additionally, the device would have to compatible with high radiation and remote crane installation. The physical size of the manipulator and the weight of components must be consistent with the existing facilities. It was recognized early-on that a manipulator of sufficient strength to recover from a pluggage event would require robotic functions to constrain undesirable motions

Currency Manipulation

OpenAIRE

Weithing Zhang; Thomas Mertens; Tarek Hassan

2014-01-01

Many central banks manage the stochastic behavior of their currencies' exchange rates by imposing pegs relative to a target currency. We study the effects of such currency manipulation in a multi-country model of exchange rate determination with endogenous capital accumulation. We find that the imposition of an exchange rate peg relative to a given target currency increases the volatility of consumption in the target country and decreases the volatility of the target currency's exchange rate ...

Kinematically Optimal Robust Control of Redundant Manipulators

Science.gov (United States)

Galicki, M.

2017-12-01

This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

Manipulating the Gradient

Science.gov (United States)

Gaze, Eric C.

2005-01-01

We introduce a cooperative learning, group lab for a Calculus III course to facilitate comprehension of the gradient vector and directional derivative concepts. The lab is a hands-on experience allowing students to manipulate a tangent plane and empirically measure the effect of partial derivatives on the direction of optimal ascent. (Contains 7…

Simple Ontology of Manipulation Actions based on Hand-Object Relations

DEFF Research Database (Denmark)

Wörgötter, Florentin; Aksoy, E. E.; Krüger, Norbert

2013-01-01

and time. For this we use as temporal anchor points those moments where two objects (or hand and object) touch or un-touch each other during a manipulation. We show that by this one can define a relatively small tree-like manipulation ontology. We find less than 30 fundamental manipulations. The temporal...... and encoded. Examples of manipulations recognition and execution by a robot based on this representation are given at the end of this study....

Manipulation of Cash-Settled Futures Contracts.

OpenAIRE

Pirrong, Craig

2001-01-01

Replacement of delivery settlement of futures contracts with cash settlement is frequently proposed to reduce the frequency of market manipulation. This article shows that it is always possible to design a delivery-settled futures contract that is less susceptible to cornering by a large long than any given cash-settled contract. Such a contract is more susceptible to manipulation by large shorts, however. Therefore, cash settlement does not uniformly dominate delivery settlement as a means o...

Sports Tournament Predictions Using Direct Manipulation

OpenAIRE

Vuillemot , Romain; Perin , Charles

2016-01-01

An advanced interface for sports tournament predictions uses direct manipulation to allow users to make nonlinear predictions. Unlike previous interface designs, the interface helps users focus on their prediction tasks by enabling them to first choose a winner and then fill out the rest of the bracket. In real-world tests of the proposed interface (for the 2014 FIFA World Cup tournament and 2015/2016 UEFA Champions League), the authors validated the use of direct manipulation as an alternati...

The bounds on tracking performance utilising a laser-based linear and angular sensing and measurement methodology for micro/nano manipulation

International Nuclear Information System (INIS)

Clark, Leon; Shirinzadeh, Bijan; Tian, Yanling; Zhong, Yongmin

2014-01-01

This paper presents an analysis of the tracking performance of a planar three degrees of freedom (DOF) flexure-based mechanism for micro/nano manipulation, utilising a tracking methodology for the measurement of coupled linear and angular motions. The methodology permits trajectories over a workspace with large angular range through the reduction of geometric errors. However, when combining this methodology with feedback control systems, the accuracy of performed manipulations can only be stated within the bounds of the uncertainties in measurement. The dominant sources of error and uncertainty within each sensing subsystem are therefore identified, which leads to a formulation of the measurement uncertainty in the final system outputs, in addition to methods of reducing their magnitude. Specific attention is paid to the analysis of the vision-based subsystem utilised for the measurement of angular displacement. Furthermore, a feedback control scheme is employed to minimise tracking errors, and the coupling of certain measurement errors is shown to have a detrimental effect on the controller operation. The combination of controller tracking errors and measurement uncertainty provides the bounds on the final tracking performance. (paper)

Human factors reliability Benchmark exercise

International Nuclear Information System (INIS)

Poucet, A.

1989-06-01

The Joint Research Centre of the European Commission has organized a Human Factors Reliability Benchmark Exercise (HF-RBE) with the aim of assessing the state of the art in human reliability modelling and assessment. Fifteen teams from eleven countries, representing industry, utilities, licensing organisations and research institutes, participated in the HF-RBE. The HF-RBE was organized around two study cases: (1) analysis of routine functional Test and Maintenance (T and M) procedures: with the aim of assessing the probability of test induced failures, the probability of failures to remain unrevealed and the potential to initiate transients because of errors performed in the test; (2) analysis of human actions during an operational transient: with the aim of assessing the probability that the operators will correctly diagnose the malfunctions and take proper corrective action. This report contains the final summary reports produced by the participants in the exercise

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.

A Conceptual Framework of Human Reliability Analysis for Execution Human Error in NPP Advanced MCRs

International Nuclear Information System (INIS)

Jang, In Seok; Kim, Ar Ryum; Seong, Poong Hyun; Jung, Won Dea

2014-01-01

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

In silico single-molecule manipulation of DNA with rigid body dynamics.

Directory of Open Access Journals (Sweden)

Pascal Carrivain

2014-02-01

Full Text Available We develop a new powerful method to reproduce in silico single-molecule manipulation experiments. We demonstrate that flexible polymers such as DNA can be simulated using rigid body dynamics thanks to an original implementation of Langevin dynamics in an open source library called Open Dynamics Engine. We moreover implement a global thermostat which accelerates the simulation sampling by two orders of magnitude. We reproduce force-extension as well as rotation-extension curves of reference experimental studies. Finally, we extend the model to simulations where the control parameter is no longer the torsional strain but instead the torque, and predict the expected behavior for this case which is particularly challenging theoretically and experimentally.

NDE reliability and advanced NDE technology validation

International Nuclear Information System (INIS)

Doctor, S.R.; Deffenbaugh, J.D.; Good, M.S.; Green, E.R.; Heasler, P.G.; Hutton, P.H.; Reid, L.D.; Simonen, F.A.; Spanner, J.C.; Vo, T.V.

1989-01-01

This paper reports on progress for three programs: (1) evaluation and improvement in nondestructive examination reliability for inservice inspection of light water reactors (LWR) (NDE Reliability Program), (2) field validation acceptance, and training for advanced NDE technology, and (3) evaluation of computer-based NDE techniques and regional support of inspection activities. The NDE Reliability Program objectives are to quantify the reliability of inservice inspection techniques for LWR primary system components through independent research and establish means for obtaining improvements in the reliability of inservice inspections. The areas of significant progress will be described concerning ASME Code activities, re-analysis of the PISC-II data, the equipment interaction matrix study, new inspection criteria, and PISC-III. The objectives of the second program are to develop field procedures for the AE and SAFT-UT techniques, perform field validation testing of these techniques, provide training in the techniques for NRC headquarters and regional staff, and work with the ASME Code for the use of these advanced technologies. The final program's objective is to evaluate the reliability and accuracy of interpretation of results from computer-based ultrasonic inservice inspection systems, and to develop guidelines for NRC staff to monitor and evaluate the effectiveness of inservice inspections conducted on nuclear power reactors. This program started in the last quarter of FY89, and the extent of the program was to prepare a work plan for presentation to and approval from a technical advisory group of NRC staff

Acoustic Devices for Particle and Cell Manipulation and Sensing

Directory of Open Access Journals (Sweden)

Yongqiang Qiu

2014-08-01

Full Text Available An emerging demand for the precise manipulation of cells and particles for applications in cell biology and analytical chemistry has driven rapid development of ultrasonic manipulation technology. Compared to the other manipulation technologies, such as magnetic tweezing, dielectrophoresis and optical tweezing, ultrasonic manipulation has shown potential in a variety of applications, with its advantages of versatile, inexpensive and easy integration into microfluidic systems, maintenance of cell viability, and generation of sufficient forces to handle particles, cells and their agglomerates. This article briefly reviews current practice and reports our development of various ultrasonic standing wave manipulation devices, including simple devices integrated with high frequency (>20 MHz ultrasonic transducers for the investigation of biological cells and complex ultrasonic transducer array systems to explore the feasibility of electronically controlled 2-D and 3-D manipulation. Piezoelectric and passive materials, fabrication techniques, characterization methods and possible applications are discussed. The behavior and performance of the devices have been investigated and predicted with computer simulations, and verified experimentally. Issues met during development are highlighted and discussed. To assist long term practical adoption, approaches to low-cost, wafer level batch-production and commercialization potential are also addressed.

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

International Nuclear Information System (INIS)

Rininsland, H.; Boehme, G.

1986-01-01

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

A motion sensing-based framework for robotic manipulation.

Science.gov (United States)

Deng, Hao; Xia, Zeyang; Weng, Shaokui; Gan, Yangzhou; Fang, Peng; Xiong, Jing

2016-01-01

To data, outside of the controlled environments, robots normally perform manipulation tasks operating with human. This pattern requires the robot operators with high technical skills training for varied teach-pendant operating system. Motion sensing technology, which enables human-machine interaction in a novel and natural interface using gestures, has crucially inspired us to adopt this user-friendly and straightforward operation mode on robotic manipulation. Thus, in this paper, we presented a motion sensing-based framework for robotic manipulation, which recognizes gesture commands captured from motion sensing input device and drives the action of robots. For compatibility, a general hardware interface layer was also developed in the framework. Simulation and physical experiments have been conducted for preliminary validation. The results have shown that the proposed framework is an effective approach for general robotic manipulation with motion sensing control.

Intelligent Switching Control of Pneumatic Artificial Muscle Manipulator

Science.gov (United States)

Ahn, Kyoung Kwan; Thanh, Tu Diep Cong; Ahn, Young Kong

Problems with the control, oscillatory motion and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, ease of maintenance and inherent safety are the factors that could potentially be exploited in sophisticated dexterous manipulator designs. These advantages have led to the development of novel actuators such as the McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle Manipulators. However, some limitations still exist, such as deterioration of the performance of transient response due to the change of the external inertia load in the pneumatic artificial muscle manipulator. To overcome this problem, switching algorithm of control parameter using learning vector quantization neural network (LVQNN) is newly proposed, which estimates the external inertia load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external inertia loads.

Predictors of Host Specificity among Behavior-Manipulating Parasites

DEFF Research Database (Denmark)

Fredensborg, B. L.

2014-01-01

specifically, hosts’ behavioral modification that involves interaction with the central nervous system presumably restricts parasites to more closely related hosts than does manipulation of the host’s behavior via debilitation of the host’s physiology. The results of the analysis suggest that phylogenetic......-specialist that has a restricted ecological niche that it masters. Parasites that manipulate hosts’ behavior are often thought to represent resource-specialists based on a few spectacular examples of manipulation of the host’s behavior. However, the determinants of which, and how many, hosts a manipulating parasite...... of parasites and hosts. Using individual and multivariate analyses, I examined the effect of the host’s and parasite’s taxonomy, location of the parasite in the host, type of behavioral change, and the effect of debilitation on host-specificity, measured as the mean taxonomic relatedness of hosts...

Manipulation of single neutral atoms in optical lattices

International Nuclear Information System (INIS)

Zhang Chuanwei; Das Sarma, S.; Rolston, S. L.

2006-01-01

We analyze a scheme to manipulate quantum states of neutral atoms at individual sites of optical lattices using focused laser beams. Spatial distributions of focused laser intensities induce position-dependent energy shifts of hyperfine states, which, combined with microwave radiation, allow selective manipulation of quantum states of individual target atoms. We show that various errors in the manipulation process are suppressed below 10 -4 with properly chosen microwave pulse sequences and laser parameters. A similar idea is also applied to measure quantum states of single atoms in optical lattices

Survey of bayesian belif nets for quantitative reliability assessment of safety critical software used in nuclear power plants

Energy Technology Data Exchange (ETDEWEB)

Eom, H.S.; Sung, T.Y.; Jeong, H.S.; Park, J.H.; Kang, H.G.; Lee, K

2001-03-01

As part of the Probabilistic Safety Assessment of safety grade digital systems used in Nuclear Power plants research, measures and methodologies applicable to quantitative reliability assessment of safety critical software were surveyed. Among the techniques proposed in the literature we selected those which are in use widely and investigated their limitations in quantitative software reliability assessment. One promising methodology from the survey is Bayesian Belief Nets (BBN) which has a formalism and can combine various disparate evidences relevant to reliability into final decision under uncertainty. Thus we analyzed BBN and its application cases in digital systems assessment area and finally studied the possibility of its application to the quantitative reliability assessment of safety critical software.

Survey of bayesian belif nets for quantitative reliability assessment of safety critical software used in nuclear power plants

International Nuclear Information System (INIS)

Eom, H. S.; Sung, T. Y.; Jeong, H. S.; Park, J. H.; Kang, H. G.; Lee, K.

2001-03-01

As part of the Probabilistic Safety Assessment of safety grade digital systems used in Nuclear Power plants research, measures and methodologies applicable to quantitative reliability assessment of safety critical software were surveyed. Among the techniques proposed in the literature we selected those which are in use widely and investigated their limitations in quantitative software reliability assessment. One promising methodology from the survey is Bayesian Belief Nets (BBN) which has a formalism and can combine various disparate evidences relevant to reliability into final decision under uncertainty. Thus we analyzed BBN and its application cases in digital systems assessment area and finally studied the possibility of its application to the quantitative reliability assessment of safety critical software

Underwater-manipulation system for measuring- and cutting tasks in dismantling decommissioned nuclear facilities. Final report

International Nuclear Information System (INIS)

Stegemann, D.; Reimche, W.; Hansch, M.; Spitzer, M.

1995-01-01

Not only manipulators are necessary for dismantling and inspection of structure parts in decomissioned nuclear facilities, but flexible underwater-vehicles. Free-diving underwater-vehicles for inspection and dismantling tasks are still not developed and tested. Aim of the project is the development of sensors and devices for the position determination and the depth regulation. For inspection tasks an ultrasonic measurement and dosimeter device shall be built up. A measurement device has been developed which evaluates the ultrasonic time of flight from a transmitter at the vehicle to several receivers, installed in the reactor pressure vessel. The depth regulation is based on a pressure sensor and the direct control of the thrusters. The ultrasonic measurements are realized by an adapted ultrasonic card, the γ-dosimetry with an ionization chamber and a pA-amplifier. An acoustic orientation system was built up, which measures very accurately with one transmitter mounted on the vehicle and four receivers. Problem occur by reflection from the walls of the basin. The depth regulation is working faultless. The ultrasonic device is preferably used for distance measurement. The radiation measurement device was tested and mounted in the vehicle. (orig./HP) [de

Soft computing approach for reliability optimization: State-of-the-art survey

International Nuclear Information System (INIS)

Gen, Mitsuo; Yun, Young Su

2006-01-01

In the broadest sense, reliability is a measure of performance of systems. As systems have grown more complex, the consequences of their unreliable behavior have become severe in terms of cost, effort, lives, etc., and the interest in assessing system reliability and the need for improving the reliability of products and systems have become very important. Most solution methods for reliability optimization assume that systems have redundancy components in series and/or parallel systems and alternative designs are available. Reliability optimization problems concentrate on optimal allocation of redundancy components and optimal selection of alternative designs to meet system requirement. In the past two decades, numerous reliability optimization techniques have been proposed. Generally, these techniques can be classified as linear programming, dynamic programming, integer programming, geometric programming, heuristic method, Lagrangean multiplier method and so on. A Genetic Algorithm (GA), as a soft computing approach, is a powerful tool for solving various reliability optimization problems. In this paper, we briefly survey GA-based approach for various reliability optimization problems, such as reliability optimization of redundant system, reliability optimization with alternative design, reliability optimization with time-dependent reliability, reliability optimization with interval coefficients, bicriteria reliability optimization, and reliability optimization with fuzzy goals. We also introduce the hybrid approaches for combining GA with fuzzy logic, neural network and other conventional search techniques. Finally, we have some experiments with an example of various reliability optimization problems using hybrid GA approach

Master-slave type manipulator

International Nuclear Information System (INIS)

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

1979-01-01

Remote control manipulator of the master-slave type for carrying out work on the other side of a shield wall. This appliance allows a Y movement relative displacement, the function of which is to extend the range of the manipulator towards the front and also to facilitate its installation, the lateral rotation or inclination of the slave arm in relation to the master arm, and the Z movement extension through which the length of the slave arm is increased in comparison with that of the master arm. Devices have been developed which transform the linear movements into rotational movements to enable these movements to be transmitted through rotational seal fittings capable of ensuring the safety of the separation between the operator's environment and that in the work area. Particular improvements have been made to the handles, handle seals, pincer mechanisms, etc [fr

A new measurement of workload in Web application reliability assessment

Directory of Open Access Journals (Sweden)

CUI Xia

2015-02-01

Full Text Available Web application has been popular in various fields of social life.It becomes more and more important to study the reliability of Web application.In this paper the definition of Web application failure is firstly brought out,and then the definition of Web application reliability.By analyzing data in the IIS server logs and selecting corresponding usage and information delivery failure data,the paper study the feasibility of Web application reliability assessment from the perspective of Web software system based on IIS server logs.Because the usage for a Web site often has certain regularity,a new measurement of workload in Web application reliability assessment is raised.In this method,the unit is removed by weighted average technique;and the weights are assessed by setting objective function and optimization.Finally an experiment was raised for validation.The experiment result shows the assessment of Web application reliability base on the new workload is better.

Do Managers Manipulate Earnings Prior to Management Buyouts?

NARCIS (Netherlands)

Mao, Y.; Renneboog, L.D.R.

2013-01-01

Abstract: To address the question as to whether managers manipulate accounting numbers downwards prior to management buyouts (MBOs), we implement an industry-adjusted buyout-specific approach and receive an affirmative answer. In UK buyout companies, negative earnings manipulation (understating the

Site-selective substitutional doping with atomic precision on stepped Al (111) surface by single-atom manipulation.

Science.gov (United States)

Chen, Chang; Zhang, Jinhu; Dong, Guofeng; Shao, Hezhu; Ning, Bo-Yuan; Zhao, Li; Ning, Xi-Jing; Zhuang, Jun

2014-01-01

In fabrication of nano- and quantum devices, it is sometimes critical to position individual dopants at certain sites precisely to obtain the specific or enhanced functionalities. With first-principles simulations, we propose a method for substitutional doping of individual atom at a certain position on a stepped metal surface by single-atom manipulation. A selected atom at the step of Al (111) surface could be extracted vertically with an Al trimer-apex tip, and then the dopant atom will be positioned to this site. The details of the entire process including potential energy curves are given, which suggests the reliability of the proposed single-atom doping method.

Evolution of Machine Reliability and Life and Economics of Operational Use

Directory of Open Access Journals (Sweden)

Młynarski Stanisław

2016-12-01

Full Text Available The article presents new assumptions for reliability and life of machines, resulting from the development of technology. The innovative approach to reliability and life design as well as warranty duration planning is presented on an example of vehicle reliability characteristics. A new algorithm is proposed for the replacement of repairable objects costs by the price of life and reliability of new unrepairable ones. For the planning of the life of innovative machines, an effective method of technical progress rate determination is proposed. In conclusion, necessary modifications of machine and vehicle use systems, resulting from technology evolution and technical progress, are indicated. Finally, recommendations and directions of indispensable research in engineering and management of technical means of production are formulated.

Reliability analysis of diverse safety logic systems of fast breeder reactor

International Nuclear Information System (INIS)

Ravi Kumar, Bh.; Apte, P.R.; Srivani, L.; Ilango Sambasivan, S.; Swaminathan, P.

2006-01-01

Safety Logic for Fast Breeder Reactor (FBR) is designed to initiate safety action against Design Basis Events. Based on the outputs of various processing circuits, Safety logic system drives the control rods of the shutdown system. So, Safety Logic system is classified as safety critical system. Therefore, reliability analysis has to be performed. This paper discusses the Reliability analysis of Diverse Safety logic systems of FBRs. For this literature survey on safety critical systems, system reliability approach and standards to be followed like IEC-61508 are discussed in detail. For Programmable Logic device based systems, Hardware Description Languages (HDL) are used. So this paper also discusses the Verification and Validation for HDLs. Finally a case study for the Reliability analysis of Safety logic is discussed. (author)

Nondestructive examination (NDE) reliability for inservice inspection of light water reactors

International Nuclear Information System (INIS)

Doctor, S.R.; Deffenbaugh, J.D.; Good, M.S.; Green, E.R.; Heasler, P.G.; Simonen, F.A.; Spanner, J.C.; Taylor, T.T.

1989-10-01

The Evaluation and Improvement of NDE Reliability for Inservice Inspection of Light Water Reactors (NDE Reliability) Program at the Pacific Northwest Laboratory was established by the Nuclear Regulatory Commission to determine the reliability of current inservice inspection (ISI) techniques and to develop recommendations that will ensure a suitably high inspection reliability. The objectives of this program include determining the reliability of ISI performed on the primary systems of commercial light-water reactors (LWRs); using probabilistic fracture mechanics analysis to determine the impact of NDE unreliability on system safety; and evaluating reliability improvement that can be achieved with improved and advanced technology. A final objective is to formulate recommended revisions to ASME Code and Regulatory requirements based on material properties, service conditions, and NDE capabilities and uncertainties. The program scope is limited to ISI of the primary systems including the piping, vessel, and other inspected components. This is a progress report covering the programmatic work from October 1987 through March 1988. 21 refs., 28 figs., 2 tabs

Nondestructive examination (NDE) reliability for inservice inspection of light waters reactors

International Nuclear Information System (INIS)

Doctor, S.R.; Deffenbaugh, J.D.; Good, M.S.; Green, E.R.; Heasler, P.G.; Simonen, F.A.; Spanner, J.C.; Taylor, T.T.

1989-11-01

Evaluation and Improvement of NDE Reliability for Inservice Inspection of Light Water Reactors (NDE Reliability) Program at the Pacific Northwest Laboratory was established by the Nuclear Regulatory Commission to determine the reliability of current inservice inspection (ISI) techniques and to develop recommendations that will ensure a suitably high inspection reliability. The objectives of this program include determining the reliability of ISI performed on the primary systems of commercial light-water reactors (LWRs); using probabilistic fracture mechanics analysis to determine the impact of NDE unreliability on system safety; and evaluating reliability improvements that can be achieved with improved and advanced technology. A final objective is to formulate recommended revisions to ASME Code and Regulatory requirements, based on material properties, service conditions, and NDE uncertainties. The program scope is limited to ISI of the primary systems including the piping, vessel, and other inspected components. This is a progress report covering the programmatic work from April 1988 through September 1988. 33 refs., 70 figs., 12 tabs

Nondestructive Examination (NDE) Reliability for Inservice Inspection of Light Water Reactors

International Nuclear Information System (INIS)

Doctor, S.R.; Diaz, A.A.; Friley, J.R.

1993-09-01

The Evaluation and Improvement of NDE Reliability for Inservice Inspection of Light Water Reactors (NDE Reliability) Program at the Pacific Northwest Laboratory was established by the Nuclear Regulatory Commission to determine the reliability of current inservice inspection (ISI) techniques and to develop recommendations that will ensure a suitably high inspection reliability. The objectives of this program include determining the reliability of ISI performed on the primary systems of commercial light-water reactors (LWRs); using probabilistic fracture mechanics analysis to determine the impact of NDE unreliability on system safety; and evaluating reliability improvements that can be achieved with improved and advanced technology. A final objective is to formulate recommended revisions to ASME Code and Regulatory requirements, based on material properties, service conditions, and NDE uncertainties. The program scope is limited to ISI of the primary systems including the piping, vessel, and other components inspected in accordance with Section XI of the ASME Code. This is a progress report covering the programmatic work from October 1991 through March 1992

Adaptive hidden Markov model with anomaly States for price manipulation detection.

Science.gov (United States)

Cao, Yi; Li, Yuhua; Coleman, Sonya; Belatreche, Ammar; McGinnity, Thomas Martin

2015-02-01

Price manipulation refers to the activities of those traders who use carefully designed trading behaviors to manually push up or down the underlying equity prices for making profits. With increasing volumes and frequency of trading, price manipulation can be extremely damaging to the proper functioning and integrity of capital markets. The existing literature focuses on either empirical studies of market abuse cases or analysis of particular manipulation types based on certain assumptions. Effective approaches for analyzing and detecting price manipulation in real time are yet to be developed. This paper proposes a novel approach, called adaptive hidden Markov model with anomaly states (AHMMAS) for modeling and detecting price manipulation activities. Together with wavelet transformations and gradients as the feature extraction methods, the AHMMAS model caters to price manipulation detection and basic manipulation type recognition. The evaluation experiments conducted on seven stock tick data from NASDAQ and the London Stock Exchange and 10 simulated stock prices by stochastic differential equation show that the proposed AHMMAS model can effectively detect price manipulation patterns and outperforms the selected benchmark models.

Systems reliability/structural reliability

International Nuclear Information System (INIS)

Green, A.E.

1980-01-01

The question of reliability technology using quantified techniques is considered for systems and structures. Systems reliability analysis has progressed to a viable and proven methodology whereas this has yet to be fully achieved for large scale structures. Structural loading variants over the half-time of the plant are considered to be more difficult to analyse than for systems, even though a relatively crude model may be a necessary starting point. Various reliability characteristics and environmental conditions are considered which enter this problem. The rare event situation is briefly mentioned together with aspects of proof testing and normal and upset loading conditions. (orig.)

Development of a Control System for PRIDE Remote Servo-manipulator

International Nuclear Information System (INIS)

Lee, Jong Kwang; Park, Byung Suk; Lee, Hyo Jik; Kim, Kyung Tae; Kim, Sung Hyun; Park, Hee Sung; Kim, Young Hwan; Jung, Jae Hoo; Kim, Ki Ho; Kim, Ho Dong

2009-12-01

KAERI is developing the PRIDE(PyRoprocess Integrated inactive DEmonstration) facility to verify the integrated performance of full Pyroprocess flow. A main process cell in the PRIDE facility will be filled with argon gas which prohibits direct access by human operators. Therefore, all the operation and maintenance of the process equipment is performed remotely through a master-slave manipulation. This research focuses on the design, fabrication, and interface of a control system which integrates several hardware systems such as a dual arm master-slave servo-manipulator, a horizontally moving transporter for a master manipulator, a bridge transporter for a slave manipulator, a chain hoist, camera systems and their display system, a manual console, and a pendant, etc. Also, a bilateral force-reflection controller considering an elasticity and vibration modes of wire cable has been developed for master-slave remote manipulation. The results obtained in this study will be applied for the force-reflection control of the bridge-transported master-slave servo-manipulator system for use in the PRIDE facility. Since this research is an essential work in robotics related fields, the results would be widely used for developing power manipulators and process automation equipment

Development of a Control System for PRIDE Remote Servo-manipulator

Energy Technology Data Exchange (ETDEWEB)

Lee, Jong Kwang; Park, Byung Suk; Lee, Hyo Jik; Kim, Kyung Tae; Kim, Sung Hyun; Park, Hee Sung; Kim, Young Hwan; Jung, Jae Hoo; Kim, Ki Ho; Kim, Ho Dong

2009-12-15

KAERI is developing the PRIDE(PyRoprocess Integrated inactive DEmonstration) facility to verify the integrated performance of full Pyroprocess flow. A main process cell in the PRIDE facility will be filled with argon gas which prohibits direct access by human operators. Therefore, all the operation and maintenance of the process equipment is performed remotely through a master-slave manipulation. This research focuses on the design, fabrication, and interface of a control system which integrates several hardware systems such as a dual arm master-slave servo-manipulator, a horizontally moving transporter for a master manipulator, a bridge transporter for a slave manipulator, a chain hoist, camera systems and their display system, a manual console, and a pendant, etc. Also, a bilateral force-reflection controller considering an elasticity and vibration modes of wire cable has been developed for master-slave remote manipulation. The results obtained in this study will be applied for the force-reflection control of the bridge-transported master-slave servo-manipulator system for use in the PRIDE facility. Since this research is an essential work in robotics related fields, the results would be widely used for developing power manipulators and process automation equipment.

Effect of Osteopathic Cranial Manipulative Medicine on Visual Function.

Science.gov (United States)

Sandhouse, Mark E; Shechtman, Diana; Fecho, Gregory; Timoshkin, Elena M

2016-11-01

The effects of osteopathic cranial manipulative medicine (OCMM) on visual function have been poorly characterized in the literature. Based on a pilot study conducted by their research group, the authors conducted a study that examined whether OCMM produced a measurable change in visual function in adults with cranial asymmetry. Randomized, controlled, double-blinded clinical trial. The intervention and control (sham therapy) were applied during 8 weekly visits, and participants in both groups received 8 weekly follow-up visits. Adult volunteers aged between 18 and 35 years with unremarkable systemic or ocular history were recruited. Inclusion criteria were refractive error between 6 diopters of myopia and 5 diopters of hyperopia, regular astigmatism of any amount, and cranial somatic dysfunction. All participants were evaluated for cranial asymmetry and randomly assigned to the treatment or sham therapy group. The treatment group received OCMM to correct cranial dysfunctions, and the sham therapy group received light pressure applied to the cranium. Preintervention and postintervention ophthalmic examinations consisted of distance visual acuity testing, accommodative system testing, local stereoacuity testing, pupillary size measurements, and vergence system testing. A χ2 analysis was performed to determine participant masking. Analysis of variance was performed for all ophthalmic measures. Eighty-nine participants completed the trial, with 47 in the treatment group and 42 in the sham therapy group. A hierarchical analysis of variance revealed statistically significant within-groups effects (Psize under bright light in the left eye and in near point of convergence break. Osteopathic cranial manipulative medicine may affect visual function in adults with cranial asymmetry. Active motion testing of the cranium for somatic dysfunction may affect the cranial system to a measurable level and explain interrater reliability issues in cranial studies. (Clinical

Reliability Engineering

International Nuclear Information System (INIS)

Lee, Sang Yong

1992-07-01

This book is about reliability engineering, which describes definition and importance of reliability, development of reliability engineering, failure rate and failure probability density function about types of it, CFR and index distribution, IFR and normal distribution and Weibull distribution, maintainability and movability, reliability test and reliability assumption in index distribution type, normal distribution type and Weibull distribution type, reliability sampling test, reliability of system, design of reliability and functionality failure analysis by FTA.

Exploitation of manipulators: 'hitch-hiking' as a parasite transmission strategy.

Science.gov (United States)

Thomas; Renaud; Poulin

1998-07-01

For many parasites with complex life cycles, manipulation of host behaviour is an adaptation to increase the probability of successful transmission. Since manipulation is likely to be costly, other parasites may exploit hosts already manipulated so as to ensure their transmission without investing in manipulation. Such a cheating strategy, called 'hitch-hiking', could be adaptive in a range of situations. We first propose and discuss criteria that should be met by any parasite to be considered a hitch-hiker. Then, to understand the evolution of the hitch-hiking strategy, we use simple mathematical models to analyse the influence of several variables on the potential benefits for a nonmanipulative parasite of actively seeking a ride to the definitive host with a manipulative parasite. The models suggest that the prevalence or abundance of manipulative parasites will be a key determinant of whether hitch-hiking can be an advantageous option for other parasites. Copyright 1998 The Association for the Study of Animal Behaviour.

Development and performance tests of the bridge-transported servo manipulator system for remote maintenance jobs in a hot cell

International Nuclear Information System (INIS)

Jin, Jae Hyun; Park, Byung Suk; Ko, Byung Seung; Yoon, Ji Sup; Jung, Ki Jung

2005-01-01

In this paper, a prototype of the Bridge-Transported Servo Manipulator (BTSM) system introduced, which has been developed to do operation and maintenance jobs remotely in a hot cell. The system consists of a telescopic transporter, a slave arm, a master arm, and a control system. Several tests such as a positional tracking, a weight handling, reliability, and operability have been performed and test results are presented. Based on the test results, an upgraded system which will be used during demonstrations of the advanced spent fuel conditioning process (ACP) has been designed.

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.

The effects of spatially displaced visual feedback on remote manipulator performance

Science.gov (United States)

Smith, Randy L.; Stuart, Mark A.

1993-01-01

The results of this evaluation have important implications for the arrangement of remote manipulation worksites and the design of workstations for telerobot operations. This study clearly illustrates the deleterious effects that can accompany the performance of remote manipulator tasks when viewing conditions are less than optimal. Future evaluations should emphasize telerobot camera locations and the use of image/graphical enhancement techniques in an attempt to lessen the adverse effects of displaced visual feedback. An important finding in this evaluation is the extent to which results from previously performed direct manipulation studies can be generalized to remote manipulation studies. Even though the results obtained were very similar to those of the direct manipulation evaluations, there were differences as well. This evaluation has demonstrated that generalizations to remote manipulation applications based upon the results of direct manipulation studies are quite useful, but they should be made cautiously.

Reliability analysis techniques for the design engineer

International Nuclear Information System (INIS)

Corran, E.R.; Witt, H.H.

1980-01-01

A fault tree analysis package is described that eliminates most of the housekeeping tasks involved in proceeding from the initial construction of a fault tree to the final stage of presenting a reliability analysis in a safety report. It is suitable for designers with relatively little training in reliability analysis and computer operation. Users can rapidly investigate the reliability implications of various options at the design stage, and evolve a system which meets specified reliability objectives. Later independent review is thus unlikely to reveal major shortcomings necessitating modification and projects delays. The package operates interactively allowing the user to concentrate on the creative task of developing the system fault tree, which may be modified and displayed graphically. For preliminary analysis system data can be derived automatically from a generic data bank. As the analysis procedes improved estimates of critical failure rates and test and maintenance schedules can be inserted. The computations are standard, - identification of minimal cut-sets, estimation of reliability parameters, and ranking of the effect of the individual component failure modes and system failure modes on these parameters. The user can vary the fault trees and data on-line, and print selected data for preferred systems in a form suitable for inclusion in safety reports. A case history is given - that of HIFAR containment isolation system. (author)

Detailed solution to a complex kinematics chain manipulator

International Nuclear Information System (INIS)

March-Leuba, S.; Jansen, J.F.; Kress, R.L.; Babcock, S.M.

1992-01-01

This paper presents a relatively simple method based on planar geometry to analyze the inverse kinematics for closed kinematics chain (CKC) mechanisms. Although the general problem and method of approach are well defined, the study of the inverse kinematics of a closed-chain mechanism is a very complicated one. The current methodology allows closed-form solutions to be found, if a solution exists, for the displacements and velocities of all manipulator joints. Critical design parameters can be identified and optimized by using symbolic models. This paper will focus on planar closed-chain structures extended with a rotational base. However, with open and CKC mechanisms combined in different planes, the extension to the case is straightforward. Further, real-time algorithms are developed that can be handled by existing microprocessor technology. To clarify the methodology, the Soldier Robot Interface Project (SRIP) manipulator is analyzed, and a graphic simulation is presented as a verification of the results. This manipulator has 17 links, 24 one-degree-of-freedom (DOF) joints, and 7 CKC loops working in a plane and a rotational base, which determine its 3 DOFs. The SRIP manipulator allows a decoupled linear motion along the vertical or horizontal directions using only one of its linear actuators. The symbolic solution for the inverse kinematics allows optimization to be performed to further decouple the Cartesian motions by changing link lengths of the manipulator. The conclusion achieved by the optimization is that only two link lengths need to be changed to tune the manipulator for a perfect decoupling at each area of the workspace

VIBRATION REDUCTION ON SINGLE-LINK FLEXIBLE MANIPULATOR USING H∞ CONTROL

Directory of Open Access Journals (Sweden)

Roberd Saragih

2012-06-01

Full Text Available This paper is concerned with the vibration and position control of a single link flexible manipulator. Robot link manipulators are widely used in various industrial applications. It is desirable to build light weight flexible manipulators. Light flexible manipulators have a variety of applications, most significantly in space exploration,manufacturing automation, construction, mining, and hazardous operation. Timoshenko beam theory is used to derive mathematical model of a flexible manipulator. The dynamic equations of motion are obtained using the Lagrange's formulation of dynamics.The H∞ controller is designed for vibration and position control of the system. Simulations are presented and show that vibration and position control of a single flexible link can be controlled with the designed H∞ controller.

Development of an advanced robot manipulator system

International Nuclear Information System (INIS)

Oomichi, Takeo; Higuchi, Masaru; Shimizu, Yujiro; Ohnishi, Ken

1991-01-01

A sophisticated manipulator system for an advanced robot was developed under the 'Advanced Robot Technology Development' Program promoted and supported by the Agency of Industrial Science and Technology of MITI. The authors have participated in the development of a fingered manipulator with force and tactile sensors applicable to a masterslave robot system. Our slave manipulator is equipped with four fingers. Though the finger needs many degrees of freedom so as to be suitable for skilful handing of an object, our fingers are designed to have minimum degree of freedom in order to reduce weight. Each finger tip was designed to be similar to a human finger which has flexibility, softness and contact feeling. The shape of the master finger manipulator was so designed that the movement of the fingers is smoother and that the constraint feeling of the operator is smaller. We were adopted to a pneumatic pressure system for transmitting the tactile feeling of the slave fingers to the master fingers. A multiple sensory bilateral control system which gives an operator a feeling of force and tactile reduces his feeling of constraint in carrying out work with a robot system. (author)

Computer control of ET-RR-1 hot cell manipulators

International Nuclear Information System (INIS)

Effat, A.M.; Rahman, F.A.

1990-01-01

The hot cell designed for remote handling of radioactive materials are, in effect, integral systems of safety devices for attaining adequate radiological protection for the operating personnel. Their operation involve potential hazards that are sometimes of great magnitude. The effect of an incident or accident could thus be fatal. some of these incident are due to the collision of the manipulator slave side with the radioactive objectives. Therefore in order to minimize the probability of such type of incidents, the movement of the manipulators is suggested (in the present investigation) to be kept under computer control. A model have been developed to control the movement of the hot cell manipulators in the slave side for Egypt first research reactor ET-RR-1, specially in the hidden sectors. The model is based on the use of a microprocessor and some accessories fixed to the manipulators slave side in a special manner such that it prevents the manipulator from colliding with radioactive objects. This is achieved by a signal transmitted to a specially designed brake which controls the movement of the upper arm of the manipulator master side. The hardware design of the model as well as the software are presented in details

A Synthetic Algorithm for Tracking a Moving Object in a Multiple-Dynamic Obstacles Environment Based on Kinematically Planar Redundant Manipulators

Directory of Open Access Journals (Sweden)

Hongzhe Jin

2017-01-01

Full Text Available This paper presents a synthetic algorithm for tracking a moving object in a multiple-dynamic obstacles environment based on kinematically planar manipulators. By observing the motions of the object and obstacles, Spline filter associated with polynomial fitting is utilized to predict their moving paths for a period of time in the future. Several feasible paths for the manipulator in Cartesian space can be planned according to the predicted moving paths and the defined feasibility criterion. The shortest one among these feasible paths is selected as the optimized path. Then the real-time path along the optimized path is planned for the manipulator to track the moving object in real-time. To improve the convergence rate of tracking, a virtual controller based on PD controller is designed to adaptively adjust the real-time path. In the process of tracking, the null space of inverse kinematic and the local rotation coordinate method (LRCM are utilized for the arms and the end-effector to avoid obstacles, respectively. Finally, the moving object in a multiple-dynamic obstacles environment is thus tracked via real-time updating the joint angles of manipulator according to the iterative method. Simulation results show that the proposed algorithm is feasible to track a moving object in a multiple-dynamic obstacles environment.

Analysis of the reliability of the active injection safety systems of Angra I

International Nuclear Information System (INIS)

Frutuoso e Melo, P.F.F.

1981-01-01

The reliability of the active emergency core cooling systems of Angra I nuclear power plant is evaluated. The fault tree analysis is employed. The unavailability of the above cited systems, is calculated. A parametric sensitivity analysis has been performed, due to the existing scattering in the failure and repair rate data of these system's components. The minimal cut sets were determined and, as a final step, a reliability importance analysis has been performed. This final step has required the development of a computer program. The methodology and data from the 'Reactor Safety Study' (Wash-1400) (in which the reliability of safety systems of a tipical PWR plant is calculated), is employed. The unavailability values for the safety systems analysed are too low, thus showing that in most cases the systems analysed are available to mitigate the effects of a loss-of-coolant accident. (Author) [pt

Reliability Evaluation of Bridges Based on Nonprobabilistic Response Surface Limit Method

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Xuyong Chen

2017-01-01

Full Text Available Due to many uncertainties in nonprobabilistic reliability assessment of bridges, the limit state function is generally unknown. The traditional nonprobabilistic response surface method is a lengthy and oscillating iteration process and leads to difficultly solving the nonprobabilistic reliability index. This article proposes a nonprobabilistic response surface limit method based on the interval model. The intention of this method is to solve the upper and lower limits of the nonprobabilistic reliability index and to narrow the range of the nonprobabilistic reliability index. If the range of the reliability index reduces to an acceptable accuracy, the solution will be considered convergent, and the nonprobabilistic reliability index will be obtained. The case study indicates that using the proposed method can avoid oscillating iteration process, make iteration process stable and convergent, reduce iteration steps significantly, and improve computational efficiency and precision significantly compared with the traditional nonprobabilistic response surface method. Finally, the nonprobabilistic reliability evaluation process of bridge will be built through evaluating the reliability of one PC continuous rigid frame bridge with three spans using the proposed method, which appears to be more simple and reliable when lack of samples and parameters in the bridge nonprobabilistic reliability evaluation is present.

Optimally Fortifying Logic Reliability through Criticality Ranking

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Yu Bai

2015-02-01

Full Text Available With CMOS technology aggressively scaling towards the 22-nm node, modern FPGA devices face tremendous aging-induced reliability challenges due to bias temperature instability (BTI and hot carrier injection (HCI. This paper presents a novel anti-aging technique at the logic level that is both scalable and applicable for VLSI digital circuits implemented with FPGA devices. The key idea is to prolong the lifetime of FPGA-mapped designs by strategically elevating the VDD values of some LUTs based on their modular criticality values. Although the idea of scaling VDD in order to improve either energy efficiency or circuit reliability has been explored extensively, our study distinguishes itself by approaching this challenge through an analytical procedure, therefore being able to maximize the overall reliability of the target FPGA design by rigorously modeling the BTI-induced device reliability and optimally solving the VDD assignment problem. Specifically, we first develop a systematic framework to analytically model the reliability of an FPGA LUT (look-up table, which consists of both RAM memory bits and associated switching circuit. We also, for the first time, establish the relationship between signal transition density and a LUT’s reliability in an analytical way. This key observation further motivates us to define the modular criticality as the product of signal transition density and the logic observability of each LUT. Finally, we analytically prove, for the first time, that the optimal way to improve the overall reliability of a whole FPGA device is to fortify individual LUTs according to their modular criticality. To the best of our knowledge, this work is the first to draw such a conclusion.

Dynamic modeling of the manipulator RD5NT

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Eduardo Monteiro Aguiar

2015-05-01

Full Text Available This article presents the development of a dynamicmathematical model for the DIDACTA ITALIARD5NT manipulator. The model is intendedto be used in the development of strategies ofposition-trajectory control. The choice modelingtype aims at identifying the physical parametersof the manipulator.

Reliability analysis of a consecutive r-out-of-n: F system based on neural networks

International Nuclear Information System (INIS)

Habib, Aziz; Alsieidi, Ragab; Youssef, Ghada

2009-01-01

In this paper, we present a generalized Markov reliability and fault-tolerant model, which includes the effects of permanent fault and intermittent fault for reliability evaluations based on neural network techniques. The reliability of a consecutive r-out-of-n: F system was obtained with a three-layer connected neural network represents a discrete time state reliability Markov model of the system. Such that we fed the neural network with the desired reliability of the system under design. Then we extracted the parameters of the system from the neural weights at the convergence of the neural network to the desired reliability. Finally, we obtain simulation results.

Reliability

OpenAIRE

Condon, David; Revelle, William

2017-01-01

Separating the signal in a test from the irrelevant noise is a challenge for all measurement. Low test reliability limits test validity, attenuates important relationships, and can lead to regression artifacts. Multiple approaches to the assessment and improvement of reliability are discussed. The advantages and disadvantages of several different approaches to reliability are considered. Practical advice on how to assess reliability using open source software is provided.

Reliable Ant Colony Routing Algorithm for Dual-Channel Mobile Ad Hoc Networks

Directory of Open Access Journals (Sweden)

YongQiang Li

2018-01-01

Full Text Available For the problem of poor link reliability caused by high-speed dynamic changes and congestion owing to low network bandwidth in ad hoc networks, an ant colony routing algorithm, based on reliable path under dual-channel condition (DSAR, is proposed. First, dual-channel communication mode is used to improve network bandwidth, and a hierarchical network model is proposed to optimize the dual-layer network. Thus, we reduce network congestion and communication delay. Second, a comprehensive reliable path selection strategy is designed, and the reliable path is selected ahead of time to reduce the probability of routing restart. Finally, the ant colony algorithm is used to improve the adaptability of the routing algorithm to changes of network topology. Simulation results show that DSAR improves the reliability of routing, packet delivery, and throughput.

A novel ontology approach to support design for reliability considering environmental effects.

Science.gov (United States)

Sun, Bo; Li, Yu; Ye, Tianyuan; Ren, Yi

2015-01-01

Environmental effects are not considered sufficiently in product design. Reliability problems caused by environmental effects are very prominent. This paper proposes a method to apply ontology approach in product design. During product reliability design and analysis, environmental effects knowledge reusing is achieved. First, the relationship of environmental effects and product reliability is analyzed. Then environmental effects ontology to describe environmental effects domain knowledge is designed. Related concepts of environmental effects are formally defined by using the ontology approach. This model can be applied to arrange environmental effects knowledge in different environments. Finally, rubber seals used in the subhumid acid rain environment are taken as an example to illustrate ontological model application on reliability design and analysis.

Manipulating electromagnetic waves with metamaterials: Concept and microwave realizations

International Nuclear Information System (INIS)

He Qiong; Xiao Shi-Yi; Li Xin; Song Zheng-Yong; Sun Wu-Jiong; Zhou Lei; Sun Shu-Lin

2014-01-01

Our recent efforts in manipulating electromagnetic (EM) waves using metamaterials (MTMs) are reviewed with emphasis on 1) manipulating wave polarization and transporting properties using homogeneous MTMs, 2) manipulating surface-wave properties using plasmonic MTMs, and 3) bridging propagating and surface waves using inhomogeneous meta-surfaces. For all these topics, we first illustrate the physical concepts and then present several typical practical realizations and applications in the microwave regime. (topical review - plasmonics and metamaterials)