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Sample records for remote manipulator control

  1. Expert operator preferences in remote manipulator control systems

    Energy Technology Data Exchange (ETDEWEB)

    Sundstrom, E. [Human Machine Interfaces, Inc., Knoxville, TN (United States); Draper, J.V. [Oak Ridge National Lab., TN (United States); Fausz, A.; Woods, H. [Univ. of Tennessee, Knoxville, TN (United States)

    1995-06-01

    This report describes a survey of expert remote manipulator operators designed to identify features of control systems related to operator efficiency and comfort. It provides information for designing the control center for the Single-Shell Tank Waste Retrieval Manipulator System (TWRMS) Test Bed, described in a separate report. Research questions concerned preferred modes of control, optimum work sessions, sources of operator fatigue, importance of control system design features, and desired changes in control rooms. Participants comprised four expert remote manipulator operators at Oak Ridge National Laboratory, who individually have from 9 to 20 years of experience using teleoperators. The operators had all used rate and position control, and all preferred bilateral (force-reflecting) position control. They reported spending an average of 2.75 h in control of a teleoperator system during a typical shift. All were accustomed to working in a crew of two and alternating control and support roles in 2-h rotations in an 8-h shift. Operators reported that fatigue in using remote manipulator systems came mainly from watching TV monitors and making repetitive motions. Three of four experienced symptoms, including headaches and sore eyes, wrists, and back. Of 17 features of control rooms rated on importance, highest ratings went to comfort and support provided by the operator chair, location of controls, location of video monitors, video image clarity, types of controls, and control modes. When asked what they wanted to change, operators said work stations designed for comfort; simpler, lighter hand-controls; separate controls for each camera; better placement of remote camera; color monitors; and control room layouts that support crew interaction. Results of this small survey reinforced the importance of ergonomic factors in remote manipulation.

  2. Design and Implementation of the Remote Control of the Manipulator

    Directory of Open Access Journals (Sweden)

    Marcel Vytečka

    2014-01-01

    Full Text Available This article is focused on the design and implementation of the complex solution of the remote control of the industrial manipulator Katana 6M180. The main aim is to increase utilization of the machine and its monitoring, whereas the safety standards won’t be affected. Both parts of the design, the hardware as well as the software one, are discussed in this article. The hardware part consists of the protective cage, controllable lighting, power circuits, electronics, server, several cameras used for image processing of the working space and one IP camera used for monitoring. The software tools represent second main part of the described solution of the remote control. This software part of the solution consists of the main control software running on the server, the reservation system and third party software that solves connections between clients and the server. Special attention is paid to the implementation of safety elements, in order to increase the robustness of the whole system. The description of one resolved task that used the designed remote control system, is listed in the conclusion as a proof of concept. The task is focused on determining parameters of the objects in the working space of the manipulator.

  3. Assisted Perception, Planning and Control for Remote Mobility and Dexterous Manipulation

    Science.gov (United States)

    2017-04-01

    ASSISTED PERCEPTION , PLANNING AND CONTROL FOR REMOTE MOBILITY AND DEXTEROUS MANIPULATION MASSACHUSETTS INSTITUTE OF TECHNOLOGY APRIL 2017 FINAL...including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing...DATES COVERED (From - To) SEP 2012 – AUG 2016 4. TITLE AND SUBTITLE ASSISTED PERCEPTION , PLANNING AND CONTROL FOR REMOTE MOBILITY AND DEXTEROUS

  4. Remote robot manipulator coupled with remote-controlled guide vehicle for soil sampling in hazardous waste sites

    Science.gov (United States)

    Kim, Kiho

    The important initial step for remediation of hazardous waste is contaminant analysis since the cleanup operation can not begin until the contaminants in hazardous waste sites have been clearly identified. Ames Laboratory, one of the U.S. Department of Energy sites, has developed a robotic sampling system for automation of real-time contaminant analysis in situ which will provide the advantage of lowering the cost per sample, eliminating personnel exposure to hazardous environments, and allowing quicker results. Successful accomplishment of real-time contaminant analysis will require a remote manipulator to perform the sampling tasks in remote and unstructured surroundings, and a remote-controlled guide vehicle to move a remote manipulator into the desired sampling location. This thesis focuses on the design and construction of a remote-controlled guide vehicle to move the robotic sampling system into the contaminated field to obtain soil samples at the desired locations, the development of an integrated dynamic model of a remote manipulator, the identification of dynamic parameters in the integrated dynamic model, and the design of a mobile robotic sampling system. A four-wheeled vehicle prototype has been constructed and its performance tested manually in the field to verify the design requirements. To remotely control the vehicle, mechanical requirements to activate the brake, throttle, transmission, and steering linkages were determined based on experimental results. A teleoperated control utilizing hundred feet long umbilical cords was first employed to remotely control the vehicle. Next, the vehicle was modified to remotely operate in the field by radio control without the aid of long umbilical cords, satisfying all the design specifications. To reduce modeling error in the robotic system, the integrated dynamic system comprised of a remote manipulator (located on a trailer pulled by the remote-controlled guide vehicle) and its drive system has been modeled

  5. 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.

  6. Computer aided manipulator control

    Science.gov (United States)

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

    1980-01-01

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

  7. Informatics in radiology: Intuitive user interface for 3D image manipulation using augmented reality and a smartphone as a remote control.

    Science.gov (United States)

    Nakata, Norio; Suzuki, Naoki; Hattori, Asaki; Hirai, Naoya; Miyamoto, Yukio; Fukuda, Kunihiko

    2012-01-01

    Although widely used as a pointing device on personal computers (PCs), the mouse was originally designed for control of two-dimensional (2D) cursor movement and is not suited to complex three-dimensional (3D) image manipulation. Augmented reality (AR) is a field of computer science that involves combining the physical world and an interactive 3D virtual world; it represents a new 3D user interface (UI) paradigm. A system for 3D and four-dimensional (4D) image manipulation has been developed that uses optical tracking AR integrated with a smartphone remote control. The smartphone is placed in a hard case (jacket) with a 2D printed fiducial marker for AR on the back. It is connected to a conventional PC with an embedded Web camera by means of WiFi. The touch screen UI of the smartphone is then used as a remote control for 3D and 4D image manipulation. Using this system, the radiologist can easily manipulate 3D and 4D images from computed tomography and magnetic resonance imaging in an AR environment with high-quality image resolution. Pilot assessment of this system suggests that radiologists will be able to manipulate 3D and 4D images in the reading room in the near future. Supplemental material available at http://radiographics.rsna.org/lookup/suppl/doi:10.1148/rg.324115086/-/DC1.

  8. Operator-Adjustable Frame Rate, Resolution, and Gray Scale Tradeoff in Fixed-Bandwidth Remote Manipulator Control.

    Science.gov (United States)

    1980-09-01

    easier. During the Campeche blowout, both a manned and an unmanned submersible were sent for. The remotely controlled TREAC submersible was loaded...hose into a socket would be easiest with high resolution and * relatively low gray scale and frame rate, while selecting the blue valve from a bank of

  9. Television systems for remote manipulation. [in space

    Science.gov (United States)

    Crooks, W. H.; Freedman, L. A.; Coan, P. P.

    1975-01-01

    An analytical and experimental study was conducted to specify a video system for remote manipulation in space. An operator function analysis identified two basic characteristics, work volume and element relationship, which define four manipulation tasks chosen for examination. A visual function analysis developed a set of elemental scene parameters which grouped the visual dimensions into major areas of influence. Simulation testing was conducted with a four degree-of-freedom motion frame which allowed an operator to perform the manipulation tasks. Four video systems were included in the simulation testing: a black and white and a color monoscopic system, a stereoscopic system, and a black and white two-view system. A sequential experimental plan first provided an overall analysis of the effects of tasks, scene parameters, and video systems. This was followed by a detailed experimental examination of the critical dimensions identified in the first experiment. Results are discussed in terms of a recommended TV system.

  10. Remote Manipulation of Guidewire using a Virtual Reality Device.

    Science.gov (United States)

    Fukasaku, K; Negoro, M; Himeno, R

    2001-12-22

    A trial of remote manipulation for micro guidewire is reported. The system had masterslave style. When an operator manipulated the virtual torque device at the master side, a machine at the distant slave side reproduced the manipulation. At the same time, the operator could feel the force feedback from the manipulation at the slave. We could experimentally realize this remote manipulating system using a virtual reality device.

  11. Remote Manipulation of Guidewire using a Virtual Reality Device

    OpenAIRE

    Fukasaku, K.; Negoro, M.; Himeno, R.

    2001-01-01

    A trial of remote manipulation for micro guidewire is reported. The system had master-slave style. When an operator manipulated the virtual torque device at the master side, a machine at the distant slave side reproduced the manipulation. At the same time, the operator could feel the force feedback from the manipulation at the slave. We could experimentally realize this remote manipulating system using a virtual reality device.

  12. 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...

  13. View of the Columbia's remote manipulator system

    Science.gov (United States)

    1982-01-01

    This the aft section of the Earth-orbiting Columbia's cargo bay and the remote manipulator system (RMS) moving the plasma diagnostics package (PDP) was photographed through the flight-deck's aft windows during the STS-3 flight. Visible at the lower left of the photo are the twin orbital maneuvering system (OMS) pods. The vertical stabilizer or tail splits the top part of the image in half. The RMS, with its camera attached to the wrist, is aimed in the direction of the dark payload bay.

  14. Single-qubit remote manipulation by magnetic solitons

    Energy Technology Data Exchange (ETDEWEB)

    Cuccoli, Alessandro, E-mail: cuccoli@fi.infn.it [Dipartimento di Fisica e Astronomia, Università di Firenze, via G. Sansone 1, I-50019 Sesto Fiorentino (Italy); Istituto Nazionale di Fisica Nucleare, Sezione di Firenze, via G. Sansone 1, I-50019 Sesto Fiorentino (Italy); CNISM – c/o Dipartimento di Fisica e Astronomia, Università di Firenze, via G. Sansone 1, I-50019 Sesto Fiorentino (Italy); Nuzzi, Davide, E-mail: nuzzi@fi.infn.it [Dipartimento di Fisica e Astronomia, Università di Firenze, via G. Sansone 1, I-50019 Sesto Fiorentino (Italy); Istituto Nazionale di Fisica Nucleare, Sezione di Firenze, via G. Sansone 1, I-50019 Sesto Fiorentino (Italy); Vaia, Ruggero, E-mail: ruggero.vaia@isc.cnr.it [Istituto Nazionale di Fisica Nucleare, Sezione di Firenze, via G. Sansone 1, I-50019 Sesto Fiorentino (Italy); Istituto dei Sistemi Complessi, Consiglio Nazionale delle Ricerche, via Madonna del Piano 10, I-50019 Sesto Fiorentino (Italy); Verrucchi, Paola, E-mail: verrucchi@fi.infn.it [Dipartimento di Fisica e Astronomia, Università di Firenze, via G. Sansone 1, I-50019 Sesto Fiorentino (Italy); Istituto Nazionale di Fisica Nucleare, Sezione di Firenze, via G. Sansone 1, I-50019 Sesto Fiorentino (Italy); Istituto dei Sistemi Complessi, Consiglio Nazionale delle Ricerche, via Madonna del Piano 10, I-50019 Sesto Fiorentino (Italy)

    2016-02-15

    Magnetic solitons can constitute a means for manipulating qubits from a distance. This would overcome the necessity of directly applying selective magnetic fields, which is unfeasible in the case of a matrix of qubits embedded in a solid-state quantum device. If the latter contained one-dimensional Heisenberg spin chains coupled to each qubit, one can originate a soliton in a selected chain by applying a time-dependent field at one end of it, far from the qubits. The generation of realistic solitons has been simulated. When a suitable soliton passes by, the coupled qubit undergoes nontrivial operations, even in the presence of moderate thermal noise. - Highlights: • Proposal for the remote control of qubits coupled to a spin chain supporting solitons. • Traveling solitons can be generated on the chain by acting far from the qubit. • Suitable magnetic solitons can properly change the qubit state. • This qubit manipulation mechanism is shown to be resilient to thermal noise.

  15. Remote telerobotic replacement for master-slave manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Heckendorn, F.M.; Iverson, D.C. [Westinghouse Savannah River Company, Aiken, SC (United States); LaValle, D.R. [PaR Systems Inc., Shorview, MN (United States)

    1997-05-01

    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.

  16. Remotely controllable liquid marbles

    KAUST Repository

    Zhang, Lianbin

    2012-07-26

    Liquid droplets encapsulated by self-organized hydrophobic particles at the liquid/air interface - liquid marbles - are prepared by encapsulating water droplets with novel core/shell-structured responsive magnetic particles, consisting of a responsive block copolymer-grafted mesoporous silica shell and magnetite core (see figure; P2VP-b-PDMS: poly(2-vinylpyridine-b- dimethylsiloxane)). Desirable properties of the liquid marbles include that they rupture upon ultraviolet illumination and can be remotely manipulated by an external magnetic field. 2012 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  17. 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.

  18. 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...

  19. Interaction control of an UAV endowed with a manipulator

    NARCIS (Netherlands)

    Scholten, Jasper L.J; Fumagalli, Matteo; Stramigioli, Stefano; Carloni, Raffaella

    In this paper, we present the design, simulation and experimental validation of a control architecture for an unmanned aerial vehicle endowed with a manipulation system and interacting with a remote environment. The goal of this work is to show that the interaction control allows the ma- nipulator

  20. Solar maximum mission panel jettison analysis remote manipulator system

    Science.gov (United States)

    Bauer, R. B.

    1980-01-01

    A study is presented of the development of the Remote Manipulator System (RMS) configurations for jettison of the solar panels on the Solar Maximum Mission/Multimission Satellite. A valid RMS maneuver between jettison configurations was developed. Arm and longeron loads and effector excursions due to the solar panel jettison were determined to see if they were within acceptable limits. These loads and end effector excursions were analyzed under two RMS modes, servos active in position hold submode, and in the brakes on mode.

  1. Remote Manipulation for D&D Exhibiting Teleautonomy and Telecollaboration

    Energy Technology Data Exchange (ETDEWEB)

    Ewing, Thomas F.; Colgate, J. Edward; Park, Young S.; Peshkin, Michael A.

    2004-06-01

    The purpose of the work is to enhance remote operations of robotic systems for D&D tasks by extending teleoperation with semi-autonomous functions. The work leverages the $1.2M dual-arm work platform (DAWP) developed with broad participation for the CP5 D&D, as well as 2,000 hr DAWP D&D operational experience. We propose to develop a reactive, agent-based control architecture well suited to unstructured and unpredictable environments, and robot control technology, which implements a virtual fixture that can be used to guide the application of tools with force-feedback control. Developed methodologies will be implemented using a structured light sensor and robot hand controller on the dual-arm system.

  2. Remote Manipulation for D&D Exhibiting Teleautonomy and Telecollaboration

    Energy Technology Data Exchange (ETDEWEB)

    Park, Young S.; Colgate, J. Edward; Ewing, Thomas F.; Kang, Hyoisig; Peshkin, Michael

    2003-06-01

    The purpose of the work is to enhance remote operations of robotic systems for D&D tasks by extending teleoperation with semi-autonomous functions. The work leverages the $1.2M dual-arm work platform (DAWP) developed with broad participation for the CP5 D&D, as well as 2,000 hr DAWP D&D operational experience. We propose to develop a reactive, agent-based control architecture well suited to unstructured and unpredictable environments, and cobot control technology, which implements a virtual fixture that can be used to guide the application of tools with force-feedback control. Developed methodologies will be implemented using a structured light sensor and cobot hand controller on the dual-arm system.

  3. Remote Manipulation for D&D Exhibiting Teleautonomy and Telecollaboration

    Energy Technology Data Exchange (ETDEWEB)

    Yule, Thomas J.; Colgate, J. Edward; Park, Young S.; Ewing, Thomas F.

    2002-06-01

    The purpose of the work is to enhance remote operations of robotic systems for D&D tasks by extending teleoperation with semi-autonomous functions. The work leverages the $1.2M dual-arm work platform (DAWP) developed with broad participation for the CP5 D&D, as well as 2,000 hr DAWP D&D operational experience. We propose to develop a reactive, agent-based control architecture well suited to unstructured and unpredictable environments, and robot control technology, which implements a virtual fixture that can be used to guide the application of tools with force-feedback control. Developed methodologies will be implemented using a structured light sensor and robot hand controller on the dual-arm system.

  4. Control of two Wheeled Welding Mobile Manipulator

    Directory of Open Access Journals (Sweden)

    M. D. Ngo

    2007-09-01

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

  5. Control of two Wheeled Welding Mobile Manipulator

    Directory of Open Access Journals (Sweden)

    M. D. Ngo

    2008-11-01

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

  6. Effect of lidocaine on inflammation in equine jejunum subjected to manipulation only and remote to intestinal segments subjected to ischemia.

    Science.gov (United States)

    Bauck, Anje G; Grosche, Astrid; Morton, Alison J; Graham, A Sarah; Vickroy, Thomas W; Freeman, David E

    2017-08-01

    OBJECTIVE To examine effects of continuous rate infusion of lidocaine on transmural neutrophil infiltration in equine intestine subjected to manipulation only and remote to ischemic intestine. ANIMALS 14 healthy horses. PROCEDURES Ventral midline celiotomy was performed (time 0). Mild ischemia was induced in segments of jejunum and large colon. A 1-m segment of jejunum was manipulated by massaging the jejunal wall 10 times. Horses received lidocaine (n = 7) or saline (0.9% NaCl) solution (7) throughout anesthesia. Biopsy specimens were collected and used to assess tissue injury, neutrophil influx, cyclooxygenase expression, and hypoxia-inducible factor 1α (HIF-1α) expression at 0, 1, and 4 hours after manipulation and ischemia. Transepithelial resistance (TER) and mannitol flux were measured by use of Ussing chambers. RESULTS Lidocaine did not consistently decrease neutrophil infiltration in ischemic, manipulated, or control tissues at 4 hours. Lidocaine significantly reduced circular muscle and overall scores for cyclooxygenase-2 expression in manipulated tissues. Manipulated tissues had significantly less HIF-1α expression at 4 hours than did control tissues. Mucosa from manipulated and control segments obtained at 4 hours had lower TER and greater mannitol flux than did control tissues at 0 hours. Lidocaine did not significantly decrease calprotectin expression. Severity of neutrophil infiltration was similar in control, ischemic, and manipulated tissues at 4 hours. CONCLUSIONS AND CLINICAL RELEVANCE Manipulated jejunum did not have a significantly greater increase in neutrophil infiltration, compared with 4-hour control (nonmanipulated) jejunum remote to sites of manipulation, ischemia, and reperfusion. Lidocaine did not consistently reduce neutrophil infiltration in jejunum.

  7. Impedance Control of a Redundant Parallel Manipulator

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  8. A spatial impedance controller for robotic manipulation

    NARCIS (Netherlands)

    Fasse, Ernest D.; Fasse, Ernest; Broenink, Johannes F.

    1997-01-01

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

  9. Impedance Control of a Redundant Parallel Manipulator

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  10. Perception and manipulation of game control

    NARCIS (Netherlands)

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

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

  11. Multivariable PID Controller For Robotic Manipulator

    Science.gov (United States)

    Seraji, Homayoun; Tarokh, Mahmoud

    1990-01-01

    Gains updated during operation to cope with changes in characteristics and loads. Conceptual multivariable controller for robotic manipulator includes proportional/derivative (PD) controller in inner feedback loop, and proportional/integral/derivative (PID) controller in outer feedback loop. PD controller places poles of transfer function (in Laplace-transform space) of control system for linearized mathematical model of dynamics of robot. PID controller tracks trajectory and decouples input and output.

  12. Repetitive control of electrically driven robot manipulators

    Science.gov (United States)

    Fateh, Mohammad Mehdi; Ahsani Tehrani, Hojjat; Karbassi, Seyed Mehdi

    2013-04-01

    This article presents a novel robust discrete repetitive control of electrically driven robot manipulators for tracking of a periodic trajectory. We propose a novel model, which presents the highly non-linear dynamics of robot manipulator in the form of linear discrete-time time-varying system. Based on the proposed model, we develop a two-term control law. The first term is an ordinary time-optimal and minimum-norm (TOMN) control by employing parametric controllers to guarantee stability. The second term is a novel robust control to improve the control performance in the face of uncertainties. The robust control estimates and compensates uncertainties including the parametric uncertainty, unmodelled dynamics and external disturbances. Performance of the proposed method is compared with two discrete methods, namely the TOMN control and an adaptive iterative learning (AIL) control. Simulation results confirm superiority of the proposed method in terms of the convergence speed and precision.

  13. Impedance Control of a Redundant Parallel Manipulator

    DEFF Research Database (Denmark)

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

    2017-01-01

    This paper presents the design of Impedance Control to a redundantly actuated Parallel Kinematic Manipulator. The proposed control is based on treating each limb as a single system and their connection through the internal interaction forces. The controller introduces a stiffness and damping...... matrices that decouples the dynamic behaviour of the robot. Control allocation of torques is applied through an optimization that promotes even distribution of torques over actuators. Simulations showed a good compliance behaviour in low frequencies....

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1999-01-01

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

  15. Strengthening Controls from Within: Manipulated by Peers

    Science.gov (United States)

    Brasler, Claire E.; Laursen, Erik K.

    2004-01-01

    Since friendship and peer relationships are particularly important to teenagers, students with passive aggressive behaviors frequently and intentionally "set up" more aggressive peers to get them to react and to lose control, guaranteeing a behavioral consequence. As a result, the victim of being set up or "manipulated" also ends up being…

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

    Directory of Open Access Journals (Sweden)

    Jose Vicente Marti

    2013-04-01

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

  17. 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.

  18. Adaptive control of space based robot manipulators

    Science.gov (United States)

    Walker, Michael W.; Wee, Liang-Boon

    1991-01-01

    For space based robots in which the base is free to move, motion planning and control is complicated by uncertainties in the inertial properties of the manipulator and its load. A new adaptive control method is presented for space based robots which achieves globally stable trajectory tracking in the presence of uncertainties in the inertial parameters of the system. A partition is made of the fifteen degree of freedom system dynamics into two parts: a nine degree of freedom invertible portion and a six degree of freedom noninvertible portion. The controller is then designed to achieve trajectory tracking of the invertible portion of the system. This portion consist of the manipulator joint positions and the orientation of the base. The motion of the noninvertible portion is bounded, but unpredictable. This portion consist of the position of the robot's base and the position of the reaction wheel.

  19. Square Root - Type Control for Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Fernando Reyes

    2013-01-01

    Full Text Available This paper addresses the problem of position control for robot manipulators. A new control structure with compensation for global position is presented. The main contribution of this paper is to prove that the closed loop system of the nonlinear robot dynamics model and the proposed control algorithm is globally, asymptotically stable and in agreement with Lyapunov's direct method and LaSalle's invariance principle. Besides this, the theoretical results in a real-time experimental comparison are also presented to show a comparison of the performance between the square root type controller and simple PD scheme on a three degrees-of-freedom direct-drive robot.

  20. Manipulation of vortex rings for flow control

    Energy Technology Data Exchange (ETDEWEB)

    Toyoda, Kuniaki; Hiramoto, Riho [Mechanical Systems Engineering, Hokkaido Institute of Technology, Maeda 7-15-4-1, Teine-ku, Sapporo 006-855 (Japan)], E-mail: toyodahm@poppy.ocn.ne.jp

    2009-10-15

    This paper reviews the dynamics of vortex rings and the control of flow by the manipulation of vortex rings. Vortex rings play key roles in many flows; hence, the understanding of the dynamics of vortex rings is crucial for scientists and engineers dealing with flow phenomena. We describe the structures and motions of vortex rings in circular and noncircular jets, which are typical examples of flows evolving into vortex rings. For circular jets the mechanism of evolving, merging and breakdown of vortex rings is described, and for noncircular jets the dynamics of three-dimensional deformation and interaction of noncircular vortex rings under the effect of self- and mutual induction is discussed. The application of vortex-ring manipulation to the control of various flows is reviewed with successful examples, based on the relationship between the vortex ring dynamics and the flow properties. (invited paper)

  1. Beam Techniques - Beam Control and Manipulation

    Energy Technology Data Exchange (ETDEWEB)

    Minty, Michiko G

    2003-04-24

    We describe commonly used strategies for the control of charged particle beams and the manipulation of their properties. Emphasis is placed on relativistic beams in linear accelerators and storage rings. After a brief review of linear optics, we discuss basic and advanced beam control techniques, such as transverse and longitudinal lattice diagnostics, matching, orbit correction and steering, beam-based alignment, and linac emittance preservation. A variety of methods for the manipulation of particle beam properties are also presented, for instance, bunch length and energy compression, bunch rotation, changes to the damping partition number, and beam collimation. The different procedures are illustrated by examples from various accelerators. Special topics include injection and extraction methods, beam cooling, spin transport and polarization.

  2. STS-100 Onboard Photograph-International Space Station Remote Manipulator System

    Science.gov (United States)

    2001-01-01

    This is a Space Shuttle STS-100 mission onboard photograph. Astronaut Scott Parazynski totes a Direct Current Switching Unit while anchored on the end of the Canadian-built Remote Manipulator System (RMS) robotic arm. The RMS is in the process of moving Parazynski to the exterior of the Destiny laboratory (right foreground), where he will secure the spare unit, a critical part of the station's electrical system, to the stowage platform in case future crews will need it. Also in the photograph are the Italian-built Raffaello multipurpose Logistics Module (center) and the new Canadarm2 (lower right) or Space Station Remote Manipulator System.

  3. State of the art in design and control of master-slave manipulators

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Ki Ho; Kim, Seung Ho; Kim, Byung Soo; Kim, Chang Hoi; Jung, Seung Ho; Kwang, Suk Yeoung; Seo, Yong Chil; Lee, Young Kwang

    1998-03-01

    The use of remotely operated robots and other mechanical devices as replacements of human workers in hazardous environments is a growing field of research. In particular, master-slave manipulators have been extensively used in the nuclear industries governed by the ALARA principle for more than four decades. There, however, are still few successful implementations of complex and high degree-of-freedom systems. The master manipulator is an input device which interfaces with the human operator on one side and with the slave manipulator on the other. Bilateral force-reflecting control plays a key supporting role in successful dexterous manipulation of the master-slave manipulators. Great increase in performance of the master-slave manipulator system can be achieved through good design of mechanical hardware and proper implementation of the embedded control strategies. This report presents some of design issues relevant to designers of the master manipulator as man-machine interface device in the master-slave manipulator system. Significant design parameters for both the replica and universal master manipulators are evaluated. In addition, the report describes the various control schemes of the bilateral force-reflecting master-slave manipulators, discusses the analysis and synthesis of the control loop between the master and slave manipulators, and examines the necessary position and force information on both sides. (author). 80 refs., 2 tabs., 15 figs

  4. Intelligent Control of a Novel Hydraulic Forging Manipulator

    Directory of Open Access Journals (Sweden)

    J. Wang

    2011-01-01

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

  5. Internet remote control interface for a multipurpose robotic arm

    Directory of Open Access Journals (Sweden)

    Matthew W. Dunnigan

    2008-11-01

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

  6. PD-SVM Integrated Controller for Robotic Manipulator Tracking Control

    Directory of Open Access Journals (Sweden)

    Neha Kapoor

    2014-01-01

    Full Text Available Highly precise tracking of a robotic manipulator in presence of uncertainties like noise, disturbances, and friction has been addressed in this particular paper. An integrated proportional derivative and support vector machine (SVMPD controller has been proposed for manipulator tracking. To illustrate the efficiency of the proposed controller, simulations have been done on a 2-DOF manipulator system. Performance of the proposed controller has been checked and verified with respect to to a simple PID controller and the radial bias neural network proportional integral derivative (RBNNPD controller. It has been proved that the proposed controller can achieve better tracking performance as compared to other controllers as the range of errors is less and the time taken by the controller has reduced up to 14 times as compared to RBNN.

  7. The use of 16 mm movie cameras for evaluation of the Space Shuttle remote manipulator system

    Science.gov (United States)

    van Wijk, M. C.; Kratky, V.

    Six 16 mm movie cameras, installed in the payload bay of the Space Shuttle 'Columbia', are used to monitor the performance of the remote manipulator system during several flight missions. Calibration procedures carried out in the laboratory and on board of the Space Shuttle are described. The accuracy of the photogrammetrically compiled information and initial results are discussed.

  8. Self Growing Remote Controlled Laboratory

    OpenAIRE

    Cornel Samoila; Petrica Cotfas; Doru E Ursutiu

    2006-01-01

    In the last few years, focused on the collaboration with a team from Carinthia Tech Institute Villach -Austria, we have tried to develop a remote controlled laboratory in the Electronic Engineering field at the “Transilvania†University of Brasov. The main idea of this paper is to present the improvement of our LabVIEW Server, access control and service management. The work was concentrated to develop an interface for our server which provides the possibility to simultaneously connec...

  9. Control room concept for remote maintenance in high radiation areas

    Energy Technology Data Exchange (ETDEWEB)

    Clarke, M.M.; Kreifeldt, J.G.

    1984-01-01

    This paper summarizes the design of a control room concept for an operator interface with remote maintenance equipment consisting of force-reflecting manipulators, tools, hoists, cranes, cameras, and lights. The design development involved two major activities. First, detailed requirements were defined for foreseeable functions that will be performed by the control room operators. Second, concepts were developed, tested, and refined to meet these requirements. Each of these activities is summarized below. 6 references, 3 figures.

  10. System requirements and design features of Space Station Remote Manipulator System mechanisms

    Science.gov (United States)

    Kumar, Rajnish; Hayes, Robert

    1991-01-01

    The Space Station Remote Manipulator System (SSRMS) is a long robotic arm for handling large objects/payloads on the International Space Station Freedom. The mechanical components of the SSRMS include seven joints, two latching end effectors (LEEs), and two boom assemblies. The joints and LEEs are complex aerospace mechanisms. The system requirements and design features of these mechanisms are presented. All seven joints of the SSRMS have identical functional performance. The two LEES are identical. This feature allows either end of the SSRMS to be used as tip or base. As compared to the end effector of the Shuttle Remote Manipulator System, the LEE has a latch and umbilical mechanism in addition to the snare and rigidize mechanisms. The latches increase the interface preload and allow large payloads (up to 116,000 Kg) to be handled. The umbilical connectors provide power, data, and video signal transfer capability to/from the SSRMS.

  11. Issues in human/computer control of dexterous remote hands

    Science.gov (United States)

    Salisbury, K.

    1987-01-01

    Much research on dexterous robot hands has been aimed at the design and control problems associated with their autonomous operation, while relatively little research has addressed the problem of direct human control. It is likely that these two modes can be combined in a complementary manner yielding more capability than either alone could provide. While many of the issues in mixed computer/human control of dexterous hands parallel those found in supervisory control of traditional remote manipulators, the unique geometry and capabilities of dexterous hands pose many new problems. Among these are the control of redundant degrees of freedom, grasp stabilization and specification of non-anthropomorphic behavior. An overview is given of progress made at the MIT AI Laboratory in control of the Salisbury 3 finger hand, including experiments in grasp planning and manipulation via controlled slip. It is also suggested how we might introduce human control into the process at a variety of functional levels.

  12. Design of Wireless Remote Control Solar Cleaner

    Directory of Open Access Journals (Sweden)

    Ma Zhicai

    2015-01-01

    Full Text Available This paper describes the operation principle and the hardware composition of the wireless remote control cleaner by adopting solar panel power supply mode in detail. The experimental circuit is designed and on based on the designed experimental circuit the wireless remote control solar cleaner is made. The experimental results show that it is feasible that the combination of solar panels and wireless remote control cleaner.

  13. Model tracking controller design of robot manipulator system with disturbances

    Directory of Open Access Journals (Sweden)

    Dazhong Wang

    2015-06-01

    Full Text Available In the model tracking control of robot manipulator system, the treatment of nonlinear uncertainty in the system has always been an active research field. This article establishes a kinetic equation for robot manipulator system based on Lagrange equation and proposes a model tracking control system based on differential divisor. On this basis, this article proposes a model tracking control scheme for robot manipulator systems with disturbances. The proposed scheme is robust stable under the external disturbances. At last, the system simulation approach is employed to verify the effectiveness of this scheme on robot manipulator control.

  14. 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.

  15. The dynamic control of robotic manipulators in space

    Science.gov (United States)

    Dubowsky, S.

    1988-01-01

    Described briefly is the work done during the first half year of a three-year study on dynamic control of robotic manipulators in space. The research focused on issues for advanced control of space manipulators including practical issues and new applications for the Virtual Manipulator. In addition, the development of simulations and graphics software for space manipulators, begun during the first NASA proposal in the area, has continued. The fabrication of the Vehicle Emulator System (VES) is completed and control algorithms are in process of development.

  16. Remote Control of the CFHT Dome Shutter

    Science.gov (United States)

    Look, Ivan; Roberts, Larry; Vermeulen, Tom; Taroma, Ralph; Matsushige, Grant

    2011-03-01

    Several years ago CFHT proposed developing a Remote Observing Environment aimed at producing Science Observations at their Facility on Mauna Kea from their Headquarters in Waimea, HI. This Remote Observing Project commonly referred to as OAP (Observatory Automation Project) was completed at the end of January 2011 and has been providing the majority of Science Data since. My poster will attempt to provide Design Information on the Dome Shutter, which is both Controlled and Monitored Remotely from Waimea. The Dome Shutter Control System incorporates an upgraded Allen-Bradley PLC processor (SLC 5/05), which provides Remote Operation and Monitoring of the existing System. Several earlier upgrade projects were integrated to provide improvement to the Shutter System such as PLC Control, System Feedback, and Safety Features. This particular upgrade provides Remote capability, CFHT developed Control GUI, and Remote monitoring that promise to deliver a more versatile, visual, and safer Shutter Operation. The Dome Shutter Control System provides three modes of Operation namely; Remote, Integration, and Local. The Control GUI is used to operate the Shutter remotely. Integration mode is provided to develop PLC software code and is performed by connecting a Laptop directly to the Shutter Control Panel. Local mode is retained to provide Remote Lockout (No Remote Control), which allows Shutter control ONLY via the existing Electrical Panel. This mode is primarily intended for Shutter maintenance and troubleshooting. The Dome Shutter remains the first Line-of-Defense for Telescope protection due to inclement weather and so special attention was considered during Remote development. The Shutter has been equipped with an Autonomous Shutdown sequence in the event of Power or Network failure. If Loss of HELCO Power or Start-up of our Stand-by Diesel Generator is detected; a planned timing sequence will Close the Shutter Automatically. Likewise, an internal CFHT Network heartbeat was

  17. Momentum limiting velocity controls for robotic manipulators

    Science.gov (United States)

    Mcinroy, John E.; Saridis, George N.; Bryan, Tom

    1990-01-01

    Robotic tasks in space require manipulating massive objects capable of attaining large momentum. The momentum can pose hazardous conditions and introduce destabilizing effects on a space platform. Consequently, a technique for limiting the momentum applied to objects under manipulation subject to arbitrary velocity input commands is proposed. The algorithm does not require mass position or inertia information about the object, and it takes actuator limitations into account in forming the momentum limits. To evaluate the probability that a velocity trajectory will fall within the momentum bounds, reliability theory is employed. This enables autonomously generated trajectories to be validated for compliance with momentum limits.

  18. Remote presence proctoring by using a wireless remote-control videoconferencing system.

    Science.gov (United States)

    Smith, C Daniel; Skandalakis, John E

    2005-06-01

    Remote presence in an operating room to allow an experienced surgeon to proctor a surgeon has been promised through robotics and telesurgery solutions. Although several such systems have been developed and commercialized, little progress has been made using telesurgery for anything more than live demonstrations of surgery. This pilot project explored the use of a new videoconferencing capability to determine if it offers advantages over existing systems. The video conferencing system used is a PC-based system with a flat screen monitor and an attached camera that is then mounted on a remotely controlled platform. This device is controlled from a remotely placed PC-based videoconferencing system computer outfitted with a joystick. Using the public Internet and a wireless router at the client site, a surgeon at the control station can manipulate the videoconferencing system. Controls include navigating the unit around the room and moving the flat screen/camera portion like a head looking up/down and right/left. This system (InTouch Medical, Santa Barbara, CA) was used to proctor medical students during an anatomy class cadaver dissection. The ability of the remote surgeon to effectively monitor the students' dissections and direct their activities was assessed subjectively by students and surgeon. This device was very effective at providing a controllable and interactive presence in the anatomy lab. Students felt they were interacting with a person rather than a video screen and quickly forgot that the surgeon was not in the room. The ability to move the device within the environment rather than just observe the environment from multiple fixed camera angles gave the surgeon a similar feel of true presence. A remote-controlled videoconferencing system provides a more real experience for both student and proctor. Future development of such a device could greatly facilitate progress in implementation of remote presence proctoring.

  19. Sliding Mode Control (SMC) of Robot Manipulator via Intelligent Controllers

    Science.gov (United States)

    Kapoor, Neha; Ohri, Jyoti

    2017-02-01

    Inspite of so much research, key technical problem, naming chattering of conventional, simple and robust SMC is still a challenge to the researchers and hence limits its practical application. However, newly developed soft computing based techniques can provide solution. In order to have advantages of conventional and heuristic soft computing based control techniques, in this paper various commonly used intelligent techniques, neural network, fuzzy logic and adaptive neuro fuzzy inference system (ANFIS) have been combined with sliding mode controller (SMC). For validation, proposed hybrid control schemes have been implemented for tracking a predefined trajectory by robotic manipulator, incorporating structured and unstructured uncertainties in the system. After reviewing numerous papers, all the commonly occurring uncertainties like continuous disturbance, uniform random white noise, static friction like coulomb friction and viscous friction, dynamic friction like Dhal friction and LuGre friction have been inserted in the system. Various performance indices like norm of tracking error, chattering in control input, norm of input torque, disturbance rejection, chattering rejection have been used. Comparative results show that with almost eliminated chattering the intelligent SMC controllers are found to be more efficient over simple SMC. It has also been observed from results that ANFIS based controller has the best tracking performance with the reduced burden on the system. No paper in the literature has found to have all these structured and unstructured uncertainties together for motion control of robotic manipulator.

  20. Backstepping Controller for Electrically Driven Flexible Joint Manipulator Under Uncertainties

    Directory of Open Access Journals (Sweden)

    Lilia Zouari

    2014-12-01

    Full Text Available The grown complexity of the robot manipulators dynamics taking into account the jointflexibility, parameter uncertainties and unknown bounded disturbances makes conventionalcontrol strategies difficult and complex to synthesize. This paper focuses on the investiga-tion into backstepping control of flexible joint manipulator driving by Brushless DC Motor(BDCM in the presence of parameter uncertainties and unknown bounded disturbances fortracking trajectory. The goal of this paper is to compensate all uncertainties and distur-bances for flexible joint manipulator. To study the effectiveness of the controllers, backstep-ping controller has been developed for position control and an hysteresis controller has beentreated for current control. Simulation results of the response of the flexible joint manipu-lators associated with their controllers have been presented. The high performances of thebackstepping control are examined in terms of tracking accuracy and error reduction.

  1. Controlling Home Appliances Remotely through Voice Command

    Science.gov (United States)

    Baig, Faisal; Beg, Saira; Fahad Khan, Muhammad

    2012-06-01

    Controlling appliances is a main part of automation. The main object of Home automation is to provide a wireless communication link of home appliances to the remote user. The main objective of this work is to make such a system which controls the home appliances remotely. This paper discusses two methods of controlling home appliances one is via voice to text SMS and other is to use the mobile as a remote control, this system will provide a benefit to the elderly and disable people and also to those who are unaware of typing an SMS.

  2. 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.

  3. Robust Adaptive PID Control of Robot Manipulator with Bounded Disturbances

    Directory of Open Access Journals (Sweden)

    Jian Xu

    2013-01-01

    Full Text Available To solve the strong nonlinearity and coupling problems in robot manipulator control, two novel robust adaptive PID control schemes are proposed in this paper with known or unknown upper bound of the external disturbances. Invoking the two proposed controllers, the unknown bounded external disturbances can be compensated and the global asymptotical stability with respect to the manipulator positions and velocities is able to be guaranteed. As compared with the existing adaptive PD control methods, the designed control laws can enlarge the tolerable external disturbances, enhance the accuracy in finite-time trajectory tracking control, and improve the dynamic performance of the manipulator systems. The stability and convergence properties of the closed-loop system are analytically proved using Lyapunov stability theory and Barbalat’s lemma. Simulations are performed for a planner manipulator with two rotary degrees of freedom to illustrate the viability and the advantages of the proposed controllers.

  4. Combined Position & Force Control for a robotic manipulator

    NARCIS (Netherlands)

    Sijs, J.; Liefhebber, F.; Römer, G.W.R.B.E.

    2007-01-01

    The ARM is a 6 DOF robotic manipulator used by disabled people with a severe handicap at the upper extremities The present ARM is position and velocity controlled. The desired position of the robot is given by the user. However, in constraint scenario's, manipulation becomes too difficult and an

  5. Control algorithm implementation for a redundant degree of freedom manipulator

    Science.gov (United States)

    Cohan, Steve

    1991-01-01

    This project's purpose is to develop and implement control algorithms for a kinematically redundant robotic manipulator. The manipulator is being developed concurrently by Odetics Inc., under internal research and development funding. This SBIR contract supports algorithm conception, development, and simulation, as well as software implementation and integration with the manipulator hardware. The Odetics Dexterous Manipulator is a lightweight, high strength, modular manipulator being developed for space and commercial applications. It has seven fully active degrees of freedom, is electrically powered, and is fully operational in 1 G. The manipulator consists of five self-contained modules. These modules join via simple quick-disconnect couplings and self-mating connectors which allow rapid assembly/disassembly for reconfiguration, transport, or servicing. Each joint incorporates a unique drive train design which provides zero backlash operation, is insensitive to wear, and is single fault tolerant to motor or servo amplifier failure. The sensing system is also designed to be single fault tolerant. Although the initial prototype is not space qualified, the design is well-suited to meeting space qualification requirements. The control algorithm design approach is to develop a hierarchical system with well defined access and interfaces at each level. The high level endpoint/configuration control algorithm transforms manipulator endpoint position/orientation commands to joint angle commands, providing task space motion. At the same time, the kinematic redundancy is resolved by controlling the configuration (pose) of the manipulator, using several different optimizing criteria. The center level of the hierarchy servos the joints to their commanded trajectories using both linear feedback and model-based nonlinear control techniques. The lowest control level uses sensed joint torque to close torque servo loops, with the goal of improving the manipulator dynamic behavior

  6. 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.

  7. Control of cooperative manipulators in holding deformable objects

    Science.gov (United States)

    Alkathiri, A. A.; Azlan, N. Z.

    2017-11-01

    This paper presents the implementation of a control system to control cooperative manipulators to hold deformable objects. The aim is to hold the deformable object without having information on the shape and stiffness of the deformable object beforehand. The prototype of a pair of manipulators has been designed and built to test the controller. A force sensor and a rotary encoder are used to give feedback to the controller, which controls the DC motor actuators accordingly. A position proportional-integral-derivative (PID) controller technique has been applied for one of the manipulators and a PID force control technique is applied to the other. Simulations and experimental tests have been conducted on models and the controller has been implemented on the real plant. Both simulation and test results prove that the implemented control technique has successfully provided the desired position and force to hold the deformable object with maximum experimental errors of 0.34mm and 50mN respectively.

  8. Controlled manipulation of giant hybrid inorganic nanowire assemblies.

    Science.gov (United States)

    Ou, Fung Suong; Shaijumon, Manikoth M; Ajayan, Pulickel M

    2008-07-01

    The ultimate goal of nanotechnology is the design and fabrication of nanosize building blocks with multiple functionalities and their assembly into large-scale functional structures that can be controllably manipulated. Here we show that hybrid inorganic multisegmented nanowires, with hydrophobic carbon nanotube tails and hydrophilic metal nanowire heads, allow the assembly and manipulation of massive ordered structures in solution, reminiscent of the organic molecular micellar assembly. Further, properly designed assemblies can be manipulated using external stimuli such as magnetic field and light. The hybrid nanowires can have multiple segments including magnetic components, allowing the assembly to be manipulated by external magnetic field. The assembled structures can also be manipulated by modifying the hydrophobicity of the respective components via chemical functionalization and optical irradiation. This approach brings the concept of environment sensitive self-assembling nanomaterials closer to reality.

  9. Independent Orbiter Assessment (IOA): Assessment of the EPD and C/remote manipulator system FMEA/CIL

    Science.gov (United States)

    Robinson, W. W.

    1988-01-01

    The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA effort first completed an analysis of the Electrical Power Distribution and Control (EPD and C)/Remote Manipulator System (RMS) hardware, generating draft failure modes and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. The IOA analysis of the EPD and C/RMS hardware initially generated 345 failure mode worksheets and identified 117 Potential Critical Items (PCIs) before starting the assessment process. These analysis results were compared to the proposed NASA Post 51-L baseline of 132 FMEAs and 66 CIL items.

  10. Design of Adaptive Switching Controller for Robotic Manipulators with Disturbance

    Directory of Open Access Journals (Sweden)

    Zhen Yang

    2016-01-01

    Full Text Available Two adaptive switching control strategies are proposed for the trajectory tracking problem of robotic manipulator in this paper. The first scheme is designed for the supremum of the bounded disturbance for robot manipulator being known; while the supremum is not known, the second scheme is proposed. Each proposed scheme consists of an adaptive switching law and a PD controller. Based on the Lyapunov stability theorem, it is shown that two new schemes can guarantee tracking performance of the robotic manipulator and be adapted to the alternating unknown loads. Simulations for two-link robotic manipulator are carried out and show that the two schemes can avoid the overlarge input torque, and the feasibility and validity of the proposed control schemes are proved.

  11. STS-41 ISAC deployed on remote manipulator system (RMS) lower arm boom

    Science.gov (United States)

    1990-01-01

    STS-41 International Telecommunications Satellite Organization (INTELSAT) Solar Array Coupon (ISAC) witness plates are mounted on remote manipulator system (RMS) lower arm boom and are exposed to space environment conditions. The RMS with the ISAC material samples is extended above Discovery's, Orbiter Vehicle (OV) 103's, payload bay (PLB) and over the Earth's surface. One witness plate contains an 8.5 x 12-inch solar array coupon and three 5 x 8-inch aluminum plates painted to provide three different temperatures. The second witness plate contains one 8.5 x 12-inch solar array coupon and a 46-position sample holder. This JSC-designed experiment is in preparation for the possible 1992 rescue of INTELSAT-VI, stranded in low orbit earlier this year. Quantitative data on the interaction of atomic oxygen with the solar array silver interconnects and other INTELSAT materials will be obtained.

  12. Direct model reference adaptive control of a flexible robotic manipulator

    Science.gov (United States)

    Meldrum, D. R.

    1985-01-01

    Quick, precise control of a flexible manipulator in a space environment is essential for future Space Station repair and satellite servicing. Numerous control algorithms have proven successful in controlling rigid manipulators wih colocated sensors and actuators; however, few have been tested on a flexible manipulator with noncolocated sensors and actuators. In this thesis, a model reference adaptive control (MRAC) scheme based on command generator tracker theory is designed for a flexible manipulator. Quicker, more precise tracking results are expected over nonadaptive control laws for this MRAC approach. Equations of motion in modal coordinates are derived for a single-link, flexible manipulator with an actuator at the pinned-end and a sensor at the free end. An MRAC is designed with the objective of controlling the torquing actuator so that the tip position follows a trajectory that is prescribed by the reference model. An appealing feature of this direct MRAC law is that it allows the reference model to have fewer states than the plant itself. Direct adaptive control also adjusts the controller parameters directly with knowledge of only the plant output and input signals.

  13. Stiffness Control of Surgical Continuum Manipulators.

    Science.gov (United States)

    Mahvash, Mohsen; Dupont, Pierre E

    2011-04-01

    This paper introduces the first stiffness controller for continuum robots. The control law is based on an accurate approximation of a continuum robot's coupled kinematic and static force model. To implement a desired tip stiffness, the controller drives the actuators to positions corresponding to a deflected robot configuration that produces the required tip force for the measured tip position. This approach provides several important advantages. First, it enables the use of robot deflection sensing as a means to both sense and control tip forces. Second, it enables stiffness control to be implemented by modification of existing continuum robot position controllers. The proposed controller is demonstrated experimentally in the context of a concentric tube robot. Results show that the stiffness controller achieves the desired stiffness in steady state, provides good dynamic performance, and exhibits stability during contact transitions.

  14. Decoupled Design of Controllers for Aerial Manipulation with Quadrotors

    Science.gov (United States)

    2016-10-09

    robotics . Compared to ground robots , aerial robots allow for manipulation tasks to be executed in difficult to access spaces, opening the doors to...in [14], where the manip- ulator tracks the aerial robot attitude dynamics during all the translational motion. In [15], the manipulator static...2013. [3] P. Cruz and R. Fierro. Autonomous lift of a cable-suspended load by an unmanned aerial robot . In Conference on Control Applications, pages

  15. Backstepping Controller for Electrically Driven Flexible Joint Manipulator Under Uncertainties

    OpenAIRE

    Lilia Zouari; Hafedh Abid; Mohamed Abid

    2014-01-01

    The grown complexity of the robot manipulators dynamics taking into account the jointflexibility, parameter uncertainties and unknown bounded disturbances makes conventionalcontrol strategies difficult and complex to synthesize. This paper focuses on the investiga-tion into backstepping control of flexible joint manipulator driving by Brushless DC Motor(BDCM) in the presence of parameter uncertainties and unknown bounded disturbances fortracking trajectory. The goal of this paper is to compen...

  16. Linear Perturbation Adaptive Control of Hydraulically Driven Manipulators

    DEFF Research Database (Denmark)

    Andersen, T.O.; Hansen, M.R.; Conrad, Finn

    2004-01-01

    A method for synthesis of a robust adaptive scheme for a hydraulically driven manipulator, that takes full advantage of any known system dynamics to simplify the adaptive control problem for the unknown portion of the dynamics is presented. The control method is based on adaptive perturbation...... control.Using the Lyapunov approach, under slowly time-varying assumptions, it is shown that the tracking error and the parameter error remain bounded. This bound is a function of the ideal parameters and a bounded disturbance. The control algorithm decouples and linearizes the manipulator so that each...

  17. Task-space sensory feedback control of robot manipulators

    CERN Document Server

    Cheah, Chien Chern

    2015-01-01

    This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity i...

  18. 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.

  19. Repetitive motion planning and control of redundant robot manipulators

    CERN Document Server

    Zhang, Yunong

    2013-01-01

    Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Informa...

  20. Optimizing Optics For Remotely Controlled Underwater Vehicles

    Science.gov (United States)

    Billet, A. B.

    1984-09-01

    The past decade has shown a dramatic increase in the use of unmanned tethered vehicles in worldwide marine fields. These vehicles are used for inspection, debris removal and object retrieval. With advanced robotic technology, remotely operated vehicles (ROVs) are now able to perform a variety of jobs previously accomplished only by divers. The ROVs can be used at greater depths and for riskier jobs, and safety to the diver is increased, freeing him for safer, more cost-effective tasks requiring human capabilities. Secondly, the ROV operation becomes more cost effective to use as work depth increases. At 1000 feet a diver's 10 minutes of work can cost over $100,000 including support personnel, while an ROV operational cost might be 1/20 of the diver cost per day, based on the condition that the cost for ROV operation does not change with depth, as it does for divers. In the ROV operation the television lens must be as good as the human eye, with better light gathering capability than the human eye. The RCV-150 system is an example of these advanced technology vehicles. With the requirements of manueuverability and unusual inspection, a responsive, high performance, compact vehicle was developed. The RCV-150 viewing subsystem consists of a television camera, lights, and topside monitors. The vehicle uses a low light level Newvicon television camera. The camera is equipped with a power-down iris that closes for burn protection when the power is off. The camera can pan f 50 degrees and tilt f 85 degrees on command from the surface. Four independently controlled 250 watt quartz halogen flood lamps illuminate the viewing area as required; in addition, two 250 watt spotlights are fitted. A controlled nine inch CRT monitor provides real time camera pictures for the operator. The RCV-150 vehicle component system consists of the vehicle structure, the vehicle electronics, and hydraulic system which powers the thruster assemblies and the manipulator. For this vehicle, a light

  1. Design and control considerations for industrial and space manipulators

    Science.gov (United States)

    Whitney, D. E.; Book, W. J.; Lynch, P. M.

    1974-01-01

    This paper is a progress report summarizing theoretical and practical results concerning integration of design and control aspects of manipulator arms for industrial or space applications. The relationships between task specifications, gross motions, fine motions, actuator type and location, size and strength of structural members, control servos and strategies, and overall design evaluation are briefly discussed, with some technical examples.

  2. Parametric Approach to Trajectory Tracking Control of Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Shijie Zhang

    2013-01-01

    Full Text Available The mathematic description of the trajectory of robot manipulators with the optimal trajectory tracking problem is formulated as an optimal control problem, and a parametric approach is proposed for the optimal trajectory tracking control problem. The optimal control problem is first solved as an open loop optimal control problem by using a time scaling transform and the control parameterization method. Then, by virtue of the relationship between the optimal open loop control and the optimal closed loop control along the optimal trajectory, a practical method is presented to calculate an approximate optimal feedback gain matrix, without having to solve an optimal control problem involving the complex Riccati-like matrix differential equation coupled with the original system dynamics. Simulation results of 2-link robot manipulator are presented to show the effectiveness of the proposed method.

  3. Remote System of Temperature Monitoring and Control

    Directory of Open Access Journals (Sweden)

    Vítor Carvalho

    2008-11-01

    Full Text Available This paper presents a system capable of monitoring and control remotely the temperature of a physical space. This work was part of a final year graduation of the Industrial Informatics Course at the Polytechnic Institute of Cávado and Ave. It was developed by an undergraduate student using a LabVIEW custom application with a methodology of on-off control. The local user can use a touch screen display to configure the system setpoint temperature and for overall monitoring. For remote access it can be used any device supporting LabVIEW environment.

  4. An adaptive fuzzy logic controller for robot-manipulator

    Directory of Open Access Journals (Sweden)

    Tran Thu Ha

    2008-11-01

    Full Text Available In this paper, an adaptive fuzzy controller is designed for the robot-manipulator. The synthesized controller ensures that 1 the close-loop system is globally stable and 2 the tracking error converges to zero asymptotically and a cost function is minimized. The fuzzy controller is synthesized from a collection of IF-THEN rules. The parameters of the membership functions characterizing the linguistic terms change according to some adaptive law for the purpose of controlling a plant to track a reference trajectory. The proposed control scheme is demonstrated in a typical nonlinear plant two link manipulator. The computer simulation of control is done by the language MATLAB. The results of simulation show that the adaptipresented results are analyzed.

  5. Quantum processing by remote quantum control

    Science.gov (United States)

    Qiang, Xiaogang; Zhou, Xiaoqi; Aungskunsiri, Kanin; Cable, Hugo; O’Brien, Jeremy L.

    2017-12-01

    Client-server models enable computations to be hosted remotely on quantum servers. We present a novel protocol for realizing this task, with practical advantages when using technology feasible in the near term. Client tasks are realized as linear combinations of operations implemented by the server, where the linear coefficients are hidden from the server. We report on an experimental demonstration of our protocol using linear optics, which realizes linear combination of two single-qubit operations by a remote single-qubit control. In addition, we explain when our protocol can remain efficient for larger computations, as well as some ways in which privacy can be maintained using our protocol.

  6. Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A Framework for Whole-Body Manipulation

    Science.gov (United States)

    Hebert, Paul; Ma, Jeremy; Borders, James; Aydemir, Alper; Bajracharya, Max; Hudson, Nicolas; Shankar, Krishna; Karumanchi, Sisir; Douillard, Bertrand; Burdick, Joel

    2015-01-01

    The use of the cognitive capabilties of humans to help guide the autonomy of robotics platforms in what is typically called "supervised-autonomy" is becoming more commonplace in robotics research. The work discussed in this paper presents an approach to a human-in-the-loop mode of robot operation that integrates high level human cognition and commanding with the intelligence and processing power of autonomous systems. Our framework for a "Supervised Remote Robot with Guided Autonomy and Teleoperation" (SURROGATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected by a single 7-DOF torso, mounted on a tracked-wheel base. We present an architecture that allows high-level supervisory commands and intents to be specified by a user that are then interpreted by the robotic system to perform whole body manipulation tasks autonomously. We use a concept of "behaviors" to chain together sequences of "actions" for the robot to perform which is then executed real time.

  7. Dionis: A Novel Remote-Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

    Directory of Open Access Journals (Sweden)

    R. Beira

    2011-01-01

    Full Text Available The large volume and reduced dexterity of current surgical robotic systems are factors that restrict their effective performance. To improve the usefulness of surgical robots in minimally invasive surgery (MIS, a compact and accurate positioning mechanism, named Dionis, is proposed in this paper. This spatial hybrid mechanism based on a novel parallel kinematics is able to provide three rotations and one translation for single port procedures. The corresponding axes intersect at a remote center of rotation (RCM that is the MIS entry port. Another important feature of the proposed positioning manipulator is that it can be placed below the operating table plane, allowing a quick and direct access to the patient, without removing the robotic system. This, besides saving precious space in the operating room, may improve safety over existing solutions. The conceptual design of Dionis is presented in this paper. Solutions for the inverse and direct kinematics are developed, as well as the analytical workspace and singularity analysis. Due to its unique design and kinematics, the proposed mechanism is highly compact, stiff and its dexterity fullfils the workspace specifications for MIS procedures.

  8. Independent Orbiter Assessment (IOA): Assessment of the remote manipulator system FMEA/CIL

    Science.gov (United States)

    Tangorra, F.; Grasmeder, R. F.; Montgomery, A. D.

    1988-01-01

    The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA effort first completed an analysis of the Remote Manipulator System (RMS) hardware, generating draft failure modes and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. The IOA results were than compared to the NASA FMEA/CIL baseline with proposed Post 51-L updates included. A resolution of each discrepancy from the comparison is provided through additional analysis as required. The results of that comparison for the Orbiter RMS hardware are documented. The IOA product for the RMS analysis consisted of 604 failure mode worksheets that resulted in 458 potential critical items being identified. Comparison was made to the NASA baseline which consisted of 45 FMEAs and 321 CIL items. This comparison produced agreement on all but 154 FMEAs which caused differences in 137 CIL items.

  9. Controlled Manipulation of Individual Vortices in a Superconductor

    Energy Technology Data Exchange (ETDEWEB)

    Straver, E.W.J.

    2010-04-05

    We report controlled local manipulation of single vortices by low temperature magnetic force microscope (MFM) in a thin film of superconducting Nb. We are able to position the vortices in arbitrary configurations and to measure the distribution of local depinning forces. This technique opens up new possibilities for the characterization and use of vortices in superconductors.

  10. Chiropractic spinal manipulative therapy for cervicogenic headache: a single-blinded, placebo, randomized controlled trial

    National Research Council Canada - National Science Library

    Aleksander Chaibi; Heidi Knackstedt; Peter J Tuchin; Michael Bjorn Russell

    2017-01-01

    .... Thus, non-pharmacological management is warranted. Our objective was therefore to investigate the efficacy of chiropractic spinal manipulative therapy versus placebo (sham manipulation) and control...

  11. Mechatronic Model Based Computed Torque Control of a Parallel Manipulator

    Directory of Open Access Journals (Sweden)

    Zhiyong Yang

    2008-03-01

    Full Text Available With high speed and accuracy the parallel manipulators have wide application in the industry, but there still exist many difficulties in the actual control process because of the time-varying and coupling. Unfortunately, the present-day commercial controlles cannot provide satisfying performance for its single axis linear control only. Therefore, aimed at a novel 2-DOF (Degree of Freedom parallel manipulator called Diamond 600, a motor-mechanism coupling dynamic model based control scheme employing the computed torque control algorithm are presented in this paper. First, the integrated dynamic coupling model is deduced, according to equivalent torques between the mechanical structure and the PM (Permanent Magnetism servomotor. Second, computed torque controller is described in detail for the above proposed model. At last, a series of numerical simulations and experiments are carried out to test the effectiveness of the system, and the results verify the favourable tracking ability and robustness.

  12. Mechatronic Model Based Computed Torque Control of a Parallel Manipulator

    Directory of Open Access Journals (Sweden)

    Zhiyong Yang

    2008-11-01

    Full Text Available With high speed and accuracy the parallel manipulators have wide application in the industry, but there still exist many difficulties in the actual control process because of the time-varying and coupling. Unfortunately, the present-day commercial controlles cannot provide satisfying performance for its single axis linear control only. Therefore, aimed at a novel 2-DOF (Degree of Freedom parallel manipulator called Diamond 600, a motor-mechanism coupling dynamic model based control scheme employing the computed torque control algorithm are presented in this paper. First, the integrated dynamic coupling model is deduced, according to equivalent torques between the mechanical structure and the PM (Permanent Magnetism servomotor. Second, computed torque controller is described in detail for the above proposed model. At last, a series of numerical simulations and experiments are carried out to test the effectiveness of the system, and the results verify the favourable tracking ability and robustness.

  13. Computer control for remote wind turbine operation

    Energy Technology Data Exchange (ETDEWEB)

    Manwell, J.F.; Rogers, A.L.; Abdulwahid, U.; Driscoll, J. [Univ. of Massachusetts, Amherst, MA (United States)

    1997-12-31

    Light weight wind turbines located in harsh, remote sites require particularly capable controllers. Based on extensive operation of the original ESI-807 moved to such a location, a much more sophisticated controller than the original one has been developed. This paper describes the design, development and testing of that new controller. The complete control and monitoring system consists of sensor and control inputs, the control computer, control outputs, and additional equipment. The control code was written in Microsoft Visual Basic on a PC type computer. The control code monitors potential faults and allows the turbine to operate in one of eight states: off, start, run, freewheel, low wind shut down, normal wind shutdown, emergency shutdown, and blade parking. The controller also incorporates two {open_quotes}virtual wind turbines,{close_quotes} including a dynamic model of the machine, for code testing. The controller can handle numerous situations for which the original controller was unequipped.

  14. Remote radio control of insect flight

    Directory of Open Access Journals (Sweden)

    Hirotaka Sato

    2009-10-01

    Full Text Available We demonstrated the remote control of insects in free flight via an implantable radio-equipped miniature neural stimulating system. The pronotum mounted system consisted of neural stimulators, muscular stimulators, a radio transceiver-equipped microcontroller and a microbattery. Flight initiation, cessation and elevation control were accomplished through neural stimulus of the brain which elicited, suppressed or modulated wing oscillation. Turns were triggered through the direct muscular stimulus of either of the basalar muscles. We characterized the response times, success rates, and free-flight trajectories elicited by our neural control systems in remotely-controlled beetles. We believe this type of technology will open the door to in-flight perturbation and recording of insect flight responses.

  15. Metasurface Spatial Processor for Electromagnetic Remote Control

    CERN Document Server

    Achouri, Karim; Salem, Mohamed Ahmed; Caloz, Christophe

    2015-01-01

    We introduce the concept of metasurface spatial processor, whose transmission is remotely and coherently controlled by the superposition of an incident wave and a control wave through the metasurface. The conceptual operation of this device is analogous to both that of a transistor and a Mach-Zehnder interferometer, while offering much more diversity in terms of electromagnetic transformations. We demonstrate two metasurfaces, that perform the operation of electromagnetic switching and amplification.

  16. Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Yassine Bouteraa

    2011-01-01

    while tracking a common desired trajectory. Based on the well-known consensus algorithm, the control strategy consists in synchronizing the joint position and the velocity of each robot in the network with respect to neighboring robots' joints and velocities. Modeled by an undirected graph, the cooperative robot network requires just local neighbor-to-neighbor information exchange between manipulators. So, it does not assume the existence of an explicit leader in the team. Based above all on combination of Lyapunov direct method and cross-coupling strategy, the proposed decentralized control law is extended to an adaptive synchronization control taking into account parameter uncertainties. To address the time delay problems in the network communication channels, the suggested synchronization control law robustly synchronizes robots to track a given trajectory. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem. A real-time software simulator is developed to visualize the robot manipulators coordination.

  17. Robust high-performance control for robotic manipulators

    Science.gov (United States)

    Seraji, Homayoun (Inventor)

    1989-01-01

    Model-based and performance-based control techniques are combined for an electrical robotic control system. Thus, two distinct and separate design philosophies were merged into a single control system having a control law formulation including two distinct and separate components, each of which yields a respective signal componet that is combined into a total command signal for the system. Those two separate system components include a feedforward controller and feedback controller. The feedforward controller is model-based and contains any known part of the manipulator dynamics that can be used for on-line control to produce a nominal feedforward component of the system's control signal. The feedback controller is performance-based and consists of a simple adaptive PID controller which generates an adaptive control signal to complement the nomical feedforward signal.

  18. Experiments in Nonlinear Adaptive Control of Multi-Manipulator, Free-Flying Space Robots

    Science.gov (United States)

    Chen, Vincent Wei-Kang

    1992-01-01

    -flying systems with multiple, interacting manipulators, and extends naturally to even larger systems. The new adaptive controller was experimentally demonstrated on an ideal testbed in the ARL-A first-ever experimental model of a multi-manipulator, free-flying space robot that is capable of capturing and manipulating free-floating objects without requiring human assistance. A graphical user interface enhanced the robot usability: it enabled an operator situated at a remote location to issue high-level task description commands to the robot, and to monitor robot activities as it then carried out each assignment autonomously.

  19. Science aspects of a remotely controlled Mars surface roving vehicle.

    Science.gov (United States)

    Choate, R.; Jaffe, L. D.

    1973-01-01

    Particular attention is given to aspects pertinent to teleoperation, remote control, onboard control, and man-machine relationships in carrying out scientific operations with such a vehicle. It is assumed that landed operations would comprise one Martian year and that the traverse would extend across an area approximately 500 km wide. The mission is assumed to be planned for the early 1980s. Its objective is to obtain data which will aid in answering a number of questions regarding the history of the solar system, the formation of Mars, and the evolution of life on Mars. A series of candidate rover payloads is proposed to meet the requirements. The smallest payload includes a TV camera, a general-purpose manipulator arm, a crusher and siever, an X-ray diffractometer-spectrometer, a gravimeter, a magnetometer, meteorological instruments, and a radio transponder.

  20. Using Momentum Conservation to Control Kinematically Redundant Manipulators

    Directory of Open Access Journals (Sweden)

    Jan R. Sagli

    1991-01-01

    Full Text Available A control scheme for the coordination of motion in a macro-micro manipulator system is presented. The motion of the end-effector is decoupled from the rest of the system using resolved acceleration control, while a slow, gross positioning is used for the macro part. To avoid saturated inputs and excessive use of energy for systems with limited fuel, the end effector is not decoupled from macro part motion, but from selected directions of the linear momentum of the total system. For the vehicle-manipulator case, the end-effector is decoupled also from the angular momentum. This leads to lower force and torque peaks in the actuators, and control force is used on the macro part only when it is necessary to reposition this to keep the micro part inside its workspace.

  1. Embedded Optimal Control of Robot Manipulators with Passive Joints

    Directory of Open Access Journals (Sweden)

    Alberto Olivares

    2015-01-01

    Full Text Available This paper studies the optimal control problem for planar underactuated robot manipulators with two revolute joints and brakes at the unactuated joints in the presence of gravity. The presence of a brake at an unactuated joint gives rise to two operating modes for that joint: free and braked. As a consequence, there exist two operating modes for a robot manipulator with one unactuated joint and four operating modes for a manipulator with two unactuated joints. Since these systems can change dynamics, they can be regarded as switched dynamical systems. The optimal control problem for these systems is solved using the so-called embedding approach. The main advantages of this technique are that assumptions about the number of switches are not necessary, integer or binary variables do not have to be introduced to model switching decisions between modes, and the optimal switching times between modes are not unknowns of the optimal control problem. As a consequence, the resulting problem is a classical continuous optimal control problem. In this way, a general method for the solution of optimal control problems for switched dynamical systems is obtained. It is shown in this paper that it can deal with nonintegrable differential constraints.

  2. A Novel Hybrid Safety-Control Strategy for a Manipulator

    Directory of Open Access Journals (Sweden)

    Jing Xia

    2014-04-01

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

  3. Remote wireless control for LAMOST telescope

    Science.gov (United States)

    Xu, Lingzhe; Xu, Xinqi

    2006-06-01

    The R and D of the Chinese 4-m ever-ambitious telescope, Large Sky Area Multi-Object Fiber Spectroscopic Telescope (LAMOST), has advanced towards a new stage, and first light is expected by the end of 2006. As one of national scientific and engineering projects the telescope will become national facility and accommodate maximum accessibility for public reach in general and for the astronomical community in particular. Thus remote or even robotic control of the telescope is put under careful exploration. With the rapid development of IT technology one of the fashions is the mobile telephone carried around by average people mainly for daily communication, and mobile notes application has become a real hit. This paper presents GSM based remote wireless application adapted to telescope control, which can be utilized for greatly enhancing LAMOST' accessibility. The novel technique has recently been developed in LAMOST control lab. Test has demonstrated successful execution of Monitor and Control (M and C) commands for LAMOST through remote wireless mobile. The hardware and software configuration with techniques involved for reliable and secure communication is outlined in this paper too.

  4. Fuzzy Control of Flexible-Link Manipulators: A Review

    Science.gov (United States)

    Akbarzadeh-T, M.-R.; Quintana, S.; Jamshidi, M.

    1998-01-01

    Several recent research efforts are reviewed here which have applied fuzzy logic in control of flexible-link manipulators. A flexible robot is a distributed parameter system represented by complex nonlinear dynamics, its actuator and the control parameters are non-colocated, and lastly, unstructured/unknown parameters play a significant role in model dynamics of a flexible robot operating in the real world. As a result, control of flexible robots is considered a promising area for application of intelligent control methodologies such as fuzzy logic, genetic algorithms, and neural networks.

  5. Position Control of a Serial Manipulator Using Fuzzy-PID Controllers

    OpenAIRE

    Yong-Lin Kuo; Shih-Min Liu

    2015-01-01

    This paper presents the position control of a six-axis serial manipulator by using a fuzzy-PID controller. The manipulator has six joints, and each joint is driven by a motor with an encoder for sensing the joint angle. To complete a position movement of the end-effector of the manipulator, the position coordinate first needs to be converted to a sets of joint angles by using the inverse kinematics of the manipulator, and each joint rotation is executed by a feedback control of a motor. To de...

  6. Virtual Machine Language Controls Remote Devices

    Science.gov (United States)

    2014-01-01

    Kennedy Space Center worked with Blue Sun Enterprises, based in Boulder, Colorado, to enhance the company's virtual machine language (VML) to control the instruments on the Regolith and Environment Science and Oxygen and Lunar Volatiles Extraction mission. Now the NASA-improved VML is available for crewed and uncrewed spacecraft, and has potential applications on remote systems such as weather balloons, unmanned aerial vehicles, and submarines.

  7. Wind turbine remote control using Android devices

    Science.gov (United States)

    Rat, C. L.; Panoiu, M.

    2018-01-01

    This paper describes the remote control of a wind turbine system over the internet using an Android device, namely a tablet or a smartphone. The wind turbine workstation contains a LabVIEW program which monitors the entire wind turbine energy conversion system (WECS). The Android device connects to the LabVIEW application, working as a remote interface to the wind turbine. The communication between the devices needs to be secured because it takes place over the internet. Hence, the data are encrypted before being sent through the network. The scope was the design of remote control software capable of visualizing real-time wind turbine data through a secure connection. Since the WECS is fully automated and no full-time human operator exists, unattended access to the turbine workstation is needed. Therefore the device must not require any confirmation or permission from the computer operator in order to control it. Another condition is that Android application does not have any root requirements.

  8. 46 CFR 111.54-3 - Remote control.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Remote control. 111.54-3 Section 111.54-3 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) ELECTRICAL ENGINEERING ELECTRIC SYSTEMS-GENERAL REQUIREMENTS Circuit Breakers § 111.54-3 Remote control. Remotely controlled circuit breakers must have local...

  9. Approximate Dynamic Programming in Tracking Control of a Robotic Manipulator

    Directory of Open Access Journals (Sweden)

    Marcin Szuster

    2016-02-01

    Full Text Available This article focuses on the implementation of an approximate dynamic programming algorithm in the discrete tracking control system of the three-degrees of freedom Scorbot-ER 4pc robotic manipulator. The controlled system is included in an articulated robots group which uses rotary joints to access their work space. The main part of the control system is a dual heuristic dynamic programming algorithm that consists of two structures designed in the form of neural networks: an actor and a critic. The actor generates the suboptimal control law while the critic approximates the difference of the value function from Bellman's equation with respect to the state. The residual elements of the control system are the PD controller, the supervisory term and an additional control signal. The structure of the supervisory term derives from the stability analysis performed using the Lyapunov stability theorem. The control system works online, the neural networks' weights-adaptation procedure is performed in every iteration step, and the neural networks' preliminary learning process is not required. The performance of the control system was verified by a series of computer simulations and experiments performed using the Scorbot-ER 4pc robotic manipulator.

  10. Novel hybrid adaptive controller for manipulation in complex perturbation environments.

    Directory of Open Access Journals (Sweden)

    Alex M C Smith

    Full Text Available In this paper we present a hybrid control scheme, combining the advantages of task-space and joint-space control. The controller is based on a human-like adaptive design, which minimises both control effort and tracking error. Our novel hybrid adaptive controller has been tested in extensive simulations, in a scenario where a Baxter robot manipulator is affected by external disturbances in the form of interaction with the environment and tool-like end-effector perturbations. The results demonstrated improved performance in the hybrid controller over both of its component parts. In addition, we introduce a novel method for online adaptation of learning parameters, using the fuzzy control formalism to utilise expert knowledge from the experimenter. This mechanism of meta-learning induces further improvement in performance and avoids the need for tuning through trial testing.

  11. Software and Hardware Developments For a Mobile Manipulator Control

    Directory of Open Access Journals (Sweden)

    F. Abdessemed

    2008-12-01

    Full Text Available In this paper, we present the hardware and software architectures of an experimental real time control system of a mobile manipulator that performs tasks of manipulating objects in an environment of a large space. The mechanical architecture is a manipulator arm mounted on a mobile platform. In this work we show how one can implement an imbedded system, which includes the hardware and the software. The system makes use of a PC as the host and constitutes the high level layer. It is configured in such a way that it performs all the input-output interface operations; and is composed of different modules that constitute the software making up the required operations to be executed in a scheduling manner in order to meet the requirements of the real time control. In this paper, we also focus on the development of the generalized trajectory generation for the case of tasks where only one subsystem is considered to move and when the whole system is in permanent movement to achieve a particular task either in a free environment, or in presence of obstacles.

  12. Combination of Two Nanoscale Quantum Systems by Controlled Manipulations

    Science.gov (United States)

    Li, Yang; Dilullo, Andrew; Fisher, Brandon; Hla, Saw-Wai

    2014-03-01

    Modifying properties of materials at the nanoscale is an important ability for bottom-up designs of new materials, nanodevices, which might lead to new applications in the future. One method to achieve this goal is to put two nanoscale systems together and then study how they influence the properties of each other. Scanning tunneling microscopes (STMs) are ideal tools for these manipulations. Here, we report one way to modify electronic properties of two nanoscale systems, vacancies and molecules, by a novel process of STM manipulation. By these manipulations, performed near 6 K, surface vacancies were controllably created on a noble metal surface. Molecules were selectively moved into the created vacancies. Scanning tunneling spectroscopy was used to measure the change of the electronic structures of this new vacancy and molecule complex. It was found that the energy spectrum of the vacancy-molecule complex was a combination of the vacancy electronic structure and signature molecular orbitals. This work demonstrates the controlled combination of two nanoscale quantum systems which resulted in definite overlap of the electronic states of the constituent parts. By this process it is possible to design and form a new class of nanoscale systems for future research. DOE, BES, SISGR Grant: DE-FG02-09ER16109.

  13. Controls from remote through Social networks

    Directory of Open Access Journals (Sweden)

    Alessandra Ingrao

    2016-03-01

    Full Text Available The Author focuses on the recently reformed provisions regulating the employer’s power to control from remote the employees’ activities (art. 4 of the Workers Statute, with particular regard to controls performed by means of Social networks.Such controls are in fact extremely powerful due to the versatile and multi-purpose character of Social networks, which may also be used as a working device. A widespread case law shows indeed that employer’s controls may cost a worker his job.Therefore, after the reform, all employees will have to read carefully the employer’s Privacy policies, before accessing socials during the worktime to express opinions and/or frustrations.

  14. SVM-Based Control System for a Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Foudil Abdessemed

    2012-12-01

    Full Text Available Real systems are usually non-linear, ill-defined, have variable parameters and are subject to external disturbances. Modelling these systems is often an approximation of the physical phenomena involved. However, it is from this approximate system of representation that we propose - in this paper - to build a robust control, in the sense that it must ensure low sensitivity towards parameters, uncertainties, variations and external disturbances. The computed torque method is a well-established robot control technique which takes account of the dynamic coupling between the robot links. However, its main disadvantage lies on the assumption of an exactly known dynamic model which is not realizable in practice. To overcome this issue, we propose the estimation of the dynamics model of the nonlinear system with a machine learning regression method. The output of this regressor is used in conjunction with a PD controller to achieve the tracking trajectory task of a robot manipulator. In cases where some of the parameters of the plant undergo a change in their values, poor performance may result. To cope with this drawback, a fuzzy precompensator is inserted to reinforce the SVM computed torque-based controller and avoid any deterioration. The theory is developed and the simulation results are carried out on a two-degree of freedom robot manipulator to demonstrate the validity of the proposed approach.

  15. Smart turbine control with remote wind sensing

    Energy Technology Data Exchange (ETDEWEB)

    Dakin, E.A. [Catch the Wind Inc., Manassas, VA (United States)

    2009-07-01

    Turbine controls use anemometers and wind vanes located behind the turbine blades on the nacelle. Anemometer/wind vane limitations include calibration and the fact that they are affected by disturbed flow and do not represent inflow to the turbine. This presentation discussed smart turbine control with remote wind sensing in an effort to address the industry's needs. The presentation provided a hypothesis that forward looking LIDAR enables improved pointing accuracy which can lead to improved aerodynamic efficiency; reduced asymmetrical loading on turbine components; and more power production. A test equipment vindicator and laser wind sensor was illustrated as a potential technology. A test site, installation, and turbine control logic were also presented along with preliminary results. It was concluded that LIDAR data can keep the turbine aligned with the wind. tabs., figs.

  16. Remote Labs and Game-Based Learning for Process Control

    Science.gov (United States)

    Zualkernan, Imran A.; Husseini, Ghaleb A.; Loughlin, Kevin F.; Mohebzada, Jamshaid G.; El Gaml, Moataz

    2013-01-01

    Social networking platforms and computer games represent a natural informal learning environment for the current generation of learners in higher education. This paper explores the use of game-based learning in the context of an undergraduate chemical engineering remote laboratory. Specifically, students are allowed to manipulate chemical…

  17. Dynamic manipulation of asymmetric forebody vortices to achieve linear control

    Science.gov (United States)

    Lee, Richard

    A wind tunnel experiment was performed to further investigate the potential of the dynamic manipulation of forebody vortices as a means of supplementing directional control of fighter aircraft at high angles of attack. Tests were conducted on a 65-deg delta-wing model fitted with a slender, pointed tangent-ogive forebody of circular cross-section and 12.8 deg semi-apex angle. Forward-blowing nozzles located near the apex of the forebody served as the means of manipulating the forebody vortices. As expected, forward blowing was very effective, i.e., little blowing effort was required to cause the forebody vortex on the blown side to assume the 'high' position. However, the magnitudes of yawing moment and side force developed by the slender forebody with blowing do not differ significantly from that of the no-blowing, baseline case. Moreover, blowing above a certain threshold value produced an unexpected reversal, with blowing causing the vortex on the blown side to assume the 'low' position instead and the yawing moment and side force to change sense. The results have shown that the dynamic manipulation scheme is very successful in producing a linear variation of time-average yawing moment with a duty-cycle parameter, even with sideslip, for the aircraft-like model. The results also show that, by switching the vortex pattern rapidly, the linearity can be maintained up to a reduced frequency of at least 0.32, which is expected to be very satisfactory for practical applications. A subsequent water tunnel experiment with the forebody alone was undertaken to conduct off-surface flow visualizations that confirmed the vortex reversal phenomenon. Based on the flow visualization studies, a hypothesis was formed regarding the cause of the reversal phenomenon; it postulates that at the reversal threshold the nozzle flux interrupts the formation of the high forebody vortex on the blowing side and encourages the shear layer to form a replacement vortex that lies close to the

  18. Software Development for Remote Control and Firing Room Displays

    Science.gov (United States)

    Zambrano Pena, Jessica

    2014-01-01

    The Launch Control System (LCS) developed at NASA's Kennedy Space Center (KSC) will be used to launch future spacecraft. Two of the many components of this system are the Application Control Language (ACL) and remote displays. ACL is a high level domain specific language that is used to write remote control applications for LCS. Remote displays are graphical user interfaces (GUIs) developed to display vehicle and Ground Support Equipment (GSE) data, they also provide the ability to send commands to control GSE and the vehicle. The remote displays and the control applications have many facets and this internship experience dealt with several of them.

  19. Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Yi Zuo

    2008-01-01

    Full Text Available We address the problem of robust tracking control using a PD-plus-feedforward controller and an intelligent adaptive robust compensator for a rigid robotic manipulator with uncertain dynamics and external disturbances. A key feature of this scheme is that soft computer methods are used to learn the upper bound of system uncertainties and adjust the width of the boundary layer base. In this way, the prior knowledge of the upper bound of the system uncertainties does need not to be required. Moreover, chattering can be effectively eliminated, and asymptotic error convergence can be guaranteed. Numerical simulations and experiments of two-DOF rigid robots are presented to show effectiveness of the proposed scheme.

  20. Exploiting the dynamics of a robotic manipulator for control of UAVs

    NARCIS (Netherlands)

    Mersha, A.Y.; Stramigioli, Stefano; Carloni, Raffaella

    This paper presents a new free-flight controller for aerial manipulators, unmanned aerial vehicles endowed with a robotic manipulator. The control strategy exploits the dynamics of the manipulator to improve the tracking performance and maneuverability of the UAV by expanding its flight envelop. The

  1. Independence/cooperative remote control support system

    Science.gov (United States)

    Makuni, Kazuki; Miwa, Masafumi; Fujigaki, Motoharu; Tanikawa, Hiroki; Soga, Masato; Nakashima, Atsushi

    2003-03-01

    When we do aerial photography and an environmental research, a remote control helicopter (R/C helicopter) is excellent tool in the next point. For example, the cost of aerial photography and an environmental research work by R/C helicopter are low, also R/C helicopter pilot reservation fee are low price, and free from aviation law in Japan. But, R/C helicopter maneuvering and aerial photographing skills are necessary, and these are difficult to learn. Additionally, if the visibility of R/C helicopter is getting bad when it goes far away, operation is getting difficult. These problems are caused by the badness of autonomous stability on R/C helicopter system. In this study, we propose a new angle detection sensor for 3 axial rotations which is based on the development of the easy and safe steering system for the operation person.

  2. Intelligent control of an IPMC actuated manipulator using emotional learning-based controller

    Science.gov (United States)

    Shariati, Azadeh; Meghdari, Ali; Shariati, Parham

    2008-08-01

    In this research an intelligent emotional learning controller, Takagi- Sugeno- Kang (TSK) is applied to govern the dynamics of a novel Ionic-Polymer Metal Composite (IPMC) actuated manipulator. Ionic-Polymer Metal Composites are active actuators that show very large deformation in existence of low applied voltage. In this research, a new IPMC actuator is considered and applied to a 2-dof miniature manipulator. This manipulator is designed for miniature tasks. The control system consists of a set of neurofuzzy controller whose parameters are adapted according to the emotional learning rules, and a critic with task to assess the present situation resulted from the applied control action in terms of satisfactory achievement of the control goals and provides the emotional signal (the stress). The controller modifies its characteristics so that the critic's stress decreased.

  3. From remote-controlled to self-controlled citizens

    Science.gov (United States)

    Helbing, D.

    2017-01-01

    The digital revolution will make data abundant and cheap. Moving from a time of darkness into a digital age with information overload, we will need suitable filters. However, those who build these filters will determine what we see. This creates possibilities to influence people's decisions such that they become remotely controlled rather than make their decisions on their own. Since omnibenevolent rule cannot be supposed and top-down control is flawed for several reasons, another approach is needed. It can be found with distributed control, collective intelligence and participation. "Nervousnet" will be presented as a feasible specimen of a Citizen Web.

  4. Manipulation of Microobjects Based on Dynamic Adhesion Control

    Directory of Open Access Journals (Sweden)

    Tao Chen

    2012-09-01

    Full Text Available Due to scale effects, microoperation, especially the releasing of microobjects, has been a long-standing challenge in micromanipulation applications. In this paper a micromanipulation method is presented based on dynamic adhesion control with compound vibration. This adhesion control technique employs inertia force to overcome adhesion force achieving 100% repeatability with releasing accuracy of 4± 0.5μm, which was experimentally quantified through the manipulation of 20–100μm polystyrene spheres under an optical microscope. The micromanipulation system consists of a microgripper and a piezoelectric ceramics module. The compound vibration comes from the electrostatic actuator and the piezoelectrically driven actuator. Surface and bulk micromachining technology is employed to fabricate the microgripper used in the system from a single crystal silicon wafer. Experimental results confirmed that this adhesion control technique is independent of substrate. Theoretical analyses were conducted to understand the picking up and releasing mechanism. Based on this preliminary study, the micromanipulation system proved to be an effective solution for active picking up and releasing of micromanipulation.

  5. Controlling the Motion of a Planar 3-DOF Manipulator Using PID Controllers

    Directory of Open Access Journals (Sweden)

    Thien Van NGUYEN

    2017-12-01

    Full Text Available This paper mainly presents a method to model the 3-DOF manipulator with PID controller in Matlab-SimMechanics and the way to find out optimal parameters in the PID controller including: proportional gain, integral gain and derivative gain using the genetic algorithm (GA. For that aim, the 3-DOF manipulator will be simulated in order to perform a given task. The results achieved from the model show that difficulties in tuning parameters of PID controller can be solved using GA, while SimMechanics is considered as a good virtual experiment tool for simulating an arbitrary mechanism.

  6. Robust Tracking Control of Robot Manipulators Using Only Joint Position Measurements

    Directory of Open Access Journals (Sweden)

    Ancai Zhang

    2013-01-01

    Full Text Available This paper concerns the tracking control of a robot manipulator with unknown uncertainties and disturbances. It presents a new control method that uses only joint position measurements to design a tracking controller. The controller has two parts. One is based on a feedback linearization technique; it makes the nominal model of a manipulator asymptotically track a desired trajectory. The other is based on the idea of equivalent input disturbance (EID; it compensates for uncertainties and disturbances. Together they enable a robot manipulator to precisely track the desired trajectory. The new control algorithm is applied to a two-link robot manipulator, and simulation results demonstrate the validity of this method.

  7. A master manipulator with a remote-center-of-motion kinematic structure for a minimally invasive robotic surgical system.

    Science.gov (United States)

    Lee, Hyunyoung; Cheon, Byungsik; Hwang, Minho; Kang, Donghoon; Kwon, Dong-Soo

    2017-10-12

    In robotic surgical systems, commercial master devices have limitations owing to insufficient workspace and lack of intuitiveness. To overcome these limitations, a remote-center-of-motion (RCM) master manipulator was proposed. The feasibility of the proposed RCM structure was evaluated through kinematic analysis using a conventional serial structure. Two performance comparison experiments (peg transfer task and objective transfer task) were conducted for the developed master and Phantom Omni. The kinematic analysis results showed that compared with the serial structure, the proposed RCM structure has better performance in terms of design efficiency (19%) and workspace quality (59.08%). Further, in comparison with Phantom Omni, the developed master significantly increased task efficiency and significantly decreased workload in both experiments. The comparatively better performance in terms of intuitiveness, design efficiency, and operability of the proposed master for a robotic system for minimally invasive surgery was confirmed through kinematic and experimental analysis. Copyright © 2017 John Wiley & Sons, Ltd.

  8. Dynamic Manipulation of Hydrogels to Control Cell Behavior: A Review

    Science.gov (United States)

    Vats, Kanika

    2013-01-01

    For many tissue engineering applications and studies to understand how materials fundamentally affect cellular functions, it is important to have the ability to synthesize biomaterials that can mimic elements of native cell–extracellular matrix interactions. Hydrogels possess many properties that are desirable for studying cell behavior. For example, hydrogels are biocompatible and can be biochemically and mechanically altered by exploiting the presentation of cell adhesive epitopes or by changing hydrogel crosslinking density. To establish physical and biochemical tunability, hydrogels can be engineered to alter their properties upon interaction with external driving forces such as pH, temperature, electric current, as well as exposure to cytocompatible irradiation. Additionally, hydrogels can be engineered to respond to enzymes secreted by cells, such as matrix metalloproteinases and hyaluronidases. This review details different strategies and mechanisms by which biomaterials, specifically hydrogels, can be manipulated dynamically to affect cell behavior. By employing the appropriate combination of stimuli and hydrogel composition and architecture, cell behavior such as adhesion, migration, proliferation, and differentiation can be controlled in real time. This three-dimensional control in cell behavior can help create programmable cell niches that can be useful for fundamental cell studies and in a variety of tissue engineering applications. PMID:23541134

  9. Optimal continuous-path control for manipulators with redundant degrees of freedom

    Directory of Open Access Journals (Sweden)

    Olav Egeland

    1989-04-01

    Full Text Available A control system for macro-mini manipulators is presented. A position transformation from the end-effector reference to joint coordinates is found using kinematic optimization. Decoupling and optimal control is used to coordinate the motion of the macro and micro part. The redundant manipulator will then have the speed of the micro manipulator and the large workspace of the macro manipulator. When optimal control is used, the redundant manipulator may be even faster than the micro manipulator provided that a suitable performance index is used. The performance of the manipulator is optimized over the whole reference, and this will give better results than the purely kinematic instantaneous optimization which is the dominating technique in research literature.

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

    Energy Technology Data Exchange (ETDEWEB)

    Piccin, O

    1995-11-15

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

  11. Digital, remote control system for a 2-MW research reactor

    Energy Technology Data Exchange (ETDEWEB)

    Battle, R.E.; Corbett, G.K.

    1988-01-01

    A fault-tolerant programmable logic controller (PLC) and operator workstations have been programmed to replace the hard-wired relay control system in the 2-MW Bulk Shielding Reactor (BSR) at Oak Ridge National Laboratory. In addition to the PLC and remote and local operator workstations, auxiliary systems for remote operation include a video system, an intercom system, and a fiber optic communication system. The remote control station, located at the High Flux Isotope Reactor 2.5 km from the BSR, has the capability of rector startup and power control. The system was designed with reliability and fail-safe features as important considerations. 4 refs., 3 figs.

  12. Remote Voltage Control Using the Holomorphic Embedding Load Flow Method

    DEFF Research Database (Denmark)

    Liu, Chengxi; Qin, Nan; Sun, Kai

    2018-01-01

    This paper proposes a new remote voltage control approach based on the non-iterative holomorphic embedding load flow method (HELM). A participation factor matrix is applied together with the HELM to distribute reactive power injections among multiple remote reactive power resources such that the ......This paper proposes a new remote voltage control approach based on the non-iterative holomorphic embedding load flow method (HELM). A participation factor matrix is applied together with the HELM to distribute reactive power injections among multiple remote reactive power resources...... such that the approach can remotely control the voltage magnitudes of desired buses. The proposed approach is compared with a conventional Newton-Raphson approach by study cases on the IEEE New England 39-bus system. The results show that the proposed approach achieves a larger convergence region....

  13. Development of intelligent control system for X-ray streak camera in diagnostic instrument manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Pei, Chengquan [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China); Wu, Shengli, E-mail: slwu@mail.xjtu.edu.cn [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China); Tian, Jinshou [Xi' an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi' an 710119 (China); Liu, Zhen [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China); Fang, Yuman [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China); University of the Chinese Academy of Sciences, Beijing 100039 (China); Gao, Guilong; Liang, Lingliang [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China); Xi' an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi' an 710119 (China); University of the Chinese Academy of Sciences, Beijing 100039 (China); Wen, Wenlong [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China)

    2015-11-01

    An intelligent control system for an X ray streak camera in a diagnostic instrument manipulator (DIM) is proposed and implemented, which can control time delay, electric focusing, image gain adjustment, switch of sweep voltage, acquiring environment parameters etc. The system consists of 16 A/D converters and 16 D/A converters, a 32-channel general purpose input/output (GPIO) and two sensors. An isolated DC/DC converter with multi-outputs and a single mode fiber were adopted to reduce the interference generated by the common ground among the A/D, D/A and I/O. The software was designed using graphical programming language and can remotely access the corresponding instrument from a website. The entire intelligent control system can acquire the desirable data at a speed of 30 Mb/s and store it for later analysis. The intelligent system was implemented on a streak camera in a DIM and it shows a temporal resolution of 11.25 ps, spatial distortion of less than 10% and dynamic range of 279:1. The intelligent control system has been successfully used in a streak camera to verify the synchronization of multi-channel laser on the Inertial Confinement Fusion Facility.

  14. Remote implementation of quantum operations

    Energy Technology Data Exchange (ETDEWEB)

    Huelga, Susana F [Quantum Physics Group, STRI, Department of Physics, Astrophysics and Mathematics, University of Hertfordshire, Hatfield, Herts AL10 9AB (United Kingdom); Plenio, Martin B [QOLS, Blackett Laboratory, Imperial College London, London SW7 2BW (United Kingdom); Xiang Guoyong [Key Laboratory of Quantum Information and Department of Physics, University of Science and Technology of China, Hefei 230026 (China); Li Jian [Key Laboratory of Quantum Information and Department of Physics, University of Science and Technology of China, Hefei 230026 (China); Guo Guangcan [Key Laboratory of Quantum Information and Department of Physics, University of Science and Technology of China, Hefei 230026 (China)

    2005-10-01

    Shared entanglement allows, under certain conditions, the remote implementation of quantum operations. We revise and extend recent theoretical results on the remote control of quantum systems as well as experimental results on the remote manipulation of photonic qubits via linear optical elements.

  15. Virtual and remote control tower research, design, development and validation

    CERN Document Server

    2016-01-01

    The interdisciplinary research and development work carried out in the last ten years which is presented in this book aimed at replacing the conventional airport control tower by a new “remote tower operation” work environment (RTO) which should enhance work efficiency and safety and reduce costs. This revolutionary human–system interface allows for remote aerodrome traffic control without a physical tower building and enables the establishment of remote airport traffic control centers (RTC) of which each may serve several airports from a central location.

  16. Zero-Disturbance Control of Free-Floating Space Manipulators Using Integral-Type Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Heping Li

    2015-01-01

    Full Text Available A free-floating space manipulator is an underactuated system, of which the spacecraft is permitted to rotate freely in response to the manipulator motions. The dynamic coupling property between the spacecraft and the manipulator makes motion control of such systems a significant challenge. In the paper, a zero-disturbance control method for free-floating space manipulators operating in task space is presented. An explicit direct relationship between the spacecraft attitude quaternions and the manipulator joint variables is established using nonholonomic constraints of the angular momentum conservation. By this means the kinematic redundancy of the system is used to adjust the spacecraft attitude. An integral-type sliding mode controller with adaptive switching gains is developed for coordinated motion control of the spacecraft and the manipulator. Simulations on three-link planar model show that the spacecraft remains undisturbed during the whole process of manipulations, which confirms the effectiveness of the proposed method.

  17. ADAPTIVE CONTROL OF TWO-LINK ROBOT MANIPULATOR BASED ON THE METHOD OF CONSECUTIVE COMPENSATOR

    Directory of Open Access Journals (Sweden)

    A. A. Margun

    2014-03-01

    Full Text Available The paper deals with the issue of control for a two-link robot manipulator under disturbances and inaccurately known parameters of the system. A method for adaptive independent control of the two-link robot manipulator based on the method of consecutive compensator is proposed. Adaptability is provided by adaptive adjustment coefficients of the consecutive compensator, and its independence consists in independent control of each link of the manipulator separately from the others. Meanwhile, non-linear effect of other links is considered as a limited external disturbance in the control channel. Dynamic equation of the manipulator was received by the Euler-Lagrange method, taking into account the effect of dynamics of manipulator engines. Since the proposed method has the simplicity of engineering implementation as compared to other adaptive methods of controlling manipulators, its usage on real objects in industry seems to be attractive. During the method simulation it was assumed that disturbances have the form of shifted harmonic signal. A series of simulations for a two-link manipulator system was conducted with the proposed controller. Simulation results confirm the effectiveness of this method in terms of external and internal disturbances. Comparison of this method with the PD controller was made. During the simulations, it was demonstrated that the proposed approach provides lower output error value than manipulator control using PD controller.

  18. 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.

  19. Tip position control of a two-link flexible robot manipulator based on nonlinear deflection feedback

    CERN Document Server

    Oke, G

    2003-01-01

    The control of flexible link manipulators has gained an increasing importance in robotics, in recent years. To control the tip of a flexible manipulator, the joint angles should converge to the desired positions fast and elastic deflections must be effectively suppressed. In this study, a two-link flexible manipulator is controlled by three methods and the results are compared. These methods are, Pd control, PD control augmented by a nonlinear correction term feedback, where the correction term is a function of the deflection of each link, and an adaptive fuzzy controller with the nonlinear correction term feedback. Simulations have been carried out to compare the performances of all three methods.

  20. A set of decentralized PID controllers for an n–link robot manipulator

    Indian Academy of Sciences (India)

    A class of stabilizing decentralized proportional integral derivative (PID) controllers for an -link robot manipulator system is proposed. The range of decentralized PID controller parameters for an -link robot manipulator is obtained using Kharitonov theorem and stability boundary equations. Basically, the proposed design ...

  1. SATELLITE RADIO IN A REMOTE AIR TRAFFIC CONTROL SYSTEM

    Directory of Open Access Journals (Sweden)

    E. E. Nechaev

    2014-01-01

    Full Text Available Remote system of air traffic control with the use of channels of satellite communication systems while providing the desired protection level of information exchange is considered.

  2. Remote control electrical switching system has 1000-output capability

    Science.gov (United States)

    1965-01-01

    Electromechanical remote control system has a capacity of 1000 individual on-off functions yet uses only seven pairs of telephone-type lines for interconnection. Installation and maintenance costs are decreased by using this system.

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

    Directory of Open Access Journals (Sweden)

    Yifan Wang

    2014-05-01

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

  4. Fuzzy Saturated Output Feedback Tracking Control for Robot Manipulators: A Singular Perturbation Theory Based Approach

    National Research Council Canada - National Science Library

    Liu, Huashan; Hao, Kuangrong; Lai, Xiaobo

    2011-01-01

    To deal with the problem of the output feedback tracking (OFT) control with bounded torque inputs of robot manipulators, we propose a generalized fuzzy saturated OFT controller based on singular perturbation theory...

  5. A comparison of control approaches for aerial manipulators handling physical impacts

    NARCIS (Netherlands)

    Bartelds, J.T.; Wopereis, Han Willem; Stramigioli, Stefano; Fumagalli, Matteo

    2016-01-01

    This paper presents and compares different control strategies for aerial manipulators to handle highly dynamic physical interaction with the environment. These control strategies are compared in simulation utilizing an ideal model developed using the bond graph representation. Simulation results are

  6. Novel robotic catheter remote control system: feasibility and safety of transseptal puncture and endocardial catheter navigation.

    Science.gov (United States)

    Saliba, Walid; Cummings, Jennifer E; Oh, Seil; Zhang, Youhua; Mazgalev, Todor N; Schweikert, Robert A; Burkhardt, J David; Natale, Andrea

    2006-10-01

    The aims of this study were to demonstrate the safety and the feasibility of the robotic catheter remote control system (CCS) in endocardial navigation in all cardiac chambers, as well as facilitation of the transseptal puncture. CCS has been developed to facilitate control and precise positioning of catheters within the cardiovascular system. CCS consists of a remote catheter manipulator, a set up joint, a physician workstation, and a steerable guide catheter (SGC) and sheath. A conventional 4-mm tip catheter was inserted through the SGC to perform mapping of five predefined targets in each cardiac chamber. Seven mongrel dogs were used in this study. Intracardiac echocardiography and three-dimensional (3-D) electroanatomical mapping were integrated with CCS to facilitate catheter manipulation and to guide transseptal puncture. The time to complete the transseptal puncture and the time to complete access to the predefined targets in each cardiac chamber were measured. Gross and microscopic examinations of the accessed and ablation sites were performed to evaluate safety. Transseptal puncture was performed successfully in all animals with a mean time of 7 +/- 3 minutes. Procedure times to access the five targets in the right atrium, right ventricle, left atrium, and left ventricle were 5.6 +/- 1.7, 4.6 +/- 1.5, 13.5 +/- 11.0, 7.0 +/- 2.9 minutes, respectively. There were no intracardiac damages associated with catheter manipulation noted in the excised hearts. Endocardial catheter navigation and mapping using the robotic catheter remote control is safe and feasible. Moreover, the CCS could be used to perform transseptal puncture and left atrial instrumentation.

  7. On Motion Planning and Control of Multi-Link Lightweight Robotic Manipulators

    Science.gov (United States)

    Cetinkunt, Sabri

    1987-01-01

    A general gross and fine motion planning and control strategy is needed for lightweight robotic manipulator applications such as painting, welding, material handling, surface finishing, and spacecraft servicing. The control problem of lightweight manipulators is to perform fast, accurate, and robust motions despite the payload variations, structural flexibility, and other environmental disturbances. Performance of the rigid manipulator model based computed torque and decoupled joint control methods are determined and simulated for the counterpart flexible manipulators. A counterpart flexible manipulator is defined as a manipulator which has structural flexibility, in addition to having the same inertial, geometric, and actuation properties of a given rigid manipulator. An adaptive model following control (AMFC) algorithm is developed to improve the performance in speed, accuracy, and robustness. It is found that the AMFC improves the speed performance by a factor of two over the conventional non-adaptive control methods for given accuracy requirements while proving to be more robust with respect to payload variations. Yet there are clear limitations on the performance of AMFC alone as well, which are imposed by the arm flexibility. In the search to further improve speed performance while providing a desired accuracy and robustness, a combined control strategy is developed. Furthermore, the problem of switching from one control structure to another during the motion and implementation aspects of combined control are discussed.

  8. Kinematics and control algorithm development and simulation for a redundant two-arm robotic manipulator system

    Science.gov (United States)

    Hennessey, Michael P.; Huang, Paul C.; Bunnell, Charles T.

    1989-01-01

    An efficient approach to cartesian motion and force control of a 7 degree of freedom (DOF) manipulator is presented. It is based on extending the active stiffness controller to the 7 DOF case in general and use of an efficient version of the gradient projection technique for solving the inverse kinematics problem. Cooperative control is achieved through appropriate configuration of individual manipulator controllers. In addition, other aspects of trajectory generation using standard techniques are integrated into the controller. The method is then applied to a specific manipulator of interest (Robotics Research T-710). Simulation of the kinematics, dynamics, and control are provided in the context of several scenarios: one pertaining to a noncontact pick and place operation; one relating to contour following where contact is made between the manipulator and environment; and one pertaining to cooperative control.

  9. A Unified Weighted Least Norm Method for Redundant Manipulator Control

    Directory of Open Access Journals (Sweden)

    Peng Chen

    2016-02-01

    Full Text Available A redundant manipulator usually has multiple kinematic solutions at the velocity level and can be used to optimize other criteria. Although the pseudo inverse of the Jacobian matrix generates a solution with the least 2 norm (LN, it does not consider other constraints imposed by the system or the environment. The general weighted least norm (GWLN method handles these general constraints via the concept of virtual joints, but this is not always feasible when the number of constraints exceeds the degrees of freedom. This paper proposes a unified weighted least norm method (UWLN to unify the LN and the GWLN methods. The UWLN method merges the constraint tasks into a quadratic criterion that poses no limitations on the number of constraint tasks. It also generates a least 2 norm solution when all constraints are deactivated, thereby unifying the LN and GWLN methods. A comparative simulation on a 7-DoF planar manipulator demonstrates the validity of the algorithm.

  10. Control of a Flexible One-Link Manipulator.

    Science.gov (United States)

    1987-06-01

    VNARVNOTATION COSAF CODES 1B SUBJECT TERMS (Contenuo on reverse of necessary arnd idenhify by 61oc0 nunber) E ) GROUP SUB-GROUIP * Robotics , Robot arm...the degree of MASTER OF SCIENCE IN ENGINEERING SCIENCE from the NAVAL POSTGRADUATE SCHOOL Author: Approved by: Gordon J. hacer , i Dean of Science and...in the Naval Postgraduate School. 13 I. INTRODUCTION A. BACKGROUND In recent years an increasing use of programmable manipulators, or robots as often

  11. An intelligent remote control system for ECEI on EAST

    Science.gov (United States)

    Chen, Dongxu; Zhu, Yilun; Zhao, Zhenling; Qu, Chengming; Liao, Wang; Xie, Jinlin; Liu, Wandong

    2017-08-01

    An intelligent remote control system based on a power distribution unit (PDU) and Arduino has been designed for the electron cyclotron emission imaging (ECEI) system on Experimental Advanced Superconducting Tokamak (EAST). This intelligent system has three major functions: ECEI system reboot, measurement region adjustment and signal amplitude optimization. The observation region of ECEI can be modified for different physics proposals by remotely tuning the optical and electronics systems. Via the remote adjustment of the attenuation level, the ECEI intermediate frequency signal amplitude can be efficiently optimized. The remote control system provides a feasible and reliable solution for the improvement of signal quality and the efficiency of the ECEI diagnostic system, which is also valuable for other diagnostic systems.

  12. Design of a multisystem remote maintenance control room

    Energy Technology Data Exchange (ETDEWEB)

    Draper, J.V.; Handel, S.J.; Kring, C.T.; Kawatsuma, S.

    1988-01-01

    The Remote Systems Development Section of the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory (ORNL) and Japan's Power Reactor and Nuclear Fuel Development Corporation (PNC) recently collaborated in the development of a control room concept for remote operations. This report describes design methods and the resulting control room concept. The design project included five stages. The first was compilation of a complete function list; functions are tasks performed by operators in the control room while operating equipment located in the remote area. The second step was organization of the function list into ''function groups;'' function groups are sets of functions that operate one piece of equipment. The third stage was determination of crew size and requirements for supervision. The fourth stage was development of conceptual designs of displays and controls. The fifth stage was development of plans for placement of crew stations within the control room. 5 figs., 1 tab.

  13. Remote control of microcontroller-based infant stimulating system.

    Science.gov (United States)

    Burunkaya, M; Güler, I

    2000-04-01

    In this paper, a remote-controlled and microcontroller-based cradle is designed and constructed. This system is also called Remote Control of Microcontroller-Based Infant Stimulation System or the RECOMBIS System. Cradle is an infant stimulating system that provides relaxation and sleeping for the baby. RECOMBIS system is designed for healthy full-term newborns to provide safe infant care and provide relaxation and sleeping for the baby. A microcontroller-based electronic circuit was designed and implemented for RECOMBIS system. Electromagnets were controlled by 8-bit PIC16F84 microcontroller, which is programmed using MPASM package. The system works by entering preset values from the keyboard, or pulse code modulated radio frequency remote control system. The control of the system and the motion range were tested. The test results showed that the system provided a good performance.

  14. The design of remote participation platform for EAST plasma control

    Energy Technology Data Exchange (ETDEWEB)

    Yuan, Q.P., E-mail: qpyuan@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); Xiao, B.J. [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); University of Science & Technology of China, Hefei (China); Zhang, R.R. [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); Chai, W.T.; Liu, J.; Xiao, R.; Zhou, Z.C.; Pei, X.F. [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); University of Science & Technology of China, Hefei (China)

    2016-11-15

    Highlights: • The remote participation platform for EAST plasma control is composed of real time control service and scenario management. • The web based interface has been developed for supporting remote participation. • The functionality module has been designed and assistant tools have been developed. - Abstract: EAST has become a physics experimental platform for high parameter and steady-state long-pulse plasma operation. A new remote participation platform for EAST plasma control is designed, which is composed of gatekeeper system, web-based user interface system, discharge scenario management system, online simulation system and data interface with on-site plasma control system (PCS). The identification and access privilege of remote participator is validated by the gatekeeper system. Only authorized users can set control parameters for next shot plasma control or making discharge scenario for future shot through WebPCS which is a web-based user interface and designed based on B/S structure. The systematic architecture design and preliminary deployment of such remote platform will be presented in this paper.

  15. Lignin-AuNPs liquid marble for remotely-controllable detection of Pb2+

    Science.gov (United States)

    Han, Guocheng; Wang, Xiaoying; Hamel, Jonathan; Zhu, Hongli; Sun, Runcang

    2016-12-01

    This work reported the green and facile fabrication of a versatile lignin-AuNP composite, which was readily and remotely encapsulated to form novel liquid marbles. The marbles can stay suspended in water, and show excellent photothermal conversion properties, as well as visual detection and adsorption towards Pb2+. More importantly, the marbles can simultaneously remotely detect and adsorb Pb2+ via co-precipitation by simply controlling the near infrared (NIR) irradiation. It is believed that the remotely-controllable NIR-responsive lignin-AuNPs liquid marble can be used in Pb2+-related reactions. The liquid marble can be placed in the system at the very beginning of the reaction and stably stays on the surface until the reaction has ended. After reacting, upon remote NIR irradiation, the liquid marble bursts to adsorb Pb2+, and the residual Pb2+ can be collected. This facile manipulation strategy does not use complicated nanostructures or sophisticated equipment, so it has potential applications for channel-free microfluidics, smart microreactors, microengines, and so on.

  16. 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

  17. Robust Force Control of a 6-Link Electro-Hydraulic Manipulator

    Science.gov (United States)

    Ahn, Kyoungkwan; Yokota, Shinichi

    Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. This maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system using electro-hydraulic manipulator because hydraulic manipulators have the advantage of electric insulation and power/mass density. Meanwhile an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this paper, the robust force control of a 6-link electro-hydraulic manipulator system used in the real maintenance task of active electic line is examined in detail. A nominal model for the system is obtained from experimental frequency responses of the system, and the deviation of the manipulator system from the nominal model is derived by a multiplicative uncertainty. Robust disturbance observers for force control are designed using this information in an H∞ framework, and implemented on the two different setups. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved even if the stiffness of environment and the shape of wall change.

  18. Field Experiments using Telepresence and Virtual Reality to Control Remote Vehicles: Application to Mars Rover Missions

    Science.gov (United States)

    Stoker, Carol

    1994-01-01

    This paper will describe a series of field experiments to develop and demonstrate file use of Telepresence and Virtual Reality systems for controlling rover vehicles on planetary surfaces. In 1993, NASA Ames deployed a Telepresence-Controlled Remotely Operated underwater Vehicle (TROV) into an ice-covered sea environment in Antarctica. The goal of the mission was to perform scientific exploration of an unknown environment using a remote vehicle with telepresence and virtual reality as a user interface. The vehicle was operated both locally, from above a dive hole in the ice through which it was launched, and remotely over a satellite communications link from a control room at NASA's Ames Research center, for over two months. Remote control used a bidirectional Internet link to the vehicle control computer. The operator viewed live stereo video from the TROV along with a computer-gene rated graphic representation of the underwater terrain showing file vehicle state and other related information. Tile actual vehicle could be driven either from within the virtual environment or through a telepresence interface. In March 1994, a second field experiment was performed in which [lie remote control system developed for the Antarctic TROV mission was used to control the Russian Marsokhod Rover, an advanced planetary surface rover intended for launch in 1998. Marsokhod consists of a 6-wheel chassis and is capable of traversing several kilometers of terrain each day, The rover can be controlled remotely, but is also capable of performing autonomous traverses. The rover was outfitted with a manipulator arm capable of deploying a small instrument, collecting soil samples, etc. The Marsokhod rover was deployed at Amboy Crater in the Mojave desert, a Mars analog site, and controlled remotely from Los Angeles. in two operating modes: (1) a Mars rover mission simulation with long time delay and (2) a Lunar rover mission simulation with live action video. A team of planetary

  19. Control and robotics remote laboratory for engineering education

    Directory of Open Access Journals (Sweden)

    Gregor Pačnik

    2005-06-01

    Full Text Available The new tools for education of engineering emerged and one of the most promising is a remote rapid control prototyping (RRCP, which is very useful also for control and robotics development in industry and in education. Examples of introductory remote control and simple robotics courses with integrated hands on experiments are presented in the paper. The aim of integration of remote hands on experiments into control and/or robotics course is to minimize the gap between the theory and practice to teach students the use of RRCP and to decrease the education costs. Developed RRCP experiments are based on MATLAB/Simulink, xPC target, custom developed embedded target

  20. Remote control catheter navigation: options for guidance under MRI

    Directory of Open Access Journals (Sweden)

    Muller Leah

    2012-06-01

    Full Text Available Abstract Background Image-guided endovascular interventions have gained increasing popularity in clinical practice, and magnetic resonance imaging (MRI is emerging as an attractive alternative to X-ray fluoroscopy for guiding such interventions. Steering catheters by remote control under MRI guidance offers unique challenges and opportunities. Methods In this review, the benefits and limitations of MRI-guided remote control intervention are addressed, and the tools for guiding such interventions in the magnetic environment are summarized. Designs for remote control catheter guidance include a catheter tip electromagnetic microcoil design, a ferromagnetic sphere-tipped catheter design, smart material-actuated catheters, and hydraulically actuated catheters. Remote control catheter guidance systems were compared and contrasted with respect to visualization, safety, and performance. Performance is characterized by bending angles achievable by the catheter, time to achieve bending, degree of rotation achievable, and miniaturization capacity of the design. Necessary improvements for furthering catheter design, especially for use in the MRI environment, are addressed, as are hurdles that must be overcome in order to make MRI guided endovascular procedures more accessible for regular use in clinical practice. Conclusions MR-guided endovascular interventions under remote control steering are in their infancy due to issues regarding safety and reliability. Additional experimental studies are needed prior to their use in humans.

  1. Remote-controlled connection of pipelines; Skjoeter roer uten dykkere

    Energy Technology Data Exchange (ETDEWEB)

    Bryne, B.

    1996-12-31

    This article deals with remote controlled connection of an natural gas pipeline on the sea bed of Haltenbanken on the Norwegian continental shelf. The water depth in the area is 140 metres. An new designed coupling unit is developed together with a control system designed for the location of modules used during the operation of connection. 4 figs.

  2. Synthesis of the unmanned aerial vehicle remote control augmentation system

    Energy Technology Data Exchange (ETDEWEB)

    Tomczyk, Andrzej, E-mail: A.Tomczyk@prz.edu.pl [Department of Avionics and Control Systems, Faculty of Mechanical Engineering and Aeronautics, Rzeszów University of Technology, Al. Powstañców Warszawy 12, 35-959 Rzeszów (Poland)

    2014-12-10

    Medium size Unmanned Aerial Vehicle (UAV) usually flies as an autonomous aircraft including automatic take-off and landing phases. However in the case of the on-board control system failure, the remote steering is using as an emergency procedure. In this reason, remote manual control of unmanned aerial vehicle is used more often during take-of and landing phases. Depends on UAV take-off mass and speed (total energy) the potential crash can be very danger for airplane and environment. So, handling qualities of UAV is important from pilot-operator point of view. In many cases the dynamic properties of remote controlling UAV are not suitable for obtaining the desired properties of the handling qualities. In this case the control augmentation system (CAS) should be applied. Because the potential failure of the on-board control system, the better solution is that the CAS algorithms are placed on the ground station computers. The method of UAV handling qualities shaping in the case of basic control system failure is presented in this paper. The main idea of this method is that UAV reaction on the operator steering signals should be similar - almost the same - as reaction of the 'ideal' remote control aircraft. The model following method was used for controller parameters calculations. The numerical example concerns the medium size MP-02A UAV applied as an aerial observer system.

  3. Dynamic User Role Assignment in Remote Access Control

    NARCIS (Netherlands)

    Saffarian, M.; Tang, Qiang; Jonker, Willem; Hartel, Pieter H.

    2009-01-01

    The Role-Based Access Control (RBAC) model has been widely applied to a single domain in which users are known to the administrative unit of that domain, beforehand. However, the application of the conventional RBAC model for remote access control scenarios is not straightforward. In such scenarios,

  4. Position Control of a Manipulator with Passive Joints Using Dynamic Coupling

    OpenAIRE

    Arai, Hirohiko; Tachi, Susumu

    1991-01-01

    This paper describes a method ofcontrolling the position of a manipulator composed of active and passive joints. The active joints have actuators and position sensors. The passive joints have holding brakes instead of actuators. While the brakes are released, the passive joints are indirectly controlled by the motion of the active joints using the coupling characteristics of manipulator dynamics. While the brakes are engaged, the passive joints are fixed and the activejoints are controlled. T...

  5. Robust Motion Control for Mobile Manipulator Using Resolved Acceleration and Proportional-Integral Active Force Control

    Directory of Open Access Journals (Sweden)

    Musa Mailah

    2005-06-01

    Full Text Available A resolved acceleration control (RAC and proportional-integral active force control (PIAFC is proposed as an approach for the robust motion control of a mobile manipulator (MM comprising a differentially driven wheeled mobile platform with a two-link planar arm mounted on top of the platform. The study emphasizes on the integrated kinematic and dynamic control strategy in which the RAC is used to manipulate the kinematic component while the PIAFC is implemented to compensate the dynamic effects including the bounded known/unknown disturbances and uncertainties. The effectivenss and robustness of the proposed scheme are investigated through a rigorous simulation study and later complemented with experimental results obtained through a number of experiments performed on a fully developed working prototype in a laboratory environment. A number of disturbances in the form of vibratory and impact forces are deliberately introduced into the system to evaluate the system performances. The investigation clearly demonstrates the extreme robustness feature of the proposed control scheme compared to other systems considered in the study.

  6. RBF Neural Network of Sliding Mode Control for Time-Varying 2-DOF Parallel Manipulator System

    Directory of Open Access Journals (Sweden)

    Haizhong Chen

    2013-01-01

    Full Text Available This paper presents a radial basis function (RBF neural network control scheme for manipulators with actuator nonlinearities. The control scheme consists of a time-varying sliding mode control (TVSMC and an RBF neural network compensator. Since the actuator nonlinearities are usually included in the manipulator driving motor, a compensator using RBF network is proposed to estimate the actuator nonlinearities and their upper boundaries. Subsequently, an RBF neural network controller that requires neither the evaluation of off-line dynamical model nor the time-consuming training process is given. In addition, Barbalat Lemma is introduced to help prove the stability of the closed control system. Considering the SMC controller and the RBF network compensator as the whole control scheme, the closed-loop system is proved to be uniformly ultimately bounded. The whole scheme provides a general procedure to control the manipulators with actuator nonlinearities. Simulation results verify the effectiveness of the designed scheme and the theoretical discussion.

  7. 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.

  8. 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.

  9. 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.

  10. Nanoparticle-mediated remote control of enzymatic activity.

    Science.gov (United States)

    Knecht, Leslie D; Ali, Nur; Wei, Yinan; Hilt, J Zach; Daunert, Sylvia

    2012-10-23

    Nanomaterials have found numerous applications as tunable, remotely controlled platforms for drug delivery, hyperthermia cancer treatment, and various other biomedical applications. The basis for the interest lies in their unique properties achieved at the nanoscale that can be accessed via remote stimuli. These properties could then be exploited to simultaneously activate secondary systems that are not remotely actuatable. In this work, iron oxide nanoparticles are encapsulated in a bisacrylamide cross-linked polyacrylamide hydrogel network along with a model dehalogenase enzyme, L-2-HAD(ST). This thermophilic enzyme is activated at elevated temperatures and has been shown to have optimal activity at 70 °C. By exposing the Fe(3)O(4) nanoparticles to a remote stimulus, an alternating magnetic field (AMF), enhanced system heating can be achieved, thus remotely activating the enzyme. The internal heating of the nanocomposite hydrogel network in the AMF results in a 2-fold increase in enzymatic activity as compared to the same hydrogel heated externally in a water bath, suggesting that the internal heating of the nanoparticles is more efficient than the diffusion-limited heating of the water bath. This system may prove useful for remote actuation of biomedical and environmentally relevant enzymes and find applications in a variety of fields.

  11. Virtual environment for local and remote control of a robot arm for support in engineering teaching

    Directory of Open Access Journals (Sweden)

    José T. Buitrago-Molina

    2014-01-01

    Full Text Available This paper presents the design and implementation of a virtual platform that allows simulation and local and remote command and control of the SCARA robot arm called UV-CERMA, which is installed at the Robotics Laboratory of the Escuela de Ingeniería Eléctrica y Electrónica, Facultad de Ingeniería, Universidad del Valle. The robot has been underutilized for some years due to the obsolete control system. The platform, focused on the engineering education methodology, consists of two applications which simulate the robot and permit its remote and local command and control. One of the applications was implemented on LabVIEW software of National Instruments and the other application was programmed on free software using the open source language Java. Both applications implement forward kinematics and inverse kinematics, have a module for trajectories planning and operation, a module for monitoring the values of the variables and a three dimensional model of the robot. To manipulate the robot, an interface with a joystick was developed, enhancing the versatility of the platform. The applications communicate with the real robot using the National Instruments data acquisition card NI USB-6211, and for the remote connection they have a client-server architecture using TCP/IP sockets.

  12. Active vibration control of Flexible Joint Manipulator using Input Shaping and Adaptive Parameter Auto Disturbance Rejection Controller

    Science.gov (United States)

    Li, W. P.; Luo, B.; Huang, H.

    2016-02-01

    This paper presents a vibration control strategy for a two-link Flexible Joint Manipulator (FJM) with a Hexapod Active Manipulator (HAM). A dynamic model of the multi-body, rigid-flexible system composed of an FJM, a HAM and a spacecraft was built. A hybrid controller was proposed by combining the Input Shaping (IS) technique with an Adaptive-Parameter Auto Disturbance Rejection Controller (APADRC). The controller was used to suppress the vibration caused by external disturbances and input motions. Parameters of the APADRC were adaptively adjusted to ensure the characteristic of the closed loop system to be a given reference system, even if the configuration of the manipulator significantly changes during motion. Because precise parameters of the flexible manipulator are not required in the IS system, the operation of the controller was sufficiently robust to accommodate uncertainties in system parameters. Simulations results verified the effectiveness of the HAM scheme and controller in the vibration suppression of FJM during operation.

  13. Development of remote control software for multiformat test signal generator

    Directory of Open Access Journals (Sweden)

    Gao Yang

    2017-01-01

    Full Text Available The multi format test signal generator mentioned in this paper is the video signal generator named TG8000 produced by Tektronix Company. I will introduce the function about remote control for signal generator, how to connect the computer to the instrument, and how to remote control. My topic uses my computer to connect the instrument through the 10/100/1000 BASE-T port on the rear panel of TG8000. Then I write program to transmit SCPI (Standard Commands for Programmable Instruments to control TG8000. The application is running on the Windows operating system, the programming language is C#, development environment is Microsoft Visual Studio 2010, using the TCP/IP protocol based on Socket. And the method of remote control refers to the application called TGSetup which is developed by Tektronix Company. This paper includes a brief summary of the basic principle, and introduce for details about the process of remote control software development, and how to use my software. In the end, I will talk about the advantages of my software compared with another one.

  14. Instrument Remote Control via the Astronomical Instrument Markup Language

    Science.gov (United States)

    Sall, Ken; Ames, Troy; Warsaw, Craig; Koons, Lisa; Shafer, Richard

    1998-01-01

    The Instrument Remote Control (IRC) project ongoing at NASA's Goddard Space Flight Center's (GSFC) Information Systems Center (ISC) supports NASA's mission by defining an adaptive intranet-based framework that provides robust interactive and distributed control and monitoring of remote instruments. An astronomical IRC architecture that combines the platform-independent processing capabilities of Java with the power of Extensible Markup Language (XML) to express hierarchical data in an equally platform-independent, as well as human readable manner, has been developed. This architecture is implemented using a variety of XML support tools and Application Programming Interfaces (API) written in Java. IRC will enable trusted astronomers from around the world to easily access infrared instruments (e.g., telescopes, cameras, and spectrometers) located in remote, inhospitable environments, such as the South Pole, a high Chilean mountaintop, or an airborne observatory aboard a Boeing 747. Using IRC's frameworks, an astronomer or other scientist can easily define the type of onboard instrument, control the instrument remotely, and return monitoring data all through the intranet. The Astronomical Instrument Markup Language (AIML) is the first implementation of the more general Instrument Markup Language (IML). The key aspects of our approach to instrument description and control applies to many domains, from medical instruments to machine assembly lines. The concepts behind AIML apply equally well to the description and control of instruments in general. IRC enables us to apply our techniques to several instruments, preferably from different observatories.

  15. Analysis and Synthesis of Global Nonlinear H∞ Controller for Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Carlos Alberto Chavez Guzmán

    2015-01-01

    Full Text Available The H∞ regulation problem for robot manipulators using gravitational force compensation or precompensation has been solved locally while global asymptotical stability (or global stability has been demonstrated using other methodologies. A solution to the global nonlinear H∞ regulation problem for l-degrees-of-freedom (l-DOF robot manipulators, affected by external disturbances, is presented. We showed that the Hamilton-Jacobi-Isaacs (HJI inequality, inherited in the solution of the H∞ control problem, is satisfied by defining a strict Lyapunov function. The performance issues of the nonlinear H∞ regulator are illustrated in experimental and simulation studies made for a 3-DOF rigid links robot manipulator.

  16. Google glass-based remote control of a mobile robot

    Science.gov (United States)

    Yu, Song; Wen, Xi; Li, Wei; Chen, Genshe

    2016-05-01

    In this paper, we present an approach to remote control of a mobile robot via a Google Glass with the multi-function and compact size. This wearable device provides a new human-machine interface (HMI) to control a robot without need for a regular computer monitor because the Google Glass micro projector is able to display live videos around robot environments. In doing it, we first develop a protocol to establish WI-FI connection between Google Glass and a robot and then implement five types of robot behaviors: Moving Forward, Turning Left, Turning Right, Taking Pause, and Moving Backward, which are controlled by sliding and clicking the touchpad located on the right side of the temple. In order to demonstrate the effectiveness of the proposed Google Glass-based remote control system, we navigate a virtual Surveyor robot to pass a maze. Experimental results demonstrate that the proposed control system achieves the desired performance.

  17. A Flexible and Configurable Architecture for Automatic Control Remote Laboratories

    Science.gov (United States)

    Kalúz, Martin; García-Zubía, Javier; Fikar, Miroslav; Cirka, Luboš

    2015-01-01

    In this paper, we propose a novel approach in hardware and software architecture design for implementation of remote laboratories for automatic control. In our contribution, we show the solution with flexible connectivity at back-end, providing features of multipurpose usage with different types of experimental devices, and fully configurable…

  18. Millikan's Oil-Drop Experiment as a Remotely Controlled Laboratory

    Science.gov (United States)

    Eckert, Bodo; Grober, Sebastian; Vetter, Martin; Jodl, Hans-Jorg

    2012-01-01

    The Millikan oil-drop experiment, to determine the elementary electrical charge e and the quantization of charge Q = n [middle dot] e, is an essential experiment in physics teaching but it is hardly performed in class for several reasons. Therefore, we offer this experiment as a remotely controlled laboratory (RCL). We describe the interactivity…

  19. Manipulation and mobilisation for neck pain contrasted against an inactive control or another active treatment.

    Science.gov (United States)

    Gross, Anita; Langevin, Pierre; Burnie, Stephen J; Bédard-Brochu, Marie-Sophie; Empey, Brian; Dugas, Estelle; Faber-Dobrescu, Michael; Andres, Cristy; Graham, Nadine; Goldsmith, Charles H; Brønfort, Gert; Hoving, Jan L; LeBlanc, Francis

    2015-09-23

    Manipulation and mobilisation are commonly used to treat neck pain. This is an update of a Cochrane review first published in 2003, and previously updated in 2010. To assess the effects of manipulation or mobilisation alone compared wiith those of an inactive control or another active treatment on pain, function, disability, patient satisfaction, quality of life and global perceived effect in adults experiencing neck pain with or without radicular symptoms and cervicogenic headache (CGH) at immediate- to long-term follow-up. When appropriate, to assess the influence of treatment characteristics (i.e. technique, dosage), methodological quality, symptom duration and subtypes of neck disorder on treatment outcomes. Review authors searched the following computerised databases to November 2014 to identify additional studies: the Cochrane Central Register of Controlled Trials (CENTRAL), MEDLINE, EMBASE and the Cumulative Index to Nursing and Allied Health Literature (CINAHL). We also searched ClinicalTrials.gov, checked references, searched citations and contacted study authors to find relevant studies. We updated this search in June 2015, but these results have not yet been incorporated. Randomised controlled trials (RCTs) undertaken to assess whether manipulation or mobilisation improves clinical outcomes for adults with acute/subacute/chronic neck pain. Two review authors independently selected studies, abstracted data, assessed risk of bias and applied Grades of Recommendation, Assessment, Development and Evaluation (GRADE) methods (very low, low, moderate, high quality). We calculated pooled risk ratios (RRs) and standardised mean differences (SMDs). We included 51 trials (2920 participants, 18 trials of manipulation/mobilisation versus control; 34 trials of manipulation/mobilisation versus another treatment, 1 trial had two comparisons). Cervical manipulation versus inactive control: For subacute and chronic neck pain, a single manipulation (three trials, no meta

  20. A set of decentralized PID controllers for an n – link robot manipulator

    Indian Academy of Sciences (India)

    As a result, how to improve the tracking performance of robots through decentralized control is still an interesting topic in control literature. In this paper, a class of decentralized stabilizing controllers is designed for an n-link robot manipulator using Kharitonov's theorem and boundary stability condition for an interaction free.

  1. Remote Control of an Inverted Pendulum System for Intelligent Control Education

    Directory of Open Access Journals (Sweden)

    Seul Jung

    2011-08-01

    Full Text Available This paper presents a remote control task of an inverted pendulum system for intelligent control education. The inverted pendulum moving on the guided rail is required to maintain balancing while it follows the desired trajectory commanded remotely by a joystick operated by a user. Position commands for the inverted pendulum system are given by a joystick through the network. The inverted pendulum system is controlled by a neural network control method. The corresponding control results are confirmed through experimental studies.

  2. Design of Optimal Hybrid Position/Force Controller for a Robot Manipulator Using Neural Networks

    Directory of Open Access Journals (Sweden)

    Vikas Panwar

    2007-01-01

    Full Text Available The application of quadratic optimization and sliding-mode approach is considered for hybrid position and force control of a robot manipulator. The dynamic model of the manipulator is transformed into a state-space model to contain two sets of state variables, where one describes the constrained motion and the other describes the unconstrained motion. The optimal feedback control law is derived solving matrix differential Riccati equation, which is obtained using Hamilton Jacobi Bellman optimization. The optimal feedback control law is shown to be globally exponentially stable using Lyapunov function approach. The dynamic model uncertainties are compensated with a feedforward neural network. The neural network requires no preliminary offline training and is trained with online weight tuning algorithms that guarantee small errors and bounded control signals. The application of the derived control law is demonstrated through simulation with a 4-DOF robot manipulator to track an elliptical planar constrained surface while applying the desired force on the surface.

  3. Trajectory Tracking of a Planer Parallel Manipulator by Using Computed Force Control Method

    Science.gov (United States)

    Bayram, Atilla

    2017-03-01

    Despite small workspace, parallel manipulators have some advantages over their serial counterparts in terms of higher speed, acceleration, rigidity, accuracy, manufacturing cost and payload. Accordingly, this type of manipulators can be used in many applications such as in high-speed machine tools, tuning machine for feeding, sensitive cutting, assembly and packaging. This paper presents a special type of planar parallel manipulator with three degrees of freedom. It is constructed as a variable geometry truss generally known planar Stewart platform. The reachable and orientation workspaces are obtained for this manipulator. The inverse kinematic analysis is solved for the trajectory tracking according to the redundancy and joint limit avoidance. Then, the dynamics model of the manipulator is established by using Virtual Work method. The simulations are performed to follow the given planar trajectories by using the dynamic equations of the variable geometry truss manipulator and computed force control method. In computed force control method, the feedback gain matrices for PD control are tuned with fixed matrices by trail end error and variable ones by means of optimization with genetic algorithm.

  4. THE ARCHITECTURE OF THE REMOTE CONTROL SYSTEM OF ROBOTICS OBJECTS

    Directory of Open Access Journals (Sweden)

    S.V. Shavetov

    2014-03-01

    Full Text Available The paper deals with the architecture for the universal remote control system of robotics objects over the Internet global network. Control objects are assumed to be located at a considerable distance from a reference device or end-users. An overview of studies on the subject matter of remote control of technical objects is given. A structure chart of the architecture demonstrating the system usage in practice is suggested. Server software is considered that makes it possible to work with technical objects connected to the server as with a serial port and organize a stable tunnel connection between the controlled object and the end-user. The proposed architecture has been successfully tested on mobile robots Parallax Boe-Bot and Lego Mindstorms NXT. Experimental data about values of time delays are given demonstrating the effectiveness of the considered architecture.

  5. Proximity sensor technology for manipulator end effectors

    Science.gov (United States)

    Johnston, A. R.

    1975-01-01

    Optical proximity sensing techniques which could be used to help control the critical grasping phase of a remote manipulation are described. The proximity sensors described use a triangulation geometry to detect a surface located in a pre-determined region. The design of the proximity sensors themselves is discussed, as well as their application to manipulator control with a local control loop, and possibilities for future development are discussed.

  6. ACE Observatory Control System - 16 years of remote intercontinental observing

    Science.gov (United States)

    Mack, Peter

    2011-03-01

    The ACE Observatory Control System has been used for remote control since 1995. The system was designed for use at isolated observatories with no-one present on the mountain-top. The software provides complete diagnostic feedback to the astronomer and is supplemented by live audio-visual. Accessories include environmental sensors (weather station, all-sky camera, constellation cameras), automated mirror covers and remote power control. This gives the astronomer the same experience as being present at the observatory. The system is installed on 30 telescopes and many of them are used for routine nightly intercontinental observations, such as Taejeon (S. Korea) to Mt. Lemmon (Arizona) and southeast USA to KPNO and CTIO. The system has fully integrated autoguider acquisition and science camera control. We describe the building blocks of the system and the accessories including automated mirror covers, weather station, all sky camera, remote power control and dome control. Future plans are presented for a fully autonomous platform-independent scheduler and robot for use on multiple telescopes.

  7. Applying virtual reality to remote control of mobile robot

    Directory of Open Access Journals (Sweden)

    Chen Chin-Shan

    2017-01-01

    Full Text Available The purpose of this research is based on virtual reality to assisted pick and place tasks. Virtual reality can be utilized to control remote robot for pick and place element. The operator monitored and controlled the situation information of working site by Human Machine Interface. Therefore, we worked in harsh or dangerous environments that thing can be avoided. The procedure to operate mobile robot in virtual reality describes as follow: An experiment site with really experimental equipment is first established. Then, the experimental equipment and scene modeling are input to virtual reality for establishing a environment similar to the reality. Finally, the remote mobile robot is controlled to operate pick and place tasks through wireless communication by the object operation in virtual reality. The robot consists of a movable robot platform and robotic arm. The virtual reality is constructed by EON software; the Human Machine Interface is established by Visual Basic. The wireless connection is equipped the wireless Bluetooth, which is set the PC and PLC controller. With experimental tests to verify the robot in virtual reality and the wireless remote control, the robot could be operated and controlled to successfully complete pick and place tasks in reality by Human Machine Interface.

  8. A bilateral ankle manipulator to investigate human balance control.

    Science.gov (United States)

    Schouten, Alfred C; Boonstra, Tjitske A; Nieuwenhuis, Frank; Campfens, S Floor; van der Kooij, Herman

    2011-12-01

    The ankles play an important role in human balance. In most studies investigating balance control the contribution of the left and right leg is not separated. However, in certain pathologies such as stroke and Parkinson's disease, balance control can be asymmetric. Here, a bilateral ankle perturbator (BAP) is presented, which applies support surface rotations to both ankles independently. The device consists of two small foot-size support surfaces, which are independently actuated. The BAP device can operate in either angle or torque control mode. The device is able to apply support surface rotations up to 8.6° with a bandwidth of 42 Hz. Additionally the platforms can be replaced by 6-DoF force plates to measure the center of pressure underneath each foot. With the optional force plates the bandwidth decreases to 16 Hz as a result of the additional weight. Two possible applications of the device to investigate human balance control are demonstrated: ankle stiffness by applying minimum jerk profiles and sensory reweighting of the proprioceptive information. In conclusion, we developed a bilateral ankle perturbator which is able to apply support surface rotations to both ankles independently. The major application of the device will be to investigate the contribution of both ankles to human balance control, and the interactions in balance control between both legs.

  9. An adaptive sliding mode backstepping control for the mobile manipulator with nonholonomic constraints

    Science.gov (United States)

    Chen, Naijian; Song, Fangzhen; Li, Guoping; Sun, Xuan; Ai, Changsheng

    2013-10-01

    To solve disturbances, nonlinearity, nonholonomic constraints and dynamic coupling between the platform and its mounted robot manipulator, an adaptive sliding mode controller based on the backstepping method applied to the robust trajectory tracking of the wheeled mobile manipulator is described in this article. The control algorithm rests on adopting the backstepping method to improve the global ultimate asymptotic stability and applying the sliding mode control to obtain high response and invariability to uncertainties. According to the Lyapunov stability criterion, the wheeled mobile manipulator is divided into several stabilizing subsystems, and an adaptive law is designed to estimate the general nondeterminacy, which make the controller be capable to drive the trajectory tracking error of the mobile manipulator to converge to zero even in the presence of perturbations and mathematical model errors. We compare our controller with the robust neural network based algorithm in nonholonomic constraints and uncertainties, and simulation results prove the effectivity and feasibility of the proposed method in the trajectory tracking of the wheeled mobile manipulator.

  10. Virtual reality visual feedback for hand-controlled scanning probe microscopy manipulation of single molecules.

    Science.gov (United States)

    Leinen, Philipp; Green, Matthew F B; Esat, Taner; Wagner, Christian; Tautz, F Stefan; Temirov, Ruslan

    2015-01-01

    Controlled manipulation of single molecules is an important step towards the fabrication of single molecule devices and nanoscale molecular machines. Currently, scanning probe microscopy (SPM) is the only technique that facilitates direct imaging and manipulations of nanometer-sized molecular compounds on surfaces. The technique of hand-controlled manipulation (HCM) introduced recently in Beilstein J. Nanotechnol. 2014, 5, 1926-1932 simplifies the identification of successful manipulation protocols in situations when the interaction pattern of the manipulated molecule with its environment is not fully known. Here we present a further technical development that substantially improves the effectiveness of HCM. By adding Oculus Rift virtual reality goggles to our HCM set-up we provide the experimentalist with 3D visual feedback that displays the currently executed trajectory and the position of the SPM tip during manipulation in real time, while simultaneously plotting the experimentally measured frequency shift (Δf) of the non-contact atomic force microscope (NC-AFM) tuning fork sensor as well as the magnitude of the electric current (I) flowing between the tip and the surface. The advantages of the set-up are demonstrated by applying it to the model problem of the extraction of an individual PTCDA molecule from its hydrogen-bonded monolayer grown on Ag(111) surface.

  11. Virtual reality visual feedback for hand-controlled scanning probe microscopy manipulation of single molecules

    Directory of Open Access Journals (Sweden)

    Philipp Leinen

    2015-11-01

    Full Text Available Controlled manipulation of single molecules is an important step towards the fabrication of single molecule devices and nanoscale molecular machines. Currently, scanning probe microscopy (SPM is the only technique that facilitates direct imaging and manipulations of nanometer-sized molecular compounds on surfaces. The technique of hand-controlled manipulation (HCM introduced recently in Beilstein J. Nanotechnol. 2014, 5, 1926–1932 simplifies the identification of successful manipulation protocols in situations when the interaction pattern of the manipulated molecule with its environment is not fully known. Here we present a further technical development that substantially improves the effectiveness of HCM. By adding Oculus Rift virtual reality goggles to our HCM set-up we provide the experimentalist with 3D visual feedback that displays the currently executed trajectory and the position of the SPM tip during manipulation in real time, while simultaneously plotting the experimentally measured frequency shift (Δf of the non-contact atomic force microscope (NC-AFM tuning fork sensor as well as the magnitude of the electric current (I flowing between the tip and the surface. The advantages of the set-up are demonstrated by applying it to the model problem of the extraction of an individual PTCDA molecule from its hydrogen-bonded monolayer grown on Ag(111 surface.

  12. Optimal design and robustification of fuzzy-logic controllers for robotic manipulators using genetic algorithms

    CERN Document Server

    Moini, A

    2002-01-01

    In this paper, genetic algorithms are used in the design and robustification various mo el-ba ed/non-model-based fuzzy-logic controllers for robotic manipulators. It is demonstrated that genetic algorithms provide effective means of designing the optimal set of fuzzy rules as well as the optimal domains of associated fuzzy sets in a new class of model-based-fuzzy-logic controllers. Furthermore, it is shown that genetic algorithms are very effective in the optimal design and robustification of non-model-based multivariable fuzzy-logic controllers for robotic manipulators.

  13. Novel PID Tracking Controller for 2DOF Robotic Manipulator System Based on Artificial Bee Colony Algorithm

    Directory of Open Access Journals (Sweden)

    Elkhateeb Nasr A.

    2017-12-01

    Full Text Available This study presents a well-developed optimization methodology based on the dynamic inertia weight Artificial Bee Colony algorithm (ABC to design an optimal PID controller for a robotic arm manipulator. The dynamical analysis of robotic arm manipulators investigates a coupling relation between the joint torques applied by the actuators and the position and acceleration of the robot arm. An optimal PID control law is obtained from the proposed (ABC algorithm and applied to the robotic system. The designed controller optimizes the trajectory of the robot’s end effector for a time-variant input and makes the robot robust in the presence of external disturbance.

  14. Control of a Heavy-Lift Robotic Manipulator with Pneumatic Artificial Muscles

    Directory of Open Access Journals (Sweden)

    Ryan M. Robinson

    2014-04-01

    Full Text Available Lightweight, compliant actuators are particularly desirable in robotic systems intended for interaction with humans. Pneumatic artificial muscles (PAMs exhibit these characteristics and are capable of higher specific work than comparably-sized hydraulic actuators and electric motors. The objective of this work is to develop a control algorithm that can smoothly and accurately track the desired motions of a manipulator actuated by pneumatic artificial muscles. The manipulator is intended for lifting humans in nursing assistance or casualty extraction scenarios; hence, the control strategy must be capable of responding to large variations in payload over a large range of motion. The present work first investigates the feasibility of two output feedback controllers (proportional-integral-derivative and fuzzy logic, but due to the limitations of pure output feedback control, a model-based feedforward controller is developed and combined with output feedback to achieve improved closed-loop performance. The model upon which the controller is based incorporates the internal airflow dynamics, the physical parameters of the pneumatic muscles and the manipulator dynamics. Simulations were performed in order to validate the control algorithms, guide controller design and predict optimal gains. Using real-time interface software and hardware, the controllers were implemented and experimentally tested on the manipulator, demonstrating the improved capability.

  15. PD control for robot manipulators actuated by switched reluctance motors

    Science.gov (United States)

    Hernández-Guzmán, Victor M.; Carrillo-Serrano, Roberto V.; Silva-Ortigoza, Ramón

    2013-03-01

    This article is concerned with position regulation in direct-drive n degrees of freedom rigid robots equipped only with revolute joints when actuated by switched reluctance motors. Our controller represents an extension to this case of a previous work in the literature which was proposed for a single-switched reluctance motor when moving a simple linear mechanical load. We show how to avoid a singularity present in such a previous controller. We also introduce some simplifications since the number of terms to be fedback is smaller. Further, a linear proportional inner electric current loop is included instead of a velocity dependent one.

  16. Conceptual design of Remote Control System for EAST tokamak

    Energy Technology Data Exchange (ETDEWEB)

    Sun, X.Y., E-mail: xysun@ipp.ac.cn; Wang, F.; Wang, Y.; Li, S.

    2014-05-15

    Highlights: • A new design conception for remote control for EAST tokamak is proposed. • Rich Internet application (RIA) was selected to implement the user interface. • Some security mechanism was used to fulfill security requirement. - Abstract: The international collaboration becomes popular in tokamak research like in many other fields of science, because the experiment facilities become larger and more expensive. The traditional On-site collaboration Model that has to spend much money and time on international travel is not fit for the more frequent international collaboration. The Remote Control System (RCS), as an extension of the Central Control System for the EAST tokamak, is designed to provide an efficient and economical way to international collaboration. As a remote user interface, the RCS must integrate with the Central Control System for EAST tokamak to perform discharge control function. This paper presents a design concept delineating a few key technical issues and addressing all significant details in the system architecture design. With the aim of satisfying system requirements, the RCS will select rich Internet application (RIA) as a user interface, Java as a back-end service and Secure Socket Layer Virtual Private Network (SSL VPN) for securable Internet communication.

  17. Remote Control of Cellular Functions: The Role of Smart Nanomaterials in the Medicine of the Future.

    Science.gov (United States)

    Genchi, Giada Graziana; Marino, Attilio; Grillone, Agostina; Pezzini, Ilaria; Ciofani, Gianni

    2017-05-01

    The remote control of cellular functions through smart nanomaterials represents a biomanipulation approach with unprecedented potential applications in many fields of medicine, ranging from cancer therapy to tissue engineering. By actively responding to external stimuli, smart nanomaterials act as real nanotransducers able to mediate and/or convert different forms of energy into both physical and chemical cues, fostering specific cell behaviors. This report describes those classes of nanomaterials that have mostly paved the way to a "wireless" control of biological phenomena, focusing the discussion on some examples close to the clinical practice. In particular, magnetic fields, light irradiation, ultrasound, and pH will be presented as means to manipulate the cellular fate, due to the peculiar physical/chemical properties of some smart nanoparticles, thus providing realistic examples of "nanorobots" approaching the visionary ideas of Richard Feynman. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  18. Power-Based Setpoint Control : Experimental Results on a Planar Manipulator

    NARCIS (Netherlands)

    Dirksz, D. A.; Scherpen, J. M. A.

    In the last years the power-based modeling framework, developed in the sixties to model nonlinear electrical RLC networks, has been extended for modeling and control of a larger class of physical systems. In this brief we apply power-based integral control to a planar manipulator experimental setup.

  19. Human kinematics and event control: On-line movement registration as a means for experimental manipulation

    NARCIS (Netherlands)

    Oudejans, R.R.D.; Coolen, H.

    2003-01-01

    In human movement and sports science, manipulations of perception and action are common and often comprise the control of events, such as opening or closing liquid crystal goggles. Most of these events are externally controlled, independent of the actions of the participants. Less common, although

  20. The role of the real-time simulation facility, SIMFAC, in the design, development and performance verification of the Shuttle Remote Manipulator System (SRMS) with man-in-the-loop

    Science.gov (United States)

    Mccllough, J. R.; Sharpe, A.; Doetsch, K. H.

    1980-01-01

    The SIMFAC has played a vital role in the design, development, and performance verification of the shuttle remote manipulator system (SRMS) to be installed in the space shuttle orbiter. The facility provides for realistic man-in-the-loop operation of the SRMS by an operator in the operator complex, a flightlike crew station patterned after the orbiter aft flight deck with all necessary man machine interface elements, including SRMS displays and controls and simulated out-of-the-window and CCTV scenes. The characteristics of the manipulator system, including arm and joint servo dynamics and control algorithms, are simulated by a comprehensive mathematical model within the simulation subsystem of the facility. Major studies carried out using SIMFAC include: SRMS parameter sensitivity evaluations; the development, evaluation, and verification of operating procedures; and malfunction simulation and analysis of malfunction performance. Among the most important and comprehensive man-in-the-loop simulations carried out to date on SIMFAC are those which support SRMS performance verification and certification when the SRMS is part of the integrated orbiter-manipulator system.

  1. Research on optimized control of Six - DOF manipulator with uncalibrated visual servo

    Science.gov (United States)

    Zhang, Nu; Wang, Niu; Zhao, Junrong

    2017-04-01

    This paper realizes the uncalibrated visual servoless control of the Six-DOF manipulator, where the intrinsic and extrinsic parameters of the camera and the robot manipulator model are not known, nor real-time computes the inverse of image Jacobian. And the neural network was used to optimize the trajectory of manipulator end in Cartesian space. Firstly, a biaxial parallel layoutt are proposed to establish the relationship between the moving component along the coordinate axis and the change of single image feature when the end of the robot moves in the Cartesian space. The neural network was used to fit the relationship established above, then the optimization model was established, and the parameter of PID controller were optimized by neural network. Finally, the simulation and comparison experiments are investigated, and the results indicate the controller posed in this paper is effective and stable.

  2. On the control performance of motors driven by long cables for remote handling at ITER

    Energy Technology Data Exchange (ETDEWEB)

    Sol, Enrique del, E-mail: enrique.delsol@oxfordtechnologies.co.uk [Oxford Technologies Ltd., 7 Nuffield Way, Abingdon OX141RL (United Kingdom); Meek, Richard [Oxford Technologies Ltd., 7 Nuffield Way, Abingdon OX141RL (United Kingdom); Ruiz Morales, Emilio; Vitelli, Ricardo; Esqué, Salvador [Fusion for Energy, Josep Pla, 2, Barcelona 08019 (Spain)

    2016-06-15

    Highlights: • We show the dangerous effects of reflections on the actuator’s system. • We prove how to solve the reflections issue with a commercial LC filter. • We study the filter influence for short cables on two control modes. • We show the filter performance under a real remote handling operation. • We study the excellent performance of the filter for different cable lengths. - Abstract: Pulse Width Modulation (PWM) is nowadays the most used method for controlling a servo-motor. When combining PWM with motors and long cables, such as the ones that will be found at ITER, the standing waves originated are potentially very harmful for both actuator’s life span and control performance. Several methods have been investigated to cope with this issue, such as the use of chokes, filters, snubbers or active modification of the PWM signal. Of all possible locations where an electrical servo-motor could be used at ITER, the most critical scenario arises when mounting a low power motor, with a low gear ratio, in a dexterous manipulator for bilateral teleoperation. In those circumstances cable lengths of more than 150 m are expected between manipulator and control cubicle. In this paper, the effects of long cables in the system safety are analysed on a custom made test bench. The most common solutions to cope with this issue are analysed and a commercial LC filter is selected for further experimentation. An extensive set of experiments are carried out in order to validate the proposed solution for being used on remote handling equipment at ITER.

  3. Independent evaluation of a clinical prediction rule for spinal manipulative therapy: a randomised controlled trial.

    Science.gov (United States)

    Hancock, Mark J; Maher, Christopher G; Latimer, Jane; Herbert, Robert D; McAuley, James H

    2008-07-01

    A clinical prediction rule to identify patients most likely to respond to spinal manipulation has been published and widely cited but requires further testing for external validity. We performed a pre-planned secondary analysis of a randomised controlled trial investigating the efficacy of spinal manipulative therapy in 239 patients presenting to general practice clinics for acute, non-specific, low back pain. Patients were randomised to receive spinal manipulative therapy or placebo 2 to 3 times per week for up to 4 weeks. All patients received general practitioner care (advice and paracetamol). Outcomes were pain and disability measured at 1, 2, 4 and 12 weeks. Status on the clinical prediction rule was measured at baseline. The clinical prediction rule performed no better than chance in identifying patients with acute, non-specific low back pain most likely to respond to spinal manipulative therapy (pain P = 0.805, disability P = 0.600). At 1-week follow-up, the mean difference in effect of spinal manipulative therapy compared to placebo in patients who were rule positive rather than rule negative was 0.3 points less on a 10-point pain scale (95% CI -0.8 to 1.4). The clinical prediction rule proposed by Childs et al. did not generalise to patients presenting to primary care with acute low back pain who received a course of spinal manipulative therapy.

  4. End-point controller design for an experimental two-link flexible manipulator using convex optimization

    Science.gov (United States)

    Oakley, Celia M.; Barratt, Craig H.

    1990-01-01

    Recent results in linear controller design are used to design an end-point controller for an experimental two-link flexible manipulator. A nominal 14-state linear-quadratic-Gaussian (LQG) controller was augmented with a 528-tap finite-impulse-response (FIR) filter designed using convex optimization techniques. The resulting 278-state controller produced improved end-point trajectory tracking and disturbance rejection in simulation and experimentally in real time.

  5. Fuzzy Saturated Output Feedback Tracking Control for Robot Manipulators: A Singular Perturbation Theory Based Approach

    OpenAIRE

    Huashan Liu; Kuangrong Hao; Xiaobo Lai

    2011-01-01

    To deal with the problem of the output feedback tracking (OFT) control with bounded torque inputs of robot manipulators, we propose a generalized fuzzy saturated OFT controller based on singular perturbation theory. First, considering the fact that the output toque of joint actuators is limited, a general expression for a class of saturation functions is given to be applied in the control law. Second, to carry out the whole closed‐loop control with only position measurements, linear and...

  6. A Coefficient Diagram Method Controller with Backstepping Methodology for Robotic Manipulators

    Science.gov (United States)

    Haouari, Fouad; Nourdine, Bali; Boucherit, Mohamed Segir; Tadjine, Mohamed

    2015-09-01

    A new robust control procedure for robot manipulators is proposed in this paper. Coefficients diagram method controllers CDM and Backstepping methodology are combined to create the novel control law. Two steps of backstepping on the resulting system are used to design a nonlinear CDM-Backstepping controller. Simulations on a PUMA robot including external disturbances, parametric uncertainties and noises are performed to show the effectiveness and feasibility of the proposed method.

  7. Kane Method Based Dynamics Modeling and Control Study for Space Manipulator Capturing a Space Target

    Directory of Open Access Journals (Sweden)

    Yanhua Han

    2016-01-01

    Full Text Available Dynamics modeling and control problem of a two-link manipulator mounted on a spacecraft (so-called carrier freely flying around a space target on earth’s circular orbit is studied in the paper. The influence of the carrier’s relative movement on its manipulator is considered in dynamics modeling; nevertheless, that of the manipulator on its carrier is neglected with the assumption that the mass and inertia moment of the manipulator is far less than that of the carrier. Meanwhile, we suppose that the attitude control system of the carrier guarantees its side on which the manipulator is mounted points accurately always the space target during approaching operation. The ideal constraint forces can be out of consideration in dynamics modeling as Kane method is used. The path functions of the manipulator’s end-effector approaching the space target as well as the manipulator’s joints control torque functions are programmed to meet the soft touch requirement that the end-effector’s relative velocity to the space target is zero at touch moment. Numerical simulation validation is conducted finally.

  8. Modeling, Simulation and Control of a Redundant SCARA-Type Manipulator Robot

    Directory of Open Access Journals (Sweden)

    Claudio Urrea

    2012-08-01

    Full Text Available In this paper, the modeling of a redundant SCARA-type manipulator robot with five degrees of freedom is presented. We propose three controllers - hyperbolic sine-cosine, sliding mode, and calculated torque - which are applied to the discussed model. A simulation environment is developed using MatLab/Simulink programming tools. This simulation environment is employed to perform several tests (including actuators' dynamics on the model of the redundant manipulator, with each different controller, under path tracking requirements. Results were obtained from comparative curves and rms index for joints and Cartesian errors.

  9. Design and Construction of a Remote Controlled Power Supply Unit

    Directory of Open Access Journals (Sweden)

    Mahmud Shehu AHMED

    2007-08-01

    Full Text Available The paper presents the design and construction of an infrared remote controlled power supply-switching unit, which is a device that enables the user to operate or control the mains power supplied from approximately 5 to 10 meters away. The remote transmits a beam of light using an infrared light emitting diode; this light is picked and decoded by the receiver unit (Photodiode. The receiver only activates when it receives the beam of light, there are no accidental activations. The system was broken down into simpler functional parts namely: The transmitter stage, the detector (phototransistor stage, the NAND Schmitt trigger stage, the flip-flop stage and the relay stage. Details of the stages are described in the paper.

  10. Magnetic hydrogel nanocomposites for remote controlled pulsatile drug release.

    Science.gov (United States)

    Satarkar, Nitin S; Hilt, J Zach

    2008-09-24

    Hydrogel nanocomposites are novel macromolecular biomaterials that promise to impact various applications in medical and pharmaceutical fields. In this paper, magnetic nanocomposites of temperature responsive hydrogels were used to illustrate remote controlled (RC) drug delivery. A high frequency alternating magnetic field (AMF) was used to trigger the on-demand pulsatile drug release from the nanocomposites. Nanocomposites were synthesized by incorporation of superparamagnetic Fe(3)O(4) particles in negative temperature sensitive poly (N-isopropylacrylamide) hydrogels. Pulses of AMF were applied to the nanocomposites and the kinetics of collapse and recovery were characterized. Application of AMF resulted in uniform heating within the nanocomposites leading to accelerated collapse and squeezing out large amounts of imbibed drug (release at a faster rate). Remote controlled pulsatile drug release was characterized for different drugs as well as for different ON-OFF durations of the AMF.

  11. Microelectromechanical (MEMS) manipulators for control of nanoparticle coupling interactions

    Science.gov (United States)

    Lopez, Daniel; Wiederrecht, Gary; Gosztola, David J.; Mancini, Derrick C.

    2017-01-17

    A nanopositioning system for producing a coupling interaction between a first nanoparticle and a second nanoparticle. A first MEMS positioning assembly includes an electrostatic comb drive actuator configured to selectively displace a first nanoparticle in a first dimension and an electrode configured to selectively displace the first nanoparticle in a second dimensions. Accordingly, the first nanoparticle may be selectively positioned in two dimensions to modulate the distance between the first nanoparticle and a second nanoparticle that may be coupled to a second MEMS positioning assembly. Modulating the distance between the first and second nanoparticles obtains a coupling interaction between the nanoparticles that alters at least one material property of the nanoparticles applicable to a variety of sensing and control applications.

  12. Report: A Model for Remote Parental Control System Using Smartphones

    OpenAIRE

    Kuppusamy, K. S.; Francis, Leena Mary; Aghila, G.

    2013-01-01

    The mammoth growth in the information technology sector in terms of both quantity and pervasiveness has opened up a Pandora's Box of issues which are relevant in technical and social aspects. This paper attempts to address one of the critical issues among them which is concerned with the proper utilization of computer systems and mobile devices by children and teens. This paper proposes a model termed "RePort (Remote Parental Control System using Smartphones)" which is aimed towards monitorin...

  13. 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.

  14. Modified hybrid control of robot manipulators for high precision assembly operations

    Science.gov (United States)

    Nguyen, Charles C.; Pooran, Farhad J.; Premack, Timothy

    1988-01-01

    This paper is concerned with applications of robot manipulators in high precision assembly tasks that can be successfully performed by employing a hybrid control scheme that independently controls force and position. A traditional hybrid control scheme is implemented in Cartesian space. In the modified hybrid control scheme introduced in this paper, the error driven control signals are expressed in joint space. This paper studies the implementation of the modified hybrid control scheme on a two-degree-of-freedom robot manipulator with a closed-kinematic chain mechanism. The performance of the traditional and modified hybrid control schemes is comparatively evaluated by computer simulation in terms of computation time and accuracy for several study cases.

  15. Web based remote monitoring and controlling system for vulnerable environments

    Science.gov (United States)

    Thomas, Aparna; George, Minu

    2016-03-01

    The two major areas of concern in industrial establishments are monitoring and security. The remote monitoring and controlling can be established with the help of Web technology. Managers can monitor and control the equipment in the remote area through a web browser. The targeted area includes all type of susceptible environment like gas filling station, research and development laboratories. The environmental parameters like temperature, light intensity, gas etc. can be monitored. Security is a very important factor in an industrial setup. So motion detection feature is added to the system to ensure the security. The remote monitoring and controlling system makes use of the latest, less power consumptive and fast working microcontroller like S3C2440. This system is based on ARM9 and Linux operating system. The ARM9 will collect the sensor data and establish real time video monitoring along with motion detection feature. These captured video data as well as environmental data is transmitted over internet using embedded web server which is integrated within the ARM9 board.

  16. Chiropractic spinal manipulative therapy for cervicogenic headache: a single-blinded, placebo, randomized controlled trial.

    Science.gov (United States)

    Chaibi, Aleksander; Knackstedt, Heidi; Tuchin, Peter J; Russell, Michael Bjørn

    2017-07-24

    Cervicogenic headache is a disabling headache where pharmacological management have limited effect. Thus, non-pharmacological management is warranted. Our objective was therefore to investigate the efficacy of chiropractic spinal manipulative therapy versus placebo (sham manipulation) and control (continued usual but non-manual management) for cervicogenic headache in a prospective 3-armed single-blinded, placebo, randomized controlled trial of 17 months' duration. Nineteen participants were equally randomized into the three groups, and 12 participants completed the randomized controlled trial. Headache frequency improved at all time points in the chiropractic spinal manipulative therapy and the placebo group. Headache index improved in the chiropractic spinal manipulative therapy group at all time points, while it improved at 6 and 12 months' follow-up in the placebo group. The control group remained unchanged during the whole study period. Adverse events were few, mild and transient. Blinding was concealed throughout the RCT. Thus, our results suggest that manual-therapy might be a safe treatment option for participants with cervicogenic headache, but data need to be confirmed in a randomized controlled trial with sufficient sample size and statistical power. Trial registration ClinicalTrials.gov identifier: NCT01687881, 11 September 2012.

  17. The Dynamics and Sliding Mode Control of Multiple Cooperative Welding Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Bin Zi

    2012-08-01

    Full Text Available This paper deals with the design, dynamic modelling and sliding mode control of multiple cooperative welding robot manipulators (MWRMs. The MWRMs can handle complex tasks that are difficult or even impossible for a single manipulator. The kinematics and dynamics of the MWRMs are studied on the basis of the Denavit-Hartenberg and Lagrange method. Following that, considering the MWRM system with nonlinear and unknown disturbances, a non-singular terminal sliding mode control strategy is designed. By means of the Lyapunov function, the stability of the controller is proved. Simulation results indicate that the good control performance of the MWRMs is achieved by the non-singular terminal sliding mode controller, which also illustrates the correctness of the dynamic modelling and effectiveness of the proposed control strategy.

  18. Neuro-fuzzy inverse model control structure of robotic manipulators utilized for physiotherapy applications

    Directory of Open Access Journals (Sweden)

    A.A. Fahmy

    2013-12-01

    Full Text Available This paper presents a new neuro-fuzzy controller for robot manipulators. First, an inductive learning technique is applied to generate the required inverse modeling rules from input/output data recorded in the off-line structure learning phase. Second, a fully differentiable fuzzy neural network is developed to construct the inverse dynamics part of the controller for the online parameter learning phase. Finally, a fuzzy-PID-like incremental controller was employed as Feedback servo controller. The proposed control system was tested using dynamic model of a six-axis industrial robot. The control system showed good results compared to the conventional PID individual joint controller.

  19. A Self Calibrating Remote Controllable Water Monitoring System

    Science.gov (United States)

    Croft, J. E.; Heath, G. L.

    2006-12-01

    The Idaho National Laboratory (INL) has been asked to support Mountain States Environmental (MSE) by providing an automated remote monitoring system for a treatment process of acid mine discharge from the Susie mine, which is located outside of Rimini near Helena, Montana. The mine, now abandoned, produces water year around that is contaminated with lead, zinc, cadmium and arsenic (Pb, Zn, Cd, and As). MSE is managing a project to install and test a pilot scale treatment system that will operate year around treating the discharge water to remove the metal contaminants of concern. The treatment system employs a combination of lime addition, iron addition, settling chambers, sand filters and polishing to treat the contaminated water. The system requires routine monitoring to ensure that process controls remain functional. The INL is developing a monitoring system capable of self calibrating, with two way communication, in a remote location that will provide physical and chemical water quality measurements throughout the treatment system.

  20. Remote Control and Monitoring of VLBI Experiments by Smartphones

    Science.gov (United States)

    Ruztort, C. H.; Hase, H.; Zapata, O.; Pedreros, F.

    2012-12-01

    For the remote control and monitoring of VLBI operations, we developed a software optimized for smartphones. This is a new tool based on a client-server architecture with a Web interface optimized for smartphone screens and cellphone networks. The server uses variables of the Field System and its station specific parameters stored in the shared memory. The client running on the smartphone by a Web interface analyzes and visualizes the current status of the radio telescope, receiver, schedule, and recorder. In addition, it allows commands to be sent remotely to the Field System computer and displays the log entries. The user has full access to the entire operation process, which is important in emergency cases. The software also integrates a webcam interface.

  1. Robust motion control of oscillatory-base manipulators h∞-control and sliding-mode-control-based approaches

    CERN Document Server

    Toda, Masayoshi

    2016-01-01

    This book provides readers with alternative robust approaches to control design for an important class of systems characteristically associated with ocean-going vessels and structures. These systems, which include crane vessels, on-board cranes, radar gimbals, and a conductivity temperature and depth winch, are modelled as manipulators with oscillating bases. One design approach is based on the H-infinity control framework exploiting an effective combination of PD control, an extended matrix polytope and a robust stability analysis method with a state-dependent coefficient form. The other is based on sliding-mode control using some novel nonlinear sliding surfaces. The model demonstrates how successful motion control can be achieved by suppressing base oscillations and in the presence of uncertainties. This is important not only for ocean engineering systems in which the problems addressed here originate but more generally as a benchmark platform for robust motion control with disturbance rejection. Researche...

  2. Test bed control center design concept for Tank Waste Retrieval Manipulator Systems

    Energy Technology Data Exchange (ETDEWEB)

    Sundstrom, E. [Human Machine Interfaces, Inc., Knoxville, TN (United States); Draper, J.V. [Oak Ridge National Lab., TN (United States); Fausz, A. [Tennessee Univ., Knoxville, TN (United States). Dept. of Psychology

    1995-02-01

    This paper describes the design concept for the control center for the Single Shell Tank Waste Retrieval Manipulator System test bed and the design process behind the concept. The design concept supports all phases of the test bed mission, including technology demonstration, comprehensive system testing, and comparative evaluation for further development and refinement of the TWRMS for field operations.

  3. On position/force tracking control problem of cooperative robot manipulators using adaptive fuzzy backstepping approach.

    Science.gov (United States)

    Baigzadehnoe, Barmak; Rahmani, Zahra; Khosravi, Alireza; Rezaie, Behrooz

    2017-09-01

    In this paper, the position and force tracking control problem of cooperative robot manipulator system handling a common rigid object with unknown dynamical models and unknown external disturbances is investigated. The universal approximation properties of fuzzy logic systems are employed to estimate the unknown system dynamics. On the other hand, by defining new state variables based on the integral and differential of position and orientation errors of the grasped object, the error system of coordinated robot manipulators is constructed. Subsequently by defining the appropriate change of coordinates and using the backstepping design strategy, an adaptive fuzzy backstepping position tracking control scheme is proposed for multi-robot manipulator systems. By utilizing the properties of internal forces, extra terms are also added to the control signals to consider the force tracking problem. Moreover, it is shown that the proposed adaptive fuzzy backstepping position/force control approach ensures all the signals of the closed loop system uniformly ultimately bounded and tracking errors of both positions and forces can converge to small desired values by proper selection of the design parameters. Finally, the theoretic achievements are tested on the two three-link planar robot manipulators cooperatively handling a common object to illustrate the effectiveness of the proposed approach. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  4. 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.

  5. Inner-Learning Mechanism Based Control Scheme for Manipulator with Multitasking and Changing Load

    Directory of Open Access Journals (Sweden)

    Fangzheng Xue

    2014-05-01

    Full Text Available With the rapid development of robot technology and its application, manipulators may face complex tasks and dynamic environments in the coming future, which leads to two challenges of control: multitasking and changing load. In this paper, a novel multicontroller strategy is presented to meet such challenges. The presented controller is composed of three parts: subcontrollers, inner-learning mechanism, and switching rules. Each subcontroller is designed with self-learning skills to fit the changing load under a special task. When a new task comes, switching rule reselects the most suitable subcontroller as the working controller to handle current task instead of the older one. Inner-learning mechanism makes the subcontrollers learn from the working controller when load changes so that the switching action causes smaller tracking error than the traditional switch controller. The results of the simulation experiments on two-degree manipulator show the proposed method effect.

  6. Osteopathic manipulative treatment of back pain and related symptoms during pregnancy: a randomized controlled trial.

    Science.gov (United States)

    Licciardone, John C; Buchanan, Steve; Hensel, Kendi L; King, Hollis H; Fulda, Kimberly G; Stoll, Scott T

    2010-01-01

    To study osteopathic manipulative treatment of back pain and related symptoms during the third trimester of pregnancy. A randomized, placebo-controlled trial was conducted to compare usual obstetric care and osteopathic manipulative treatment, usual obstetric care and sham ultrasound treatment, and usual obstetric care only. Outcomes included average pain levels and the Roland-Morris Disability Questionnaire to assess back-specific functioning. Intention-to-treat analyses included 144 subjects. The Roland-Morris Disability Questionnaire scores worsened during pregnancy; however, back-specific functioning deteriorated significantly less in the usual obstetric care and osteopathic manipulative treatment group (effect size, 0.72; 95% confidence interval, 0.31-1.14; P = .001 vs usual obstetric care only; and effect size, 0.35; 95% confidence interval, -0.06 to 0.76; P = .09 vs usual obstetric care and sham ultrasound treatment). During pregnancy, back pain decreased in the usual obstetric care and osteopathic manipulative treatment group, remained unchanged in the usual obstetric care and sham ultrasound treatment group, and increased in the usual obstetric care only group, although no between-group difference achieved statistical significance. Osteopathic manipulative treatment slows or halts the deterioration of back-specific functioning during the third trimester of pregnancy. 2010 Mosby, Inc.

  7. General-Weighted Least-Norm Control for Redundant Manipulators under Time-Dependent Constraint

    Directory of Open Access Journals (Sweden)

    Pei Jiang

    2015-05-01

    Full Text Available Previous research dealing with constrained kinematic redundancy problems focuses on manipulators with time-independent constraints. This paper extends the general-weighted least-norm (GWLN method to manipulators with time-dependent constraints by introducing time-dependent virtual joints. In the virtual joint space, corresponding task space velocity is revised to encapsulate the effects of time-dependent parameters of constraints. This is done so that an intermediate kinematic control problem with only joint limit is obtained. Then, the inverse kinematic problem is solved in the virtual joint space. A new inverse-weighted matrix setting criterion is proposed to replace the one-step prediction that originally complicated implementation of the GWLN method. To demonstrate the efficacy of the method, simulations and experiments are carried out on a five-link welding manipulator to track the welding trajectory. Time-dependent orientation constraint and preventing joint limits is guaranteed using this method.

  8. Dynamic Analysis and Control of Lightweight Manipulators with Flexible Parallel Link Mechanisms. Ph.D. Thesis

    Science.gov (United States)

    Lee, Jeh Won

    1990-01-01

    The objective is the theoretical analysis and the experimental verification of dynamics and control of a two link flexible manipulator with a flexible parallel link mechanism. Nonlinear equations of motion of the lightweight manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. The resulting equation of motion have a structure which is useful to reduce the number of terms calculated, to check correctness, or to extend the model to higher order. A manipulator with a flexible parallel link mechanism is a constrained dynamic system whose equations are sensitive to numerical integration error. This constrained system is solved using singular value decomposition of the constraint Jacobian matrix. Elastic motion is expressed by the assumed mode method. Mode shape functions of each link are chosen using the load interfaced component mode synthesis. The discrepancies between the analytical model and the experiment are explained using a simplified and a detailed finite element model.

  9. A manipulative instrument with simultaneous gesture and end-effector trajectory planning and controlling

    Science.gov (United States)

    Lin, Hsien-I.; Nguyen, Xuan-Anh

    2017-05-01

    To operate a redundant manipulator to accomplish the end-effector trajectory planning and simultaneously control its gesture in online programming, incorporating the human motion is a useful and flexible option. This paper focuses on a manipulative instrument that can simultaneously control its arm gesture and end-effector trajectory via human teleoperation. The instrument can be classified by two parts; first, for the human motion capture and data processing, marker systems are proposed to capture human gesture. Second, the manipulator kinematics control is implemented by an augmented multi-tasking method, and forward and backward reaching inverse kinematics, respectively. Especially, the local-solution and divergence problems of a multi-tasking method are resolved by the proposed augmented multi-tasking method. Computer simulations and experiments with a 7-DOF (degree of freedom) redundant manipulator were used to validate the proposed method. Comparison among the single-tasking, original multi-tasking, and augmented multi-tasking algorithms were performed and the result showed that the proposed augmented method had a good end-effector position accuracy and the most similar gesture to the human gesture. Additionally, the experimental results showed that the proposed instrument was realized online.

  10. RBFNN Control of A Two-Link Flexible Manipulator Incorporating Payload

    Directory of Open Access Journals (Sweden)

    M. Khairudin

    2010-08-01

    Full Text Available This paper presents the dynamic modeling and control of a two-link flexible robot manipulator. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode methods. The most problems of a two-link flexible manipulator are vibration of flexible link and unpredictable payload additional. Previous researchers have discussed control methods for this system; few presented the effect of a payload profile. The simulation in this research is performed to assess the dynamic model and system responses at the hub and end-point of both links are presented and analyzed in time domains and show the advantages using radial basis function neural network (RBFNN controller for solving flexible link vibration, achieve high-precision position tracking, and payload effect robustness. The results achieved by the proposed controller are compared with conventional PID to substantiate and verify the advantages the proposed scheme and its promising potential in control of a two-link flexible manipulator. It is shown that smaller overshoot, quickly steady state response and tracking performance of the proposed controller is good profile and better than PID controllers.

  11. The development of a man-machine interface for space manipulator displacement tasks

    NARCIS (Netherlands)

    Buïel, E.F.T.

    1996-01-01

    A space manipulator is a lightweight robotic arm mounted on a space station or a spacecraft. If the manipulator is manually controlled from a remote location (teleoperation), the human operator can only see its movements in the pictures from the cameras mounted on the manipulator and the pictures

  12. Vibration control for a rigid-flexible manipulator with full state constraints via Barrier Lyapunov Function

    Science.gov (United States)

    Cao, Fangfei; Liu, Jinkun

    2017-10-01

    Considering full state constraints, this paper designs a boundary controller for a two-link rigid-flexible manipulator via Barrier Lyapunov Function. The dynamic model of the two-link rigid-flexible manipulator is described by coupled ordinary differential equations- partial differential equations (ODEs-PDEs). Based on the original model without neglecting the high-frequency modes, boundary controller is proposed to regulate the joint positions and eliminate the elastic vibration simultaneously. To ensure that the full state constraints which include position, speed and vibration constraints are not transgressed, a Barrier Lyapunov Function is employed in the proposed controller. The asymptotic stability of the closed-loop system is rigorously proved by the LaSalle's Invariance Principle. Simulations are given to verify the effectiveness of the proposed controller with state constraints.

  13. A Multi-Sensorial Hybrid Control for Robotic Manipulation in Human-Robot Workspaces

    Directory of Open Access Journals (Sweden)

    Juan A. Corrales

    2011-10-01

    Full Text Available Autonomous manipulation in semi-structured environments where human operators can interact is an increasingly common task in robotic applications. This paper describes an intelligent multi-sensorial approach that solves this issue by providing a multi-robotic platform with a high degree of autonomy and the capability to perform complex tasks. The proposed sensorial system is composed of a hybrid visual servo control to efficiently guide the robot towards the object to be manipulated, an inertial motion capture system and an indoor localization system to avoid possible collisions between human operators and robots working in the same workspace, and a tactile sensor algorithm to correctly manipulate the object. The proposed controller employs the whole multi-sensorial system and combines the measurements of each one of the used sensors during two different phases considered in the robot task: a first phase where the robot approaches the object to be grasped, and a second phase of manipulation of the object. In both phases, the unexpected presence of humans is taken into account. This paper also presents the successful results obtained in several experimental setups which verify the validity of the proposed approach.

  14. Multi-Constrained Optimal Control of 3D Robotic Arm Manipulators

    Science.gov (United States)

    Trivailo, Pavel M.; Fujii, Hironori A.; Kojima, Hirohisa; Watanabe, Takeo

    This paper presents a generic method for optimal motion planning for three-dimensional 3-DOF multi-link robotic manipulators. We consider the operation of the manipulator systems, which involve constrained payload transportation/ capture/release, which is a subject to the minimization of the user-defined objective function, enabling for example minimization of the time of the transfer and/or actuation efforts. It should be stressed out that the task is solved in the presence of arbitrary multiple additional constraints. The solutions of the associated nonlinear differential equations of motion are obtained numerically using the direct transcription method. The direct method seeks to transform the continuous optimal control problem into a discrete mathematical programming problem, which in turn is solved using a non-linear programming algorithm. By discretizing the state and control variables at a series of nodes, the integration of the dynamical equations of motion is not required. The Chebyshev pseudospectral method, due to its high accuracy and fast computation times, was chosen as the direct optimization method to be employed to solve the problem. To illustrate the capabilities of the methodology, maneuvering of RRR 3D robot manipulators were considered in detail. Their optimal operations were simulated for the manipulators, binded to move their effectors along the specified 2D plane and 3D spherical and cylindrical surfaces (imitating for example, welding, tooling or scanning robots).

  15. Haptic shared control improves hot cell remote handling despite controller inaccuracies

    NARCIS (Netherlands)

    van Oosterhout, J.; Abbink, D. A.; Koning, J. F.; Boessenkool, H.; Wildenbeest, J. G. W.; Heemskerk, C. J. M.

    2013-01-01

    A promising solution to improve task performance in ITER hot cell remote handling is the use of haptic shared control. Haptic shared control can assist the human operator along a safe and optimal path with continuous guiding forces from an intelligent autonomous controller. Previous research tested

  16. Fermilab Muon Campus g-2 Cryogenic Distribution Remote Control System

    Science.gov (United States)

    Pei, L.; Theilacker, J.; Klebaner, A.; Soyars, W.; Bossert, R.

    2015-12-01

    The Muon Campus (MC) is able to measure Muon g-2 with high precision and comparing its value to the theoretical prediction. The MC has four 300 KW screw compressors and four liquid helium refrigerators. The centerpiece of the Muon g-2 experiment at Fermilab is a large, 50-foot-diameter superconducting muon storage ring. This one-of-a-kind ring, made of steel, aluminum and superconducting wire, was built for the previous g-2 experiment at Brookhaven. Because each subsystem has to be far away from each other and be placed in the distant location, Siemens Process Control System PCS7-400, Automation Direct DL205 & DL05 PLC, Synoptic and Fermilab ACNET HMI are the ideal choices as the MC g-2 cryogenic distribution real-time and on-Line remote control system. This paper presents a method which has been successfully used by many Fermilab distribution cryogenic real-time and On-Line remote control systems.

  17. Fermilab Muon Campus g-2 Cryogenic Distribution Remote Control System

    Energy Technology Data Exchange (ETDEWEB)

    Pei, L.; Theilacker, J.; Klebaner, A.; Soyars, W.; Bossert, R.

    2015-11-05

    The Muon Campus (MC) is able to measure Muon g-2 with high precision and comparing its value to the theoretical prediction. The MC has four 300 KW screw compressors and four liquid helium refrigerators. The centerpiece of the Muon g-2 experiment at Fermilab is a large, 50-foot-diameter superconducting muon storage ring. This one-of-a-kind ring, made of steel, aluminum and superconducting wire, was built for the previous g-2 experiment at Brookhaven. Due to each subsystem has to be far away from each other and be placed in the distant location, therefore, Siemens Process Control System PCS7-400, Automation Direct DL205 & DL05 PLC, Synoptic and Fermilab ACNET HMI are the ideal choices as the MC g-2 cryogenic distribution real-time and on-Line remote control system. This paper presents a method which has been successfully used by many Fermilab distribution cryogenic real-time and On-Line remote control systems.

  18. Magnetic hydrogel nanocomposites as remote controlled microfluidic valves.

    Science.gov (United States)

    Satarkar, Nitin S; Zhang, Wenli; Eitel, Richard E; Hilt, J Zach

    2009-06-21

    In recent years, hydrogels have attracted attention as active components in microfluidic devices. Here, we present a demonstration of remote controlled flow regulation in a microfluidic device using a hydrogel nanocomposite valve. To create the nanocomposite hydrogel, magnetic nanoparticles were dispersed in temperature-responsive N-isopropylacrylamide (NIPAAm) hydrogels. The swelling and collapse of the resultant nanocomposite can be remotely controlled by application of an alternating magnetic field (AMF). A ceramic microfluidic device with Y-junction channels was fabricated using low temperature co-fired ceramic (LTCC) technology. The nanocomposite was incorporated as a valve in one of the channels of the device. An AMF of frequency 293 kHz was then applied to the device and ON-OFF control on flow was achieved. A pressure transducer was placed at the inlet of the channel and pressure measurements were done for multiple AMF ON-OFF cycles to evaluate the reproducibility of the valve. Furthermore, the effect of the hydrogel geometry on the response time was characterized by hydrogels with different dimensions. Magnetic hydrogel nanocomposite films of different thicknesses (0.5, 1, 1.5 mm) were subjected to AMF and the kinetics of collapse and recovery were studied.

  19. A bio-inspired force control for cyclic manipulation of prosthetic hands.

    Science.gov (United States)

    Ciancio, A L; Barone, R; Zollo, L; Carpino, G; Davalli, A; Sacchetti, R; Guglielmelli, E

    2015-01-01

    The human hand is considered as the highest example of dexterous system capable of interacting with different objects and adapting its manipulation abilities to them. The control of poliarticulated prosthetic hands represents one important research challenge, typically aiming at replicating the manipulation capabilities of the natural hand. For this reason, this paper wants to propose a bio-inspired learning architecture based on parallel force/position control for prosthetic hands, capable of learning cyclic manipulation capabilities. To this purpose, it is focused on the control of a commercial biomechatronic hand (the IH2 hand) including the main features of recent poliarticulated prosthetic hands. The training phase of the hand was carried out in simulation, the parallel force/position control was tested in simulation whereas preliminary tests were performed on the real IH2 hand. The results obtained in simulation and on the real hand provide an important evidence of the applicability of the bio-inspired neural control to real biomechatronic hand with the typical features of a hand prosthesis.

  20. Perturbed oral motor control due to anesthesia during intraoral manipulation of food.

    Science.gov (United States)

    Grigoriadis, Joannis; Kumar, Abhishek; Svensson, Peter; Svensson, Krister G; Trulsson, Mats

    2017-04-20

    Sensory information from periodontal mechanoreceptors (PMRs) surrounding the roots of natural teeth is important for optimizing the positioning of food and adjustment of force vectors during precision biting. The present experiment was designed to test the hypothesis; that reduction of afferent inputs from the PMRs, by anesthesia, perturbs the oral fine motor control and related jaw movements during intraoral manipulation of morsels of food. Thirty healthy volunteers with a natural dentition were equally divided into experimental and control groups. The participants in both groups were asked to manipulate and split a spherical candy into two equal halves with the front teeth. An intervention was made by anesthetizing the upper and lower incisors of the experimental group while the control group performed the task without intervention. Performance of the split was evaluated and the jaw movement recorded. The experimental group demonstrated a significant decrease in measures of performance following local anesthesia. However, there was no significant changes in the duration or position of the jaw during movements in the experimental and control group. In conclusion, transient deprivation of sensory information from PMRs perturbs oral fine motor control during intraoral manipulation of food, however, no significant alterations in duration or positions of the jaw during movements can be observed.

  1. [Manipulative reduction for lumbar intervertebral disc herniation: a controlled clinical trial].

    Science.gov (United States)

    Zhang, Wei-bin; Cao, Yu; Sun, Yong-an; Wang, Chun-sheng; Wang, Ying; Dong, Shi-long; Ren, Guo-zhong; Yang, Ying-xin; Zhang, Jing-zhong

    2008-04-01

    To investigate the effects of manipulative reduction on pain and clinical curative effect in patients with lumbar intervertebral disc herniation. Eleven thousands one hundred and twenty-eight patients with lumbar intervertebral disc herniation from our hospital were enrolled from November 1986 to June 2007. They were randomly divided into control group and treatment group. Patients of the control group received lumbar traction and various physiotherapies. Patients of the treatment group received manipulative reduction, besides the treatment in the control group. The treatment was performed once a day,ten times as a course. Curative effects were assessed three courses later. Pain was evaluated by visual analogue scale before and after the treatment. No significant difference in the score of visual analogue scale was found before the treatment in the two groups (P > 0.05). As compared with the score before treatment,it was decreased by 4.73 points after treatment in the control group, and decreased by 6.37 points in the treatment group. The decrease was more significant in the treatment group than the control group (P Manipulative reduction for lumbar intervertebral disc herniation can remarkably relieve lumbar pain and improve clinical curative effect.

  2. A remotely operated drug delivery system with dose control

    KAUST Repository

    Yi, Ying

    2017-05-08

    “On demand” implantable drug delivery systems can provide optimized treatments, due to their ability to provide targeted, flexible and precise dose release. However, two important issues that need to be carefully considered in a mature device include an effective actuation stimulus and a controllable dose release mechanism. This work focuses on remotely powering an implantable drug delivery system and providing a high degree of control over the released dose. This is accomplished by integration of a resonance-based wireless power transfer system, a constant voltage control circuit and an electrolytic pump. Upon the activation of the wireless power transfer system, the electrolytic actuator is remotely powered by a constant voltage regardless of movements of the device within an effective range of translation and rotation. This in turn contributes to a predictable dose release rate and greater flexibility in the positioning of external powering source. We have conducted proof-of-concept drug delivery studies using the liquid drug in reservoir approach and the solid drug in reservoir approach, respectively. Our experimental results demonstrate that the range of flow rate is mainly determined by the voltage controlled with a Zener diode and the resistance of the implantable device. The latter can be adjusted by connecting different resistors, providing control over the flow rate to meet different clinical needs. The flow rate can be maintained at a constant level within the effective movement range. When using a solid drug substitute with a low solubility, solvent blue 38, the dose release can be kept at 2.36μg/cycle within the effective movement range by using an input voltage of 10Vpp and a load of 1.5 kΩ, which indicates the feasibility and controllability of our system without any complicated closed-loop sensor.

  3. Improved head-controlled TV system produces high-quality remote image

    Science.gov (United States)

    Goertz, R.; Lindberg, J.; Mingesz, D.; Potts, C.

    1967-01-01

    Manipulator operator uses an improved resolution tv camera/monitor positioning system to view the remote handling and processing of reactive, flammable, explosive, or contaminated materials. The pan and tilt motions of the camera and monitor are slaved to follow the corresponding motions of the operators head.

  4. Chattering-Free Neuro-Sliding Mode Control of 2-DOF Planar Parallel Manipulators

    Directory of Open Access Journals (Sweden)

    Tien Dung Le

    2013-01-01

    Full Text Available This paper proposes a novel chattering free neuro-sliding mode controller for the trajectory tracking control of two degrees of freedom (DOF parallel manipulators which have a complicated dynamic model, including modelling uncertainties, frictional uncertainties and external disturbances. A feedforward neural network (NN is combined with an error estimator to completely compensate the large nonlinear uncertainties and external disturbances of the parallel manipulators. The online weight tuning algorithms of the NN and the structure of the error estimator are derived with the strict theoretical stability proof of the Lyapunov theorem. The upper bound of uncertainties and the upper bound of the approximation errors are not required to be known in advance in order to guarantee the stability of the closed-loop system. The example simulation results show the effectiveness of the proposed control strategy for the tracking control of a 2-DOF parallel manipulator. It results in its being chattering-free, very small tracking errors and its robustness against uncertainties and external disturbances.

  5. Hierarchical Robot Control System and Method for Controlling Select Degrees of Freedom of an Object Using Multiple Manipulators

    Science.gov (United States)

    Abdallah, Muhammad E. (Inventor); Platt, Robert (Inventor); Wampler, II, Charles W. (Inventor)

    2013-01-01

    A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. The controller controls the manipulators during the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control, e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type.

  6. Diverse Planning for UAV Control and Remote Sensing.

    Science.gov (United States)

    Tožička, Jan; Komenda, Antonín

    2016-12-21

    Unmanned aerial vehicles (UAVs) are suited to various remote sensing missions, such as measuring air quality. The conventional method of UAV control is by human operators. Such an approach is limited by the ability of cooperation among the operators controlling larger fleets of UAVs in a shared area. The remedy for this is to increase autonomy of the UAVs in planning their trajectories by considering other UAVs and their plans. To provide such improvement in autonomy, we need better algorithms for generating alternative trajectory variants that the UAV coordination algorithms can utilize. In this article, we define a novel family of multi-UAV sensing problems, solving task allocation of huge number of tasks (tens of thousands) to a group of configurable UAVs with non-zero weight of equipped sensors (comprising the air quality measurement as well) together with two base-line solvers. To solve the problem efficiently, we use an algorithm for diverse trajectory generation and integrate it with a solver for the multi-UAV coordination problem. Finally, we experimentally evaluate the multi-UAV sensing problem solver. The evaluation is done on synthetic and real-world-inspired benchmarks in a multi-UAV simulator. Results show that diverse planning is a valuable method for remote sensing applications containing multiple UAVs.

  7. Diverse Planning for UAV Control and Remote Sensing

    Directory of Open Access Journals (Sweden)

    Jan Tožička

    2016-12-01

    Full Text Available Unmanned aerial vehicles (UAVs are suited to various remote sensing missions, such as measuring air quality. The conventional method of UAV control is by human operators. Such an approach is limited by the ability of cooperation among the operators controlling larger fleets of UAVs in a shared area. The remedy for this is to increase autonomy of the UAVs in planning their trajectories by considering other UAVs and their plans. To provide such improvement in autonomy, we need better algorithms for generating alternative trajectory variants that the UAV coordination algorithms can utilize. In this article, we define a novel family of multi-UAV sensing problems, solving task allocation of huge number of tasks (tens of thousands to a group of configurable UAVs with non-zero weight of equipped sensors (comprising the air quality measurement as well together with two base-line solvers. To solve the problem efficiently, we use an algorithm for diverse trajectory generation and integrate it with a solver for the multi-UAV coordination problem. Finally, we experimentally evaluate the multi-UAV sensing problem solver. The evaluation is done on synthetic and real-world-inspired benchmarks in a multi-UAV simulator. Results show that diverse planning is a valuable method for remote sensing applications containing multiple UAVs.

  8. A Self-Calibrating Remote Control Chemical Monitoring System

    Energy Technology Data Exchange (ETDEWEB)

    Jessica Croft

    2007-06-01

    The Susie Mine, part of the Upper Tenmile Mining Area, is located in Rimini, MT about 15 miles southwest of Helena, MT. The Upper Tenmile Creek Mining Area is an EPA Superfund site with 70 abandoned hard rock mines and several residential yards prioritized for clean up. Water from the Susie mine flows into Tenmile Creek from which the city of Helena draws part of its water supply. MSE Technology Applications in Butte, Montana was contracted by the EPA to build a treatment system for the Susie mine effluent and demonstrate a system capable of treating mine waste water in remote locations. The Idaho National Lab was contracted to design, build and demonstrate a low maintenance self-calibrating monitoring system that would monitor multiple sample points, allow remote two-way communications with the control software and allow access to the collected data through a web site. The Automated Chemical Analysis Monitoring (ACAM) system was installed in December 2006. This thesis documents the overall design of the hardware, control software and website, the data collected while MSE-TA’s system was operational, the data collected after MSE-TA’s system was shut down and suggested improvements to the existing system.

  9. Iterative learning control with sampled-data feedback for robot manipulators

    Directory of Open Access Journals (Sweden)

    Delchev Kamen

    2014-09-01

    Full Text Available This paper deals with the improvement of the stability of sampled-data (SD feedback control for nonlinear multiple-input multiple-output time varying systems, such as robotic manipulators, by incorporating an off-line model based nonlinear iterative learning controller. The proposed scheme of nonlinear iterative learning control (NILC with SD feedback is applicable to a large class of robots because the sampled-data feedback is required for model based feedback controllers, especially for robotic manipulators with complicated dynamics (6 or 7 DOF, or more, while the feedforward control from the off-line iterative learning controller should be assumed as a continuous one. The robustness and convergence of the proposed NILC law with SD feedback is proven, and the derived sufficient condition for convergence is the same as the condition for a NILC with a continuous feedback control input. With respect to the presented NILC algorithm applied to a virtual PUMA 560 robot, simulation results are presented in order to verify convergence and applicability of the proposed learning controller with SD feedback controller attached

  10. Movement control of manipulative tasks in patients with Gilles de la Tourette syndrome

    OpenAIRE

    Serrien, Deborah J.; Nirkko, Arto C; Loher, Thomas J.; Lövblad, Karl‐Olof; Burgunder, Jean‐Marc; Wiesendanger, Mario

    2017-01-01

    When a hand‐held object is moved, grip and load force are accurately coordinated for establishing grasp stability. In the present work, the question was raised whether patients with Gilles de la Tourette syndrome (TS), who show tic‐like movements, are impaired in grip-load force control when executing a manipulative task. To this end, we assessed force regulation during action patterns that required rhythmical unimanual or bimanual (iso‐directional/anti‐directional) movements. Results showed ...

  11. Topics in Machining with Industrial Robot Manipulators and Optimal Motion Control

    OpenAIRE

    Olofsson, Björn

    2015-01-01

    Two main topics are considered in this thesis: Machining with industrial robot manipulators and optimal motion control of robots and vehicles. The motivation for research on the first subject is the need for flexible and accurate production processes employing industrial robots as their main component. The challenge to overcome here is to achieve high-accuracy machining solutions, in spite of the strong process forces required for the task. Because of the process forces, the nonlinear dynamic...

  12. Commercialization of JPL Virtual Reality calibration and redundant manipulator control technologies

    Science.gov (United States)

    Kim, Won S.; Seraji, Homayoun; Fiorini, Paolo; Brown, Robert; Christensen, Brian; Beale, Chris; Karlen, James; Eismann, Paul

    1994-01-01

    Within NASA's recent thrust for industrial collaboration, JPL (Jet Propulsion Laboratory) has recently established two technology cooperation agreements in the robotics area: one on virtual reality (VR) calibration with Deneb Robotics, Inc., and the other on redundant manipulator control with Robotics Research Corporation (RRC). These technology transfer cooperation tasks will enable both Deneb and RRC to commercialize enhanced versions of their products that will greatly benefit both space and terrestrial telerobotic applications.

  13. Controlled bidirectional remote preparation of three-qubit state

    Science.gov (United States)

    Chen, Xiu-Bo; Sun, Yi-Ru; Xu, Gang; Jia, Heng-Yue; Qu, Zhiguo; Yang, Yi-Xian

    2017-10-01

    We present a novel scheme for controlled bidirectional remote state preparation by using thirteen-qubit entangled state as the quantum channel, where both Alice and Bob transfer an arbitrary three-qubit state to each other simultaneously via the control of Charlie. Firstly, in the ideal environment, we consider our scheme in two cases that the coefficients of prepared state are real and complex, respectively. The corresponding measurement bases are devised. Secondly, we discuss our scheme in four types of noisy environment (bit-flip, phase-flip, amplitude-damping and phase-damping noisy environments) and calculate the corresponding fidelities of the output state. Finally, the efficiency of our scheme is calculated and some discussions are given.

  14. AUTOMATED REMOTE MANAGEMENT AND CONTROL SYSTEM OF THE LABORATORY EQUIPMENT

    Directory of Open Access Journals (Sweden)

    V. I. Freyman

    2017-01-01

    Full Text Available The paper deals with the hardware and software implementation of automated remote management system of laboratory equipment for studying fundamentals of electronics and circuit technology. This system gives the possibility to create the virtual model of a real stand. The original software has enabled to compare information from the memory of microcontroller keeping in laboratory stands with etalon model, and reveal discrepancies of set connections and template data. Graphical interface allows for operation control of students and correction of studying process. Automation of configuring and the following checking procedures has accelerated the work and decreased error frequency, made it possible to improve the quality of learning, increase efficiency of laboratory researches and control accuracy, intensify the check procedure and use self-checking in case of independent execution of tasks.

  15. Adaptive anti control of chaos for robot manipulators with experimental evaluations

    Science.gov (United States)

    Moreno-Valenzuela, Javier

    2013-01-01

    Roughly speaking, anti control of chaos consists in injecting a chaotic behavior to a system by means of a control scheme. This note introduces a new scheme to solve the anti control of chaos for robot manipulators. The proposed controller uses an adaption law to estimate the robot parameters on line. Thus, the controller does not require any knowledge of the physical parameters of the manipulator, such as masses, lengths of the links, moments of inertia, etc. The new scheme is based in the velocity field control paradigm, hence the specification of a chaotic system to define a desired velocity field is required. Experimental results in a two degrees-of-freedom direct-drive robot illustrate the practical feasibility of the introduced theory. In order to achieve anti control of chaos of our experimental system, two different chaotic attractors are used: the Genesio-Tesi system and a Jerk-type system. Results showed that the controller is able to inject the chaotic behavior to the robot while the robot parameters are estimated on line.

  16. 46 CFR 111.70-7 - Remote control, interlock, and indicator circuits.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Remote control, interlock, and indicator circuits. 111... Remote control, interlock, and indicator circuits. (a) Overcurrent protection. A conductor of a control, interlock, or indicator circuit of a motor controller must be protected against overcurrent unless: (1) The...

  17. Brain-machine interface control of a manipulator using small-world neural network and shared control strategy.

    Science.gov (United States)

    Li, Ting; Hong, Jun; Zhang, Jinhua; Guo, Feng

    2014-03-15

    The improvement of the resolution of brain signal and the ability to control external device has been the most important goal in BMI research field. This paper describes a non-invasive brain-actuated manipulator experiment, which defined a paradigm for the motion control of a serial manipulator based on motor imagery and shared control. The techniques of component selection, spatial filtering and classification of motor imagery were involved. Small-world neural network (SWNN) was used to classify five brain states. To verify the effectiveness of the proposed classifier, we replace the SWNN classifier by a radial basis function (RBF) networks neural network, a standard multi-layered feed-forward backpropagation network (SMN) and a multi-SVM classifier, with the same features for the classification. The results also indicate that the proposed classifier achieves a 3.83% improvement over the best results of other classifiers. We proposed a shared control method consisting of two control patterns to expand the control of BMI from the software angle. The job of path building for reaching the 'end' point was designated as an assessment task. We recorded all paths contributed by subjects and picked up relevant parameters as evaluation coefficients. With the assistance of two control patterns and series of machine learning algorithms, the proposed BMI originally achieved the motion control of a manipulator in the whole workspace. According to experimental results, we confirmed the feasibility of the proposed BMI method for 3D motion control of a manipulator using EEG during motor imagery. Copyright © 2013 Elsevier B.V. All rights reserved.

  18. Efficacy of manipulation for non-specific neck pain of recent onset: design of a randomised controlled trial

    Directory of Open Access Journals (Sweden)

    Herbert Rob D

    2007-02-01

    Full Text Available Abstract Background Manipulation is a common treatment for non-specific neck pain. Neck manipulation, unlike gentler forms of manual therapy such as mobilisation, is associated with a small risk of serious neurovascular injury and can result in stroke or death. It is thought however, that neck manipulation provides better results than mobilisation where clinically indicated. There is long standing and vigorous debate both within and between the professions that use neck manipulation as well as the wider scientific community as to whether neck manipulation potentially does more harm than good. The primary aim of this study is to determine whether neck manipulation provides more rapid resolution of an episode of neck pain than mobilisation. Methods/Design 182 participants with acute and sub-acute neck pain will be recruited from physiotherapy, chiropractic and osteopathy practices in Sydney, Australia. Participants will be randomly allocated to treatment with either manipulation or mobilisation. Randomisation will occur after the treating practitioner decides that manipulation is an appropriate treatment for the individual participant. Both groups will receive at least 4 treatments over 2 weeks. The primary outcome is number of days taken to recover from the episode of neck pain. Cox regression will be used to compare survival curves for time to recovery for the manipulation and mobilisation treatment groups. Discussion This paper presents the rationale and design of a randomised controlled trial to compare the effectiveness of neck manipulation and neck mobilisation for acute and subacute neck pain.

  19. Physiological hemostasis based intelligent integrated cooperative controller for precise fault-tolerant control of redundant parallel manipulator

    Science.gov (United States)

    Hao, Kuangrong; Guo, Chongbin; Ding, Yongsheng

    2014-10-01

    This paper focuses on precise fault-tolerant control for actual redundant parallel manipulator. Based on kinematic redundancy, some unnoticed influences such as mechanical clearance have been considered to design a more precise and intelligent fault-tolerant plan for actual plants. According to regulation principles in human hemostasis system, a bio-inspired intelligent integrated cooperative controller (BIICC) is developed including system structure, algorithm and step in parameter tuning. The proposed BIICC optimises partial error signal and improves control performance in each sub-channel. Moreover, the new controller transfers and disposes cooperative control signals among different sub-channels to achieve an intelligent integrated fault-tolerant system. The proposed BIICC is applied to an actual 2-DOF (degrees of freedom) redundant parallel manipulator where the feasibility of the new controller is demonstrated. The BIICC is beneficial to control precision and fault-tolerant capability of redundant plant. The improvements are more obvious in cases where extra actuators of redundant manipulator are broken.

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

    Energy Technology Data Exchange (ETDEWEB)

    Alonzo, G M [ed.

    1995-01-01

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

  1. Modelling and Composite Control of Single Flexible Manipulators with Piezoelectric Actuators

    Directory of Open Access Journals (Sweden)

    En Lu

    2016-01-01

    Full Text Available The piezoelectric actuators are used to investigate the active vibration control of flexible manipulators in this paper. Based on the assumed mode method, piezoelectric coupling model, and Hamilton’s principle, the dynamic equation of the single flexible manipulator (SFM with surface bonded actuators is established. Then, a singular perturbation model consisted of a slow subsystem and a fast subsystem is formulated and used for designing the composite controller. The slow subsystem controller is designed by fuzzy sliding mode control method, and the linear quadratic regulator (LQR optimal control method is used to design fast subsystem controller. Furthermore, the changing trends of natural frequencies along with the changes in the position of piezoelectric actuators are obtained through the ANSYS Workbench software, by which the optimal placement of actuators is determined. Finally, numerical simulations and experiments are presented. The results demonstrate that the method of optimal placement is feasible based on the maximal natural frequency, and the composite controller presented in this paper can not only realize the trajectory tracking of the SFM and has a good result on the vibration suppression.

  2. Adaptive Sliding Mode Control of Mobile Manipulators with Markovian Switching Joints

    Directory of Open Access Journals (Sweden)

    Liang Ding

    2012-01-01

    Full Text Available The hybrid joints of manipulators can be switched to either active (actuated or passive (underactuated mode as needed. Consider the property of hybrid joints, the system switches stochastically between active and passive systems, and the dynamics of the jump system cannot stay on each trajectory errors region of subsystems forever; therefore, it is difficult to determine whether the closed-loop system is stochastically stable. In this paper, we consider stochastic stability and sliding mode control for mobile manipulators using stochastic jumps switching joints. Adaptive parameter techniques are adopted to cope with the effect of Markovian switching and nonlinear dynamics uncertainty and follow the desired trajectory for wheeled mobile manipulators. The resulting closed-loop system is bounded in probability and the effect due to the external disturbance on the tracking errors can be attenuated to any preassigned level. It has been shown that the adaptive control problem for the Markovian jump nonlinear systems is solvable if a set of coupled linear matrix inequalities (LMIs have solutions. Finally, a numerical example is given to show the potential of the proposed techniques.

  3. Coordinated control of a space manipulator tested by means of an air bearing free floating platform

    Science.gov (United States)

    Sabatini, Marco; Gasbarri, Paolo; Palmerini, Giovanni B.

    2017-10-01

    A typical approach studied for the guidance of next generation space manipulators (satellites with robotic arms aimed at autonomously performing on-orbit operations) is to decouple the platform and the arm maneuvers, which are supposed to happen sequentially, mainly because of safety concerns. This control is implemented in this work as a two-stage Sequential control, where a first stage calls for the motion of the platform and the second stage calls for the motion of the manipulator. A second novel strategy is proposed, considering the platform and the manipulator as a single multibody system subject to a Coordinated control, with the goal of approaching and grasping a target spacecraft. At the scope, a region that the end effector can reach by means of the arm motion with limited reactions on the platform is identified (the so called Reaction Null workspace). The Coordinated control algorithm performs a gain modulation (finalized to a balanced contribution of the platform and arm motion) as a function of the target position within this Reaction Null map. The result is a coordinated maneuver in which the end effector moves thanks to the platform motion, predominant in a first phase, and to the arm motion, predominant when the Reaction-Null workspace is reached. In this way the collision avoidance and attitude over-control issues are automatically considered, without the need of splitting the mission in independent (and overall sub-optimal) segments. The guidance and control algorithms are first simulated by means of a multibody code, and successively tested in the lab by means of a free floating platform equipped with a robotic arm, moving frictionless on a flat granite table thanks to air bearings and on-off thrusters; the results will be discussed in terms of optimality of the fuel consumption and final accuracy.

  4. A force-controllable macro-micro manipulator and its application to medical robots

    Science.gov (United States)

    Marzwell, Neville I.; Uecker, Darrin R.; Wang, Yulun

    1994-01-01

    This paper describes an 8-degrees-of-freedom macro-micro robot. This robot is capable of performing tasks that require accurate force control, such as polishing, finishing, grinding, deburring, and cleaning. The design of the macro-micro mechanism, the control algorithms, and the hardware/software implementation of the algorithms are described in this paper. Initial experimental results are reported. In addition, this paper includes a discussion of medical surgery and the role that force control may play. We introduce a new class of robotic systems collectively called Robotic Enhancement Technology (RET). RET systems introduce the combination of robotic manipulation with human control to perform manipulation tasks beyond the individual capability of either human or machine. The RET class of robotic systems offers new challenges in mechanism design, control-law development, and man/machine interface design. We believe force-controllable mechanisms such as the macro-micro structure we have developed are a necessary part of RET. Work in progress in the area of RET systems and their application to minimally invasive surgery is presented, along with future research directions.

  5. Measuring and Modelling Delays in Robot Manipulators for Temporally Precise Control using Machine Learning

    DEFF Research Database (Denmark)

    Andersen, Thomas Timm; Amor, Heni Ben; Andersen, Nils Axel

    2015-01-01

    Latencies and delays play an important role in temporally precise robot control. During dynamic tasks in particular, a robot has to account for inherent delays to reach manipulated objects in time. The different types of occurring delays are typically convoluted and thereby hard to measure...... and separate. In this paper, we present a data-driven methodology for separating and modelling inherent delays during robot control. We show how both actuation and response delays can be modelled using modern machine learning methods. The resulting models can be used to predict the delays as well...

  6. Quantum manipulation and enhancement of deterministic entanglement between atomic ensemble and light via coherent feedback control

    Science.gov (United States)

    Yan, Zhihui; Jia, Xiaojun

    2017-06-01

    A quantum mechanical model of the non-measurement based coherent feedback control (CFC) is applied to deterministic atom-light entanglement with imperfect retrieval efficiency, which is generated based on Raman process. We investigate the influence of different experimental parameters on entanglement property of CFC Raman system. By tailoring the transmissivity of coherent feedback controller, it is possible to manipulate the atom-light entanglement. Particularly, we show that CFC allows atom-light entanglement enhancement under appropriate operating conditions. Our work can provide entanglement source between atomic ensemble and light of high quality for high-fidelity quantum networks and quantum computation based on atomic ensemble.

  7. Panoramic Stereoscopic Video System for Remote-Controlled Robotic Space Operations Project

    Data.gov (United States)

    National Aeronautics and Space Administration — This Phase I project will demonstrate the feasibility of providing panoramic stereoscopic images for remote-controlled robotic space operations using three...

  8. Remotely Controlled Mixers for Light Microscopy Module (LMM) Colloid Samples

    Science.gov (United States)

    Kurk, Michael A. (Andy)

    2015-01-01

    Developed by NASA Glenn Research Center, the LMM aboard the International Space Station (ISS) is enabling multiple biomedical science experiments. Techshot, Inc., has developed a series of colloid specialty cell systems (C-SPECS) for use in the colloid science experiment module on the LMM. These low-volume mixing devices will enable uniform particle density and remotely controlled repetition of LMM colloid experiments. By automating the experiment process, C-SPECS allow colloid samples to be processed more quickly. In addition, C-SPECS will minimize the time the crew will need to spend on colloid experiments as well as eliminate the need for multiple and costly colloid samples, which are expended after a single examination. This high-throughput capability will lead to more efficient and productive use of the LMM. As commercial launch vehicles begin routine visits to the ISS, C-SPECS could become a significant means to process larger quantities of high-value materials for commercial customers.

  9. Adaptive Sliding Mode Control Design of a SCARA Robot Manipulator System Under Parametric Variations

    Directory of Open Access Journals (Sweden)

    F. Adelhed

    2015-12-01

    Full Text Available – The sliding mode control (SMC has yet proven its efficiency through several theoretical researches. Indeed, the robotic field is recognized as one of the main SMC portals on practical implementations. The interest of this work consists in testing the SMC robustness and its reliability versus the parameters variation and model uncertainties. In this paper, an algorithm for trajectory tracking task of robot manipulators based on a SMC has been proposed. Then, aiming to deal with the presence of disturbances and parametric modeling uncertainties, the adopted control law has been extended to an adaptive SMC version based integral sliding surface, where the selection of the parameters adaptation law has been detailed. It has been proven that the adaptive control design can stabilize both position and velocity of the system, where the explicit use of the system dynamic model becomes no longer required. Simulation results performed on a SCARA robot manipulator reveal improving control acting clearly denoted by the introduction of the adaptive control design

  10. Adaptive nonlinear model predictive control design of a flexible-link manipulator with uncertain parameters

    Science.gov (United States)

    Schnelle, Fabian; Eberhard, Peter

    2017-06-01

    This paper presents a novel adaptive nonlinear model predictive control design for trajectory tracking of flexible-link manipulators consisting of feedback linearization, linear model predictive control, and unscented Kalman filtering. Reducing the nonlinear system to a linear system by feedback linearization simplifies the optimization problem of the model predictive controller significantly, which, however, is no longer linear in the presence of parameter uncertainties and can potentially lead to an undesired dynamical behaviour. An unscented Kalman filter is used to approximate the dynamics of the prediction model by an online parameter estimation, which leads to an adaptation of the optimization problem in each time step and thus to a better prediction and an improved input action. Finally, a detailed fuzzy-arithmetic analysis is performed in order to quantify the effect of the uncertainties on the control structure and to derive robustness assessments. The control structure is applied to a serial manipulator with two flexible links containing uncertain model parameters and acting in three-dimensional space.

  11. Neural Learning Control of Flexible Joint Manipulator with Predefined Tracking Performance and Application to Baxter Robot

    Directory of Open Access Journals (Sweden)

    Min Wang

    2017-01-01

    Full Text Available This paper focuses on neural learning from adaptive neural control (ANC for a class of flexible joint manipulator under the output tracking constraint. To facilitate the design, a new transformed function is introduced to convert the constrained tracking error into unconstrained error variable. Then, a novel adaptive neural dynamic surface control scheme is proposed by combining the neural universal approximation. The proposed control scheme not only decreases the dimension of neural inputs but also reduces the number of neural approximators. Moreover, it can be verified that all the closed-loop signals are uniformly ultimately bounded and the constrained tracking error converges to a small neighborhood around zero in a finite time. Particularly, the reduction of the number of neural input variables simplifies the verification of persistent excitation (PE condition for neural networks (NNs. Subsequently, the proposed ANC scheme is verified recursively to be capable of acquiring and storing knowledge of unknown system dynamics in constant neural weights. By reusing the stored knowledge, a neural learning controller is developed for better control performance. Simulation results on a single-link flexible joint manipulator and experiment results on Baxter robot are given to illustrate the effectiveness of the proposed scheme.

  12. Detumbling control for kinematically redundant space manipulator post-grasping a rotational satellite

    Science.gov (United States)

    Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich

    2017-12-01

    The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling and motion planning strategy for the post-capture phase is proposed based on the quartic Bézier curves and adaptive differential evolution (DE) algorithm subject to the specific constraints. Both detumbling time and control torques are taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is presented to track the designed reference path while regulating the attitude of the chaser to a desired value, which successfully dumps the initial angular velocity of the rotational satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom (DOF) redundant space manipulator, which demonstrates the effectiveness of the proposed method.

  13. Robotic control of the seven-degree-of-freedom NASA laboratory telerobotic manipulator

    Science.gov (United States)

    Dubey, R. V.; Euler, J. A.; Magness, R. B.; Babcock, S. M.; Herndon, J. N.

    1989-01-01

    A computationally efficient robotic control scheme for the NASA Laboratory Telerobotic Manipulator (LTM) is presented. This scheme utilizes the redundancy of the seven-degree-of-freedom LTM to avoid joint limits and singularities. An analysis to determine singular configurations is presented. Performance criteria are determined based on the joint limits and singularity analysis. The control scheme is developed in the framework of resolved rate control using the gradient projection method, and it does not require the generalized inverse of the Jacobian. An efficient formulation for determining the joint velocities of the LTM is obtained. This control scheme is well suited for real-time implementation, which is essential if the end-effector trajectory is continuously modified based on sensory feedback. Implementation of this scheme on a Motorola 68020 VME bus-based controller of the LTM is in progress. Simulation results demonstrating the redundancy utilization in the robotic mode are presented.

  14. Fuzzy Saturated Output Feedback Tracking Control for Robot Manipulators: A Singular Perturbation Theory Based Approach

    Directory of Open Access Journals (Sweden)

    Huashan Liu

    2011-09-01

    Full Text Available To deal with the problem of the output feedback tracking (OFT control with bounded torque inputs of robot manipulators, we propose a generalized fuzzy saturated OFT controller based on singular perturbation theory. First, considering the fact that the output toque of joint actuators is limited, a general expression for a class of saturation functions is given to be applied in the control law. Second, to carry out the whole closed-loop control with only position measurements, linear and nonlinear filters are optionally involved to generate a pseudo signal to surrogate the actual velocity tracking error. As a third contribution, a fuzzy regulator is added to obtain a self-tuning performance in tackling the disturbances. Moreover, an explicit but strict stability proof of the system based on the stability theory of singularly perturbed systems is presented. Finally, numerical simulations on several sample controllers are implemented to verify the effectiveness of the proposed approach.

  15. Fuzzy Saturated Output Feedback Tracking Control for Robot Manipulators: A Singular Perturbation Theory Based Approach

    Directory of Open Access Journals (Sweden)

    Huashan Liu

    2011-09-01

    Full Text Available To deal with the problem of the output feedback tracking (OFT control with bounded torque inputs of robot manipulators, we propose a generalized fuzzy saturated OFT controller based on singular perturbation theory. First, considering the fact that the output toque of joint actuators is limited, a general expression for a class of saturation functions is given to be applied in the control law. Second, to carry out the whole closed‐loop control with only position measurements, linear and nonlinear filters are optionally involved to generate a pseudo signal to surrogate the actual velocity tracking error. As a third contribution, a fuzzy regulator is added to obtain a self‐tuning performance in tackling the disturbances. Moreover, an explicit but strict stability proof of the system based on the stability theory of singularly perturbed systems is presented. Finally, numerical simulations on several sample controllers are implemented to verify the effectiveness of the proposed approach.

  16. Attitude dynamics and control of a spacecraft like a robotic manipulator when implementing on-orbit servicing

    Science.gov (United States)

    Da Fonseca, Ijar M.; Goes, Luiz C. S.; Seito, Narumi; da Silva Duarte, Mayara K.; de Oliveira, Élcio Jeronimo

    2017-08-01

    In space the manipulators working space is characterized by the microgravity environment. In this environment the spacecraft floats and its rotational/translational motion may be excited by any internal and external disturbances. The complete system, i.e., the spacecraft and the associated robotic manipulator, floats and is sensitive to any reaction force and torque related to the manipulator's operation. In this sense the effort done by the robot may result in torque about the system center of mass and also in forces changing its translational motion. This paper analyzes the impact of the robot manipulator dynamics on the attitude motion and the associated control effort to keep the attitude stable during the manipulator's operation. The dynamics analysis is performed in the close proximity phase of rendezvous docking/berthing operation. In such scenario the linear system equations for the translation and attitude relative motions are appropriate. The computer simulations are implemented for the relative translational and rotational motion. The equations of motion have been simulated through computer by using the MatLab software. The LQR and the PID control laws are used for linear and nonlinear control, respectively, aiming to keep the attitude stable while the robot is in and out of service. The gravity-gradient and the residual magnetic torque are considered as external disturbances. The control efforts are analyzed for the manipulator in and out of service. The control laws allow the system stabilization and good performance when the manipulator is in service.

  17. [Efficacy of cervical fixed-point traction manipulation for cervical spondylotic radiculopathy: a randomized controlled trial].

    Science.gov (United States)

    Jiang, Chong-Bo; Wang, Jun; Zheng, Zhi-Xin; Hou, Jing-Shan; Ma, Ling; Sun, Tong

    2012-01-01

    Cervical spondylotic radiculopathy is a commonly encountered and frequently occurring disease. Traditional Chinese osteopathic manipulations may have better therapeutic efficacy than that of other methods in treating patients with cervical spondylotic radiculopathy. To evaluate the clinical therapeutic effects of cervical fixed-point traction manipulation in treating patients with cervical spondylotic radiculopathy. A prospective, randomized controlled trial was adopted. Eighty-four patients with cervical spondylotic radiculopathy were randomly divided into treatment group (n=42) and control group (n=42). All patients were enrolled from the outpatient service of Department of Rehabilitation of Chinese PLA General Hospital of China. Patients received oral and written information about clinical procedures before giving their written informed consent. The patients were treated with cervical fixed-point traction manipulation (treatment group) or cervical computer traction (control group). Cervical fixed-point traction was performed once every other day for a total of seven treatment periods and cervical computer traction was performed 30 min, once per day for 14 d. Before and after treatment, visual analogue scale (VAS) score and temperature of upper limb skin (normal limb and abnormal limb) detected by infrared thermal imaging system were contrastively analyzed. Five patients were lost to follow-up, one patient in the treatment group and four patients in the control group. There were significant differences in VAS score and temperature difference between the normal and abnormal upper limbs of infrared thermal imaging in the treatment group (t=28.652, Pmanipulation has better efficacy than cervical computer traction in treating patients with cervical spondylotic radiculopathy.

  18. 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.

  19. Direct manipulation of tool-like masters for controlling a master-slave surgical robotic system.

    Science.gov (United States)

    Zhang, Linan; Zhou, Ningxin; Wang, Shuxin

    2014-12-01

    Robotic-assisted minimally invasive surgery (MIS) can benefit both patients and surgeons. However, the learning curve for robotically assisted procedures can be long and the total system costs are high. Therefore, there is considerable interest in new methods and lower cost controllers for a surgical robotic system. In this study, a knife-master and a forceps-master, shaped similarly to a surgical knife and forceps, were developed as input devices for control of a master-slave surgical robotic system. In addition, a safety strategy was developed to eliminate the master-slave orientation difference and stabilize the surgical system. Master-slave tracking experiments and a ring-and-bar experiment showed that the safety tracking strategy could ensure that the robot system moved stably without any tremor in the tracking motion. Subjects could manipulate the surgical tool to achieve the master-slave operation with less training compared to a mechanical master. Direct manipulation of the small, light and low-cost surgical tools to control a robotic system is a possible operating mode. Surgeons can operate the robotic system in their own familiar way, without long training. The main potential safety issues can be solved by the proposed safety control strategy. Copyright © 2013 John Wiley & Sons, Ltd.

  20. A multicenter, randomized, controlled trial of osteopathic manipulative treatment on preterms.

    Directory of Open Access Journals (Sweden)

    Francesco Cerritelli

    Full Text Available Despite some preliminary evidence, it is still largely unknown whether osteopathic manipulative treatment improves preterm clinical outcomes.The present multi-center randomized single blind parallel group clinical trial enrolled newborns who met the criteria for gestational age between 29 and 37 weeks, without any congenital complication from 3 different public neonatal intensive care units. Preterm infants were randomly assigned to usual prenatal care (control group or osteopathic manipulative treatment (study group. The primary outcome was the mean difference in length of hospital stay between groups.A total of 695 newborns were randomly assigned to either the study group (n= 352 or the control group (n=343. A statistical significant difference was observed between the two groups for the primary outcome (13.8 and 17.5 days for the study and control group respectively, p<0.001, effect size: 0.31. Multivariate analysis showed a reduction of the length of stay of 3.9 days (95% CI -5.5 to -2.3, p<0.001. Furthermore, there were significant reductions with treatment as compared to usual care in cost (difference between study and control group: 1,586.01€; 95% CI 1,087.18 to 6,277.28; p<0.001 but not in daily weight gain. There were no complications associated to the intervention.Osteopathic treatment reduced significantly the number of days of hospitalization and is cost-effective on a large cohort of preterm infants.

  1. A multicenter, randomized, controlled trial of osteopathic manipulative treatment on preterms.

    Science.gov (United States)

    Cerritelli, Francesco; Pizzolorusso, Gianfranco; Renzetti, Cinzia; Cozzolino, Vincenzo; D'Orazio, Marianna; Lupacchini, Mariacristina; Marinelli, Benedetta; Accorsi, Alessandro; Lucci, Chiara; Lancellotti, Jenny; Ballabio, Silvia; Castelli, Carola; Molteni, Daniela; Besana, Roberto; Tubaldi, Lucia; Perri, Francesco Paolo; Fusilli, Paola; D'Incecco, Carmine; Barlafante, Gina

    2015-01-01

    Despite some preliminary evidence, it is still largely unknown whether osteopathic manipulative treatment improves preterm clinical outcomes. The present multi-center randomized single blind parallel group clinical trial enrolled newborns who met the criteria for gestational age between 29 and 37 weeks, without any congenital complication from 3 different public neonatal intensive care units. Preterm infants were randomly assigned to usual prenatal care (control group) or osteopathic manipulative treatment (study group). The primary outcome was the mean difference in length of hospital stay between groups. A total of 695 newborns were randomly assigned to either the study group (n= 352) or the control group (n=343). A statistical significant difference was observed between the two groups for the primary outcome (13.8 and 17.5 days for the study and control group respectively, ptreatment as compared to usual care in cost (difference between study and control group: 1,586.01€; 95% CI 1,087.18 to 6,277.28; pOsteopathic treatment reduced significantly the number of days of hospitalization and is cost-effective on a large cohort of preterm infants.

  2. Remote controlled gate controller using a GSM network and Arduino platform

    Directory of Open Access Journals (Sweden)

    Pospisilik Martin

    2016-01-01

    Full Text Available Most remote controllers for entrance gates operate on free frequencies 433 or 868 MHz. However, this technology limits the user comfort, as it is usually not common that bi-directional communication is established. A higher comfort of controlling the entrance gates can be achieved by employing the GSM network for transmission of commands and messages between the gate controller and the user. In this case, only a conventional GSM cellular phone is needed to control the gate. A description of such a controller based on the GSM module and Arduino controller is provided in this paper.

  3. Remotely Triggered Scaffolds for Controlled Release of Pharmaceuticals

    Directory of Open Access Journals (Sweden)

    Clare Hoskins

    2013-04-01

    Full Text Available Fe3O4-Au hybrid nanoparticles (HNPs have shown increasing potential for biomedical applications such as image guided stimuli responsive drug delivery. Incorporation of the unique properties of HNPs into thermally responsive scaffolds holds great potential for future biomedical applications. Here we successfully fabricated smart scaffolds based on thermo-responsive poly(N-isopropylacrylamide (pNiPAM. Nanoparticles providing localized trigger of heating when irradiated with a short laser burst were found to give rise to remote control of bulk polymer shrinkage. Gold-coated iron oxide nanoparticles were synthesized using wet chemical precipitation methods followed by electrochemical coating. After subsequent functionalization of particles with allyl methyl sulfide, mercaptodecane, cysteamine and poly(ethylene glycol thiol to enhance stability, detailed biological safety was determined using live/dead staining and cell membrane integrity studies through lactate dehydrogenase (LDH quantification. The PEG coated HNPs did not show significant cytotoxic effect or adverse cellular response on exposure to 7F2 cells (p < 0.05 and were carried forward for scaffold incorporation. The pNiPAM-HNP composite scaffolds were investigated for their potential as thermally triggered systems using a Q-switched Nd:YAG laser. These studies show that incorporation of HNPs resulted in scaffold deformation after very short irradiation times (seconds due to internal structural heating. Our data highlights the potential of these hybrid-scaffold constructs for exploitation in drug delivery, using methylene blue as a model drug being released during remote structural change of the scaffold.

  4. Finite element based model predictive control for active vibration suppression of a one-link flexible manipulator.

    Science.gov (United States)

    Dubay, Rickey; Hassan, Marwan; Li, Chunying; Charest, Meaghan

    2014-09-01

    This paper presents a unique approach for active vibration control of a one-link flexible manipulator. The method combines a finite element model of the manipulator and an advanced model predictive controller to suppress vibration at its tip. This hybrid methodology improves significantly over the standard application of a predictive controller for vibration control. The finite element model used in place of standard modelling in the control algorithm provides a more accurate prediction of dynamic behavior, resulting in enhanced control. Closed loop control experiments were performed using the flexible manipulator, instrumented with strain gauges and piezoelectric actuators. In all instances, experimental and simulation results demonstrate that the finite element based predictive controller provides improved active vibration suppression in comparison with using a standard predictive control strategy. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  5. Computationally Efficient Adaptive Type-2 Fuzzy Control of Flexible-Joint Manipulators

    Directory of Open Access Journals (Sweden)

    Hicham Chaoui

    2013-05-01

    Full Text Available In this paper, we introduce an adaptive type-2 fuzzy logic controller (FLC for flexible-joint manipulators with structured and unstructured dynamical uncertainties. Simplified interval fuzzy sets are used for real-time efficiency, and internal stability is enhanced by adopting a trade-off strategy between the manipulator’s and the actuators’ velocities. Furthermore, the control scheme is independent of the computationally expensive noisy torque and acceleration signals. The controller is validated through a set of numerical simulations and by comparing it against its type-1 counterpart. The ability of the adaptive type-2 FLC in coping with large magnitudes of uncertainties yields an improved performance. The stability of the proposed control system is guaranteed using Lyapunov stability theory.

  6. Modal analysis and control of flexible manipulator arms. Ph.D. Thesis

    Science.gov (United States)

    Neto, O. M.

    1974-01-01

    The possibility of modeling and controlling flexible manipulator arms was examined. A modal approach was used for obtaining the mathematical model and control techniques. The arm model was represented mathematically by a state space description defined in terms of joint angles and mode amplitudes obtained from truncation on the distributed systems, and included the motion of a two link two joint arm. Three basic techniques were used for controlling the system: pole allocation with gains obtained from the rigid system with interjoint feedbacks, Simon-Mitter algorithm for pole allocation, and sensitivity analysis with respect to parameter variations. An improvement in arm bandwidth was obtained. Optimization of some geometric parameters was undertaken to maximize bandwidth for various payload sizes and programmed tasks. The controlled system is examined under constant gains and using the nonlinear model for simulations following a time varying state trajectory.

  7. Hybrid position/force and positional accuracy controller for a hydraulic manipulator

    Science.gov (United States)

    Unruh, Stanley G.; Faddis, Terry N.; Greenway, Bryan R.; Hibbard, Wilthea

    1995-12-01

    A hybrid position/force controller is presented for a 6 DOF hydraulic manipulator. The controller has been implemented on a Kraft telerobotic slave which has been modified to accommodate a 6 DOF force/torque sensor at the wrist. The controller is implemented within the task frame, and both the position and force are controlled with a non-conventional hybrid control method. Positional accuracy control is maintained at the joint level by using a joint error prediction method based on measured joint torques which have been low-pass filtered. This prediction method eliminates the need for integral gains, which introduce unwanted limit cycling. Dynamic stability is maintained and Cartesian positional error is held to less than 0.2 inches. Conventional hybrid control is based on the ability to control joint torques, but hydraulic actuator torque can not generally be directly controlled. We instead employ a feedback loop which adjusts positional commands along force controlled DOFs until desired end effector force/,moments have been realized. This feedback loop has been implemented in both joint and Cartesian space. The joint space feedback method is based on the observed joint error verses joint torque characteristics used in the positional accuracy control portion. The joint space method has better force tracking capabilities than the Cartesian method, but is not stable for all robot configurations. Cartesian space feedback method has sufficient force tracking for a useful range of tasks, and is stable for all configurations.

  8. Controlled Generation and Manipulation of Vortex Dipoles in a Bose-Einstein Condensate

    Directory of Open Access Journals (Sweden)

    Tomohiko Aioi

    2011-10-01

    Full Text Available We propose methods to generate and manipulate vortex dipoles in an atomic Bose-Einstein condensate using Gaussian beams of red- or blue-detuned laser. Vortex dipoles with controlled velocities are shown to be created and launched by a red-detuned beam and by two blue-detuned beams. Critical beam velocities for the vortex nucleation are investigated. The launched vortex dipoles can be trapped, curved, accelerated, and decelerated by using Gaussian laser beams. Collisions between vortex dipoles are demonstrated.

  9. The control of a manipulator by a computer model of the cerebellum.

    Science.gov (United States)

    Albus, J. S.

    1973-01-01

    Extension of previous work by Albus (1971, 1972) on the theory of cerebellar function to an application of a computer model of the cerebellum to manipulator control. Following a discussion of the cerebellar function and of a perceptron analogy of the cerebellum, particularly in regard to learning, an electromechanical model of the cerebellum is considered in the form of an IBM 1800 computer connected to a Rancho Los Amigos arm with seven degrees of freedom. It is shown that the computer memory makes it possible to train the arm on some representative sample of the universe of possible states and to achieve satisfactory performance.

  10. Attosecond Control of Photoabsorption Through Manipulating the Electron-Electron Correlation

    Science.gov (United States)

    Hu, S. X.

    2014-05-01

    This talk reports on studies of photoabsorption control by manipulating the electron -electron correlation in a double-ionization process with an attosecond extreme ultraviolet (EUV) pulse. Electron correlation plays an essential role in a wide range of fundamentally important many-body phenomena in modern physics and chemistry. An example is the importance of electron-electron correlation in multiple ionization of multielectron atoms and molecules exposed to intense laser pulses. Manipulating the dynamic electron correlation in such photoinduced processes is a crucial step toward the coherent control of chemical reactions and photobiological processes. We will show for the first time, from full-dimensional ab initio calculations of double ionization of helium in intense laser pulses (λ = 780 nm), that the electron-electron interactions can be instantaneously tuned using a time-delayed attosecond EUV pulse. Consequently, the probability of producing energetic electrons from excessive photoabsorption can be enhanced by an order of magnitude through the attosecond control of electron-electron correlation. This work was partially supported by the Department of Energy National Nuclear Security Administration under Award No. DE-NA0001944, the University of Rochester, and the New York State Energy Research and Development Authority. Computations have been conducted utilizing the ``Kraken'' Supercomputer at NICS.

  11. Simple robust control laws for robot manipulators. Part 2: Adaptive case

    Science.gov (United States)

    Bayard, D. S.; Wen, J. T.

    1987-01-01

    A new class of asymptotically stable adaptive control laws is introduced for application to the robotic manipulator. Unlike most applications of adaptive control theory to robotic manipulators, this analysis addresses the nonlinear dynamics directly without approximation, linearization, or ad hoc assumptions, and utilizes a parameterization based on physical (time-invariant) quantities. This approach is made possible by using energy-like Lyapunov functions which retain the nonlinear character and structure of the dynamics, rather than simple quadratic forms which are ubiquitous to the adaptive control literature, and which have bound the theory tightly to linear systems with unknown parameters. It is a unique feature of these results that the adaptive forms arise by straightforward certainty equivalence adaptation of their nonadaptive counterparts found in the companion to this paper (i.e., by replacing unknown quantities by their estimates) and that this simple approach leads to asymptotically stable closed-loop adaptive systems. Furthermore, it is emphasized that this approach does not require convergence of the parameter estimates (i.e., via persistent excitation), invertibility of the mass matrix estimate, or measurement of the joint accelerations.

  12. Remote Control Childhood: Combating the Hazards of Media Culture in Schools

    Science.gov (United States)

    Levin, Diane

    2010-01-01

    Background: Media culture touches most aspects of the lives of children growing up today, beginning at the earliest ages. It is profoundly the lessons children learn as well as how they learn, thereby contributing to what this article characterizes as "remote control childhood." Educators need to understand remote control childhood so…

  13. Estimating the Infrared Radiation Wavelength Emitted by a Remote Control Device Using a Digital Camera

    Science.gov (United States)

    Catelli, Francisco; Giovannini, Odilon; Bolzan, Vicente Dall Agnol

    2011-01-01

    The interference fringes produced by a diffraction grating illuminated with radiation from a TV remote control and a red laser beam are, simultaneously, captured by a digital camera. Based on an image with two interference patterns, an estimate of the infrared radiation wavelength emitted by a TV remote control is made. (Contains 4 figures.)

  14. Hand Controlled Manipulation of Single Molecules via a Scanning Probe Microscope with a 3D Virtual Reality Interface.

    Science.gov (United States)

    Leinen, Philipp; Green, Matthew F B; Esat, Taner; Wagner, Christian; Tautz, F Stefan; Temirov, Ruslan

    2016-10-02

    Considering organic molecules as the functional building blocks of future nanoscale technology, the question of how to arrange and assemble such building blocks in a bottom-up approach is still open. The scanning probe microscope (SPM) could be a tool of choice; however, SPM-based manipulation was until recently limited to two dimensions (2D). Binding the SPM tip to a molecule at a well-defined position opens an opportunity of controlled manipulation in 3D space. Unfortunately, 3D manipulation is largely incompatible with the typical 2D-paradigm of viewing and generating SPM data on a computer. For intuitive and efficient manipulation we therefore couple a low-temperature non-contact atomic force/scanning tunneling microscope (LT NC-AFM/STM) to a motion capture system and fully immersive virtual reality goggles. This setup permits "hand controlled manipulation" (HCM), in which the SPM tip is moved according to the motion of the experimenter's hand, while the tip trajectories as well as the response of the SPM junction are visualized in 3D. HCM paves the way to the development of complex manipulation protocols, potentially leading to a better fundamental understanding of nanoscale interactions acting between molecules on surfaces. Here we describe the setup and the steps needed to achieve successful hand-controlled molecular manipulation within the virtual reality environment.

  15. Supervisory Control of Remote Manipulators, Vehicles and Dynamic Processes: Experiments in Command and Display Aiding

    Science.gov (United States)

    1983-03-01

    oil, chemical, fossil and nuclear power plants), discrete product processes (manufacturing, construction, farming),Irobotic./teleoperator devices...sub-optimal behavior was attributable to some non-linear utility for the reward, presumably because of some misconception about costs or rewards. i In...System (FDLS) is designed to aidI the uperator to detect and locate failures in real-time in systems such an: power plants (either fossil or nuclear

  16. Force/position control of a robot manipulator for human-robot interaction

    Directory of Open Access Journals (Sweden)

    Neranon Paramin

    2016-01-01

    Full Text Available With regard to both human and robot capabilities, human-robot interaction provides several benefits, and this will be significantly developed and implemented. This work focuses on the development of real-time external force/position control used for human-robot interaction. The force-controlled robotic system integrated with proportional integral control was performed and evaluated to ensure its reliably and timely operational characteristics, in which appropriate proportional integral gains were experimentally adopted using a set of virtual crank-turning tests. The designed robotic system is made up of a robot manipulator arm, an ATI Gamma multi-axis force/torque sensor and a real-time external PC based control system. A proportional integral controller has been developed to provide stable and robust force control on unknown environmental stiffness and motion. To quantify its effectiveness, the robotic system has been verified through a comprehensive set of experiments, in which force measurement and ALTER real-time path control systems were evaluated. In summary, the results indicated satisfactorily stable performance of the robot force/position control system. The gain tuning for proportional plus integral control algorithm was successfully implemented. It can be reported that the best performance as specified by the error root mean square method of the radial force is observed with proportional and integral gains of 0.10 and 0.005 respectively.

  17. Decentralized RBFNN Type-2 Fuzzy Sliding Mode Controller for Robot Manipulator Driven by Artificial Muscles

    Directory of Open Access Journals (Sweden)

    Rezoug Amar

    2012-11-01

    Full Text Available In the few last years, investigations in neural networks, fuzzy systems and their combinations become attractive research areas for modeling and controlling of uncertain systems. In this paper, we propose a new robust controller based on the integration of a Radial Base Function Neural Network (RBFNN and an Interval Type-2 Fuzzy Logic (IT2FLC for robot manipulator actuated by pneumatic artificial muscles (PAM. The proposed approach was synthesized for each joint using Sliding Mode Control (SMC and named Radial Base Function Neural Network Type-2 Fuzzy Sliding Mode Control (RBFT2FSMC. Several objectives can be accomplished using this control scheme such as: avoiding difficult modeling, attenuating the chattering effect of the SMC, reducing the rules number of the fuzzy control, guaranteeing the stability and the robustness of the system, and finally handling the uncertainties of the system. The proposed control approach is synthesized and the stability of the robot using this controller was analyzed using Lyapunov theory. In order to demonstrate the efficiency of the RBFT2FSMC compared to other control technique, simulations experiments were performed using linear model with parameters uncertainties obtained after identification stage. Results show the superiority of the proposed approach compared to RBFNN Type-1 Fuzzy SMC. Finally, an experimental study of the proposed approach was presented using 2-DOF robot.

  18. E-Control: First Public Release of Remote Control Software for VLBI Telescopes

    Science.gov (United States)

    Neidhardt, Alexander; Ettl, Martin; Rottmann, Helge; Ploetz, Christian; Muehlbauer, Matthias; Hase, Hayo; Alef, Walter; Sobarzo, Sergio; Herrera, Cristian; Himwich, Ed

    2010-01-01

    Automating and remotely controlling observations are important for future operations in a Global Geodetic Observing System (GGOS). At the Geodetic Observatory Wettzell, in cooperation with the Max-Planck-Institute for Radio Astronomy in Bonn, a software extension to the existing NASA Field System has been developed for remote control. It uses the principle of a remotely accessible, autonomous process cell as a server extension for the Field System. The communication is realized for low transfer rates using Remote Procedure Calls (RPC). It uses generative programming with the interface software generator idl2rpc.pl developed at Wettzell. The user interacts with this system over a modern graphical user interface created with wxWidgets. For security reasons the communication is automatically tunneled through a Secure Shell (SSH) session to the telescope. There are already successful test observations with the telescopes at O Higgins, Concepcion, and Wettzell. At Wettzell the software is already used routinely for weekend observations. Therefore the first public release of the software is now available, which will also be useful for other telescopes.

  19. Geometrically unrestricted, topologically constrained control of liquid crystal defects using simultaneous holonomic magnetic and holographic optical manipulation

    Science.gov (United States)

    Varney, Michael C. M.; Jenness, Nathan J.; Smalyukh, Ivan I.

    2014-02-01

    Despite the recent progress in physical control and manipulation of various condensed matter, atomic, and particle systems, including individual atoms and photons, our ability to control topological defects remains limited. Recently, controlled generation, spatial translation, and stretching of topological point and line defects have been achieved using laser tweezers and liquid crystals as model defect-hosting systems. However, many modes of manipulation remain hindered by limitations inherent to optical trapping. To overcome some of these limitations, we integrate holographic optical tweezers with a magnetic manipulation system, which enables fully holonomic manipulation of defects by means of optically and magnetically controllable colloids used as "handles" to transfer forces and torques to various liquid crystal defects. These colloidal handles are magnetically rotated around determined axes and are optically translated along three-dimensional pathways while mechanically attached to defects, which, combined with inducing spatially localized nematic-isotropic phase transitions, allow for geometrically unrestricted control of defects, including previously unrealized modes of noncontact manipulation, such as the twisting of disclination clusters. These manipulation capabilities may allow for probing topological constraints and the nature of defects in unprecedented ways, providing the foundation for a tabletop laboratory to expand our understanding of the role defects play in fields ranging from subatomic particle physics to early-universe cosmology.

  20. Simple robust control laws for robot manipulators. Part 1: Non-adaptive case

    Science.gov (United States)

    Wen, J. T.; Bayard, D. S.

    1987-01-01

    A new class of exponentially stabilizing control laws for joint level control of robot arms is introduced. It has been recently recognized that the nonlinear dynamics associated with robotic manipulators have certain inherent passivity properties. More specifically, the derivation of the robotic dynamic equations from the Hamilton's principle gives rise to natural Lyapunov functions for control design based on total energy considerations. Through a slight modification of the energy Lyapunov function and the use of a convenient lemma to handle third order terms in the Lyapunov function derivatives, closed loop exponential stability for both the set point and tracking control problem is demonstrated. The exponential convergence property also leads to robustness with respect to frictions, bounded modeling errors and instrument noise. In one new design, the nonlinear terms are decoupled from real-time measurements which completely removes the requirement for on-line computation of nonlinear terms in the controller implementation. In general, the new class of control laws offers alternatives to the more conventional computed torque method, providing tradeoffs between robustness, computation and convergence properties. Furthermore, these control laws have the unique feature that they can be adapted in a very simple fashion to achieve asymptotically stable adaptive control.

  1. Data acquisition, remote control and equipment monitoring for ISOLDE RILIS

    CERN Document Server

    Rossel, R E; Richter, D; Wendt, K D A; Rothe, S; Marsh, B A

    2013-01-01

    With a steadily increasing on-line operation time up to a record 3000 h in the year 2012, the Resonance Ionization Laser Ion Source (RILIS) is one of the key components of the ISOLDE on-line isotope user facility at CERN. Ion beam production using the RILIS is essential for many experiments due to the unmatched combination of ionization efficiency and selectivity. To meet the reliability requirements the RILIS is currently operated in shift duty for continuous maintenance of crucial laser parameters such as wavelength, power, beam position and timing, as well as ensuring swift intervention in case of an equipment malfunction. A recent overhaul of the RILIS included the installation of new pump lasers, commercial dye lasers and a complementary, fully solid-state titanium:sapphire laser system. The framework of the upgrade also required the setup of a network-extended, LabVIEW-based system for data acquisition, remote control and equipment monitoring, to support RILIS operators as well as ISOLDE users. The syst...

  2. Data acquisition, remote control and equipment monitoring for ISOLDE RILIS

    Science.gov (United States)

    Rossel, R. E.; Fedosseev, V. N.; Marsh, B. A.; Richter, D.; Rothe, S.; Wendt, K. D. A.

    2013-12-01

    With a steadily increasing on-line operation time up to a record 3000 h in the year 2012, the Resonance Ionization Laser Ion Source (RILIS) is one of the key components of the ISOLDE on-line isotope user facility at CERN. Ion beam production using the RILIS is essential for many experiments due to the unmatched combination of ionization efficiency and selectivity. To meet the reliability requirements the RILIS is currently operated in shift duty for continuous maintenance of crucial laser parameters such as wavelength, power, beam position and timing, as well as ensuring swift intervention in case of an equipment malfunction. A recent overhaul of the RILIS included the installation of new pump lasers, commercial dye lasers and a complementary, fully solid-state titanium:sapphire laser system. The framework of the upgrade also required the setup of a network-extended, LabVIEW-based system for data acquisition, remote control and equipment monitoring, to support RILIS operators as well as ISOLDE users. The system contributes to four key aspects of RILIS operation: equipment monitoring, machine protection, automated self-reliance, and collaborative data acquisition. The overall concept, technologies used, implementation status and recent applications during the 2012 on-line operation period will be presented along with a summary of future developments.

  3. [Randomized controlled trials on the influence and mechanism of manipulation on delayed onset muscle soreness after eccentric exercise].

    Science.gov (United States)

    Xiong, Ying; Wu, Yun-Chuan; Jin, Hong-Zhu; Gu, Yi-Huang

    2009-09-01

    To observe and compare the influence of pre- and post-exercise manipulation and natural recovery without any intervention on delayed onset muscle soreness (DOMS) after eccentric exercise and to explore the manipulation therapeutic mechanism on the metabolism of oxygen free radical (OFR). The study was carried on during Apr. to Jul. in 2008 at Nanjing University of TCM. The 30 healthy male students were divided into 3 groups randomly according to condition-equivalence principle including control group (C), pre-exercise manipulation group (A), post-exercise manipulation group (B). Before exercise, group A were intervened by manipulation for 30 minutes, which was followed by exercise 5 minutes later. While 30 minutes after exercise, group B accepted manipulation for 30 minutes and continued manipulation once a day for consecutive 3 days. Group C were not intervened by any approaches before or after exercise. The clinical manifestations, which include soreness intensity and lasting time, maximal isometric strength, arm girth, elbow range of motion, were evaluated at the 1st hour before exercise, immediately, 24th, 48th and 72th hours after exercise. Meanwhile, serum creatine kinase (CK), serum superoxide dismutase (SOD), serum malonaldehyde (MDA) were determined at the 1st hour before exercise, immediately, 24th and 48th hours after exercise. Compared to group C, group A and B were manifested by significantly lower peak soreness (P manipulation can partially prevent and treat DOMS respectively. In addition, preventive effect by pre-exercise manipulation is better than curing effect by post-exercise manipulation, which proves the TCM thought, that is, prevention superior to treatment.

  4. Performance Analysis of a Neuro-PID Controller Applied to a Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Saeed Pezeshki

    2012-11-01

    Full Text Available The performance of robot manipulators with nonadaptive controllers might degrade significantly due to the open loop unstable system and the effect of some uncertainties on the robot model or environment. A novel Neural Network PID controller (NNP is proposed in order to improve the system performance and its robustness. The Neural Network (NN technique is applied to compensate for the effect of the uncertainties of the robot model. With the NN compensator introduced, the system errors and the NN weights with large dispersion are guaranteed to be bounded in the Lyapunov sense. The weights of the NN compensator are adaptively tuned. The simulation results show the effectiveness of the model validation approach and its efficiency to guarantee a stable and accurate trajectory tracking process in the presence of uncertainties.

  5. Design of the Driving and Clamp Rotation Hydraulic Control System for the Heavy Load Forging Manipulator

    Directory of Open Access Journals (Sweden)

    Li Geqiang

    2015-01-01

    Full Text Available The manipulator was equipped with full hydraulic drive. We designed the hydraulic systems for the driving and clamping rotation. We used a fuzzy PID control strategy to design the electro-hydraulic proportional control system. We built a united simulation model based on the co-simulation of MATLAB/Simulink and AMEsim. A mathematical model of the system was also established. We did separate simulations of the system’s dynamic characteristics for fast forging and normal forging working conditions. The parameters were optimized. The field test shows that the steady-state error of the hydraulic system is small and the system response is fast. The system’s rapid response speed, high precision, and stability under heavy load were realized.

  6. Under-Actuated Robot Manipulator Positioning Control Using Artificial Neural Network Inversion Technique

    Directory of Open Access Journals (Sweden)

    Ali T. Hasan

    2012-01-01

    Full Text Available This paper is devoted to solve the positioning control problem of underactuated robot manipulator. Artificial Neural Networks Inversion technique was used where a network represents the forward dynamics of the system trained to learn the position of the passive joint over the working space of a 2R underactuated robot. The obtained weights from the learning process were fixed, and the network was inverted to represent the inverse dynamics of the system and then used in the estimation phase to estimate the position of the passive joint for a new set of data the network was not previously trained for. Data used in this research are recorded experimentally from sensors fixed on the robot joints in order to overcome whichever uncertainties presence in the real world such as ill-defined linkage parameters, links flexibility, and backlashes in gear trains. Results were verified experimentally to show the success of the proposed control strategy.

  7. A review of control strategies for manipulating the feed rate in fed-batch fermentation processes

    DEFF Research Database (Denmark)

    Mears, Lisa; Stocks, Stuart M.; Sin, Gürkan

    2017-01-01

    A majority of industrial fermentation processes are operated in fed-batch mode. In this case, the rate of feed addition to the system is a focus for optimising the process operation, as it directly impacts metabolic activity, as well as directly affecting the volume dynamics in the system....... This review covers a range of strategies which have been employed to use the feed rate as a manipulated variable in a control strategy. The feed rate is chosen as the focus for this review, as it is seen that this variable may be used towards many different objectives depending on the process of interest......, the characteristics of the strain, or the product being produced, which leads to different drivers for process optimisation. This review summarises the methods, as well as focusing on the different objectives for the controllers, and the choice of measured variables involved in the strategy. The discussion includes...

  8. Set-point manipulation approach towards online performance improvement in existing process control loops.

    Science.gov (United States)

    Kyaw, Ko Ko Htet; Tan, Kok Kiong

    2017-09-01

    The majority of current industrial process control systems are based on PID control. However, in many of these systems, once the initial setup has been carried out, it is difficult to implement subsequent continuous improvements on the control performance without shutting down the production and disarming the overall system to retrofit alternative controllers. These measures to integrate additional instruments for allowing such flexibility incur heavy costs in terms of time and resources. In this paper, we propose an approach towards achieving the control adaptations which cannot be achieved easily with an existing closed-architectural system. The approach leverages on a set-point manipulation mechanism which allows a virtual modification of the closed-architectural system. In this way, process performance of existing plants can be continuously improved without the need to continuously alter the existing closed loop system. The implementation of the proposed configuration is illustrated with respect to a PID controller although the framework proposed is amenable to higher order controller as well. Simulation examples and experimental results are furnished to show the motivation for such an approach and the improved performance achievable with the proposed approach. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  9. Adaptive Neuro-Fuzzy Inference System based control of six DOF robot manipulator

    Directory of Open Access Journals (Sweden)

    Srinivasan Alavandar

    2008-01-01

    Full Text Available The dynamics of robot manipulators are highly nonlinear with strong couplings existing between joints and are frequently subjected to structured and unstructured uncertainties. Fuzzy Logic Controller can very well describe the desired system behavior with simple “if-then” relations owing the designer to derive “if-then” rules manually by trial and error. On the other hand, Neural Networks perform function approximation of a system but cannot interpret the solution obtained neither check if its solution is plausible. The two approaches are complementary. Combining them, Neural Networks will allow learning capability while Fuzzy-Logic will bring knowledge representation (Neuro-Fuzzy. This paper presents the control of six degrees of freedom robot arm (PUMA Robot using Adaptive Neuro Fuzzy Inference System (ANFIS based PD plus I controller. Numerical simulation using the dynamic model of six DOF robot arm shows the effectiveness of the approach in trajectory tracking problems. Comparative evaluation with respect to PID, Fuzzy PD+I controls are presented to validate the controller design. The results presented emphasize that a satisfactory tracking precision could be achieved using ANFIS controller than PID and Fuzzy PD+I controllers

  10. Performance evaluation of 3D vision-based semi-autonomous control method for assistive robotic manipulator.

    Science.gov (United States)

    Ka, Hyun W; Chung, Cheng-Shiu; Ding, Dan; James, Khara; Cooper, Rory

    2017-03-22

    We developed a 3D vision-based semi-autonomous control interface for assistive robotic manipulators. It was implemented based on one of the most popular commercially available assistive robotic manipulator combined with a low-cost depth-sensing camera mounted on the robot base. To perform a manipulation task with the 3D vision-based semi-autonomous control interface, a user starts operating with a manual control method available to him/her. When detecting objects within a set range, the control interface automatically stops the robot, and provides the user with possible manipulation options through audible text output, based on the detected object characteristics. Then, the system waits until the user states a voice command. Once the user command is given, the control interface drives the robot autonomously until the given command is completed. In the empirical evaluations conducted with human subjects from two different groups, it was shown that the semi-autonomous control can be used as an alternative control method to enable individuals with impaired motor control to more efficiently operate the robot arms by facilitating their fine motion control. The advantage of semi-autonomous control was not so obvious for the simple tasks. But, for the relatively complex real-life tasks, the 3D vision-based semi-autonomous control showed significantly faster performance. Implications for Rehabilitation A 3D vision-based semi-autonomous control interface will improve clinical practice by providing an alternative control method that is less demanding physically as well cognitively. A 3D vision-based semi-autonomous control provides the user with task specific intelligent semiautonomous manipulation assistances. A 3D vision-based semi-autonomous control gives the user the feeling that he or she is still in control at any moment. A 3D vision-based semi-autonomous control is compatible with different types of new and existing manual control methods for ARMs.

  11. Remotely controllable WDM-PON technology for wireless fronthaul/backhaul application

    DEFF Research Database (Denmark)

    Eiselt, Michael H.; Wagner, Christoph; Lawin, Mirko

    2016-01-01

    Low-cost WDM-PON solutions for fronthaul and backhaul applications will include remotely controlled tail-end transceivers. We report on control aspects of these transceivers and how standardization is evolving to enable these applications.......Low-cost WDM-PON solutions for fronthaul and backhaul applications will include remotely controlled tail-end transceivers. We report on control aspects of these transceivers and how standardization is evolving to enable these applications....

  12. Echinacea purpurea and osteopathic manipulative treatment in children with recurrent otitis media: a randomized controlled trial

    Directory of Open Access Journals (Sweden)

    Worden Katherine A

    2008-10-01

    Full Text Available Abstract Background Recurrent otitis media is a common problem in young children. Echinacea and osteopathic manipulative treatment have been proposed as preventive measures, but have been inadequately studied. This study was designed to assess the efficacy of Echinacea purpurea and/or osteopathic manipulative treatment (OMT for prevention of acute otitis media in otitis-prone children. Methods A randomized, placebo-controlled, two-by-two factorial trial with 6-month follow-up, conducted 1999 – 2002 in Tucson, Arizona. Patients were aged 12–60 months with recurrent otitis media, defined as three or more separate episodes of acute otitis media within six months, or at least four episodes in one year. Ninety children (44% white non-Hispanic, 39% Hispanic, 57% male were enrolled, of which 84 had follow-up for at least 3 months. Children were randomly assigned to one of four protocol groups: double placebo, echinacea plus sham OMT, true OMT (including cranial manipulation plus placebo echinacea, or true echinacea plus OMT. An alcohol extract of Echinacea purpurea roots and seeds (or placebo was administered for 10 days at the first sign of each common cold. Five OMT visits (or sham treatments were offered over 3 months. Results No interaction was found between echinacea and OMT. Echinacea was associated with a borderline increased risk of having at least one episode of acute otitis media during 6-month follow-up compared to placebo (65% versus 41%; relative risk, 1.59, 95% CI 1.04, 2.42. OMT did not significantly affect risk compared to sham (44% versus 61%; relative risk, 0.72, 95% CI 0.48, 1.10. Conclusion In otitis-prone young children, treating colds with this form of echinacea does not decrease the risk of acute otitis media, and may in fact increase risk. A regimen of up to five osteopathic manipulative treatments does not significantly decrease the risk of acute otitis media. Trial registration ClinicalTrials.gov Identifier: NCT00010465

  13. Echinacea purpurea and osteopathic manipulative treatment in children with recurrent otitis media: a randomized controlled trial

    Science.gov (United States)

    Wahl, Richard A; Aldous, Michael B; Worden, Katherine A; Grant, Kathryn L

    2008-01-01

    Background Recurrent otitis media is a common problem in young children. Echinacea and osteopathic manipulative treatment have been proposed as preventive measures, but have been inadequately studied. This study was designed to assess the efficacy of Echinacea purpurea and/or osteopathic manipulative treatment (OMT) for prevention of acute otitis media in otitis-prone children. Methods A randomized, placebo-controlled, two-by-two factorial trial with 6-month follow-up, conducted 1999 – 2002 in Tucson, Arizona. Patients were aged 12–60 months with recurrent otitis media, defined as three or more separate episodes of acute otitis media within six months, or at least four episodes in one year. Ninety children (44% white non-Hispanic, 39% Hispanic, 57% male) were enrolled, of which 84 had follow-up for at least 3 months. Children were randomly assigned to one of four protocol groups: double placebo, echinacea plus sham OMT, true OMT (including cranial manipulation) plus placebo echinacea, or true echinacea plus OMT. An alcohol extract of Echinacea purpurea roots and seeds (or placebo) was administered for 10 days at the first sign of each common cold. Five OMT visits (or sham treatments) were offered over 3 months. Results No interaction was found between echinacea and OMT. Echinacea was associated with a borderline increased risk of having at least one episode of acute otitis media during 6-month follow-up compared to placebo (65% versus 41%; relative risk, 1.59, 95% CI 1.04, 2.42). OMT did not significantly affect risk compared to sham (44% versus 61%; relative risk, 0.72, 95% CI 0.48, 1.10). Conclusion In otitis-prone young children, treating colds with this form of echinacea does not decrease the risk of acute otitis media, and may in fact increase risk. A regimen of up to five osteopathic manipulative treatments does not significantly decrease the risk of acute otitis media. Trial registration ClinicalTrials.gov Identifier: NCT00010465 PMID:18831749

  14. Input relegation control for gross motion of a kinematically redundant manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Unseren, M.A.

    1992-10-01

    This report proposes a method for resolving the kinematic redundancy of a serial link manipulator moving in a three-dimensional workspace. The underspecified problem of solving for the joint velocities based on the classical kinematic velocity model is transformed into a well-specified problem. This is accomplished by augmenting the original model with additional equations which relate a new vector variable quantifying the redundant degrees of freedom (DOF) to the joint velocities. The resulting augmented system yields a well specified solution for the joint velocities. Methods for selecting the redundant DOF quantifying variable and the transformation matrix relating it to the joint velocities are presented so as to obtain a minimum Euclidean norm solution for the joint velocities. The approach is also applied to the problem of resolving the kinematic redundancy at the acceleration level. Upon resolving the kinematic redundancy, a rigid body dynamical model governing the gross motion of the manipulator is derived. A control architecture is suggested which according to the model, decouples the Cartesian space DOF and the redundant DOF.

  15. Osteopathic Manipulative Treatment of Back Pain and Related Symptoms during Pregnancy: A Randomized Controlled Trial

    Science.gov (United States)

    LICCIARDONE, John C.; BUCHANAN, Steve; HENSEL, Kendi L.; KING, Hollis H.; FULDA, Kimberly G.; STOLL, Scott T.

    2009-01-01

    Objective: To study osteopathic manipulative treatment (OMT) of back pain and related symptoms during the third trimester of pregnancy. Study design: A randomized, placebo-controlled trial was conducted to compare usual obstetrical care (UOBC) and OMT (UOBC+OMT), UOBC and sham ultrasound treatment (UOBC+SUT), and UOBC only. Outcomes included average pain levels and the Roland Morris-Disability Questionnaire (RMDQ) to assess back-specific functioning. Results: Intention-to-treat analyses included 144 subjects. The RMDQ scores worsened during pregnancy; however, back-specific functioning deteriorated significantly less in the UOBC+OMT group (effect size, 0.72; 95% CI, 0.31-1.14; P=.001 vs. UOBC only; and effect size, 0.35; 95% CI, −0.06-0.76; P=.09 vs. UOBC+SUT). During pregnancy, back pain decreased in the UOBC+OMT group, remained unchanged in the UOBC+SUT group, and increased in the UOBC only group, although no between-group difference achieved statistical significance. Conclusion: Osteopathic manipulative treatment slows or halts the deterioration of back-specific functioning during the third trimester of pregnancy. PMID:19766977

  16. Remote Control of TJ-II Diagnostics; Control Remoto de Diagnosticos del Dispositivo TJ-II

    Energy Technology Data Exchange (ETDEWEB)

    Lopez Sanchez, A.; Vega, J.; Montoro, A.; Encabo, J.

    2001-07-01

    The present paper is about the design and development of ten remote control diagnostic systems used in the study of plasma fusion in the TJ-II device installed at CIEMAT. This development goes from the definition of sensors and devices necessary in carrying out these remote controls, to its assembly, wiring, development of electronic circuits inserted between sensors and PLC, development of programs for these PLC, connections and administration of the real time automation network, and later development of the necessary programs via the appropriate software tools for web access through a navigator to a specific web page, allowing visual and real time access over the auxiliary systems that make up all the diagnostics. (Author)

  17. Control Design Of Robot Manipulator Position Based On Pd-Fuzzy Mamdani Controlled With Computed Torque Control (Pd-Fuzzy-Ctc

    Directory of Open Access Journals (Sweden)

    Duli Ridlo Istriantono

    2015-03-01

    Full Text Available Robotics science has evolved significantly, driven by rapid advances in computer and sensor technology; and theoretical advances in control and computer vision. These development make widespread use of robot manipulators in industrial environments. Major problem in controlling a robot manipulator is to control the robot in order to achieve the desired position. Therefore the design issue of the robot control is to choose the right type controller. Computed Torque Controller (CTC is a powerful nonlinear controllers are widely used in the control of robot manipulators. CTC controller is designed based on feedback linearization and the required torque of the robot arm by using a nonlinear feedback control law. Simulation is done by providing joint trajectory from point to point. The simulation results show that the PD-Fuzzy-CTC controller is able to follow the joint trajectory with The RMSE value of the joint angle position of PD-Fuzzy-CTC controller is 10 times smaller than that of the PD-CTC controller with the end-effector position accuracy is 0.1 mm.  

  18. Performance Study of PID and Fuzzy Controllers for Position Control of 6 DOF arm Manipulator with Various Defuzzification Strategies

    Directory of Open Access Journals (Sweden)

    Kharidege Ahmed

    2016-01-01

    Full Text Available Today’s arm manipulators are more and more demanding in terms of productivity. Conventional controllers are not always able to provide good and accurate results. To complete a position movement of the manipulator’s end-effector, a set of joint angles of manipulator first required to be converted to the position coordinates by using the forward kinematics method, and each joint rotation is executed using a servomotor feedback control. The kinematic model has been validated using MATLAB® robotics toolbox. An end-effector based 6 degree of freedom (6-DOF platform is proposed in this work which uses DC servomotor for actuation of the three revolute joints. PID controller is used as a reference benchmark. And FLC controller with different defuzzification strategies was employed. Results were compared in terms of time response criteria. Simulation results using MATLAB are demonstrated that PID has superior performance in terms of transient parameters. In Steady state response, both PID and FLC manage to converge to the desired output but in terms of overshot FLC is outperformed.

  19. Stability Analysis of a Voltage-Based Controller for Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Jorge Orrante-Sakanassi

    2013-01-01

    Full Text Available A voltage-based control scheme for robot manipulators has been presented in recent literature, where feedback linearization is applied in the electrical equations of the DC motors in order to cancel the electrical current terms. However, in this paper we show that this control technique generates a system of the form Ex = Ax + Bu, where E is a singular matrix, that is to say, a generalized state-space system or singular system. This paper introduces a formal stability analysis of the respective system by considering the state-space equation as a singular system. Furthermore, in order to avoid the singularity of the closed-loop system, modified voltage-based control schemes are proposed, whose Lyapunov stability analyses conclude semiglobal asymptotic stability for the set-point control case and uniform boundedness of the solutions and semiglobal convergence of the position, as well as velocity errors for the tracking control case. The proposed control systems are simulated for the tracking and set-point cases using the CICESE Pelican robot driven by DC motors.

  20. Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control

    DEFF Research Database (Denmark)

    Hansen, Michael Rygaard; Andersen, Torben Ole; Pedersen, Henrik Clemmensen

    2005-01-01

    This paper presents an approach to robust control called sliding mode control (SMC) applied to the a hydraulic servo system (HSS), consisting of a servo valve controlled symmetrical cylinder. The motivation for applying sliding mode control to hydraulically actuated systems is its robustness...... towards structured (parametric) and unstructured (unmodeled dynamics) uncertainties. A third-order model of the actuated system is used to develop a sliding mode control which is implemented and tested on a simulation model. To avoid measurement of velocity and acceleration a simple first-order model...... is furthermore used to develop a simple sliding mode control (SSMC). The performance of the two controllers are compared and discussed....

  1. Comparison of general exercise, motor control exercise and spinal manipulative therapy for chronic low back pain: A randomized trial.

    Science.gov (United States)

    Ferreira, Manuela L; Ferreira, Paulo H; Latimer, Jane; Herbert, Robert D; Hodges, Paul W; Jennings, Matthew D; Maher, Christopher G; Refshauge, Kathryn M

    2007-09-01

    Practice guidelines recommend various types of exercise and manipulative therapy for chronic back pain but there have been few head-to-head comparisons of these interventions. We conducted a randomized controlled trial to compare effects of general exercise, motor control exercise and manipulative therapy on function and perceived effect of intervention in patients with chronic back pain. Two hundred and forty adults with non-specific low back pain 3months were allocated to groups that received 8weeks of general exercise, motor control exercise or spinal manipulative therapy. General exercise included strengthening, stretching and aerobic exercises. Motor control exercise involved retraining specific trunk muscles using ultrasound feedback. Spinal manipulative therapy included joint mobilization and manipulation. Primary outcomes were patient-specific function (PSFS, 3-30) and global perceived effect (GPE, -5 to 5) at 8weeks. These outcomes were also measured at 6 and 12months. Follow-up was 93% at 8weeks and 88% at 6 and 12months. The motor control exercise group had slightly better outcomes than the general exercise group at 8weeks (between-group difference: PSFS 2.9, 95% CI: 0.9-4.8; GPE 1.7, 95% CI: 0.9-2.4), as did the spinal manipulative therapy group (PSFS 2.3, 95% CI: 0.4-4.2; GPE 1.2, 95% CI: 0.4-2.0). The groups had similar outcomes at 6 and 12months. Motor control exercise and spinal manipulative therapy produce slightly better short-term function and perceptions of effect than general exercise, but not better medium or long-term effects, in patients with chronic non-specific back pain.

  2. Mini-remote-control Antenna for On-body Wireless Communication Systems

    DEFF Research Database (Denmark)

    Larsen, Lauge K.; Kvist, Søren Helstrup; Yatman, William H.

    2012-01-01

    different persons, holding a remote control in three different positions and in two different postures. The influence on the remote is investigated by testing two different Hand Grips (HG). The average path gain of the two antenna types was found to be 􀀀56:5 dB and 􀀀64:2 dB, respectively....

  3. Web Environment for Programming and Control of a Mobile Robot in a Remote Laboratory

    Science.gov (United States)

    dos Santos Lopes, Maísa Soares; Gomes, Iago Pacheco; Trindade, Roque M. P.; da Silva, Alzira F.; de C. Lima, Antonio C.

    2017-01-01

    Remote robotics laboratories have been successfully used for engineering education. However, few of them use mobile robots to to teach computer science. This article describes a mobile robot Control and Programming Environment (CPE) and its pedagogical applications. The system comprises a remote laboratory for robotics, an online programming tool,…

  4. ADRC control of a 6-DOF parallel manipulator for telescope secondary mirror

    Science.gov (United States)

    Ye, Y.; Yue, Z.; Gu, B.

    2017-03-01

    In view of the special requirements of the secondary mirror control system on large aperture telescopes, an improved 6-DOF parallel manipulator is designed and used to replace the traditional hexapod used in telescope secondary mirror position dynamic compensation. A highly robust active disturbance rejection controller (ADRC) is designed, which consists of a nonlinear tracking differentiator (NTD), an extended state observer (ESO), a nonlinear state error feedback law (NLSEF), and disturbance compensation. The ESO can track the all-order state variables, as well as estimate and compensate for unmodeled dynamics and total external disturbance of the system. The results of simulation indicate that the ADRC can improve tracking precision and control performance when it is compared with the proportion integration differentiation (PID) controller. The test results show that the absolute accuracy of the three dimensional parallel motions is about ± 4 μm, and the two dimensional tilts' is about 10 μrad. The control precision meets the system design for a telescope secondary mirror.

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

    Directory of Open Access Journals (Sweden)

    Tianliang Liu

    2016-05-01

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

  6. Acute improvement in hemodynamic control after osteopathic manipulative treatment in the third trimester of pregnancy.

    Science.gov (United States)

    Hensel, Kendi L; Pacchia, Christina F; Smith, Michael L

    2013-12-01

    The physiological changes that occur during pregnancy, including increased blood volume and cardiac output, can affect hemodynamic control, most profoundly with positional changes that affect venous return to the heart. By using Osteopathic Manipulative Treatment (OMT), a body-based modality theorized to affect somatic structures related to nervous and circulatory systems, we hypothesized that OMT acutely improves both autonomic and hemodynamic control during head-up tilt and heel raise in women at 30 weeks gestation. One hundred subjects were recruited at 30 weeks gestation. The obstetric clinics of UNTHealth in Fort Worth, TX. Subjects were randomized into one of three treatment groups: OMT, placebo ultrasound, or time control. Ninety subjects had complete data (N=25, 31 and 34 in each group respectively). Blood pressure and heart rate were recorded during 5 min of head-up tilt followed by 4 min of intermittent heel raising. No significant differences in blood pressure, heart rate or heart rate variability were observed between groups with tilt before or after treatment (p>0.36), and heart rate variability was not different between treatment groups (p>0.55). However, blood pressure increased significantly (p=0.02) and heart rate decreased (p<0.01) during heel raise after OMT compared to placebo or time control. These data suggest that OMT can acutely improve hemodynamic control during engagement of the skeletal muscle pump and this was most likely due to improvement of structural restrictions to venous return. Copyright © 2013 Elsevier Ltd. All rights reserved.

  7. Data acquisition, remote control and equipment monitoring for ISOLDE RILIS

    Energy Technology Data Exchange (ETDEWEB)

    Rossel, R.E., E-mail: ralf.erik.rossel@cern.ch [CERN, Geneva (Switzerland); Institut für Physik, Johannes Gutenberg-Universität, Mainz (Germany); Hochschule RheinMain, Fachbereich Design Informatik Medien, Wiesbaden (Germany); Fedosseev, V.N.; Marsh, B.A. [CERN, Geneva (Switzerland); Richter, D. [Hochschule RheinMain, Fachbereich Design Informatik Medien, Wiesbaden (Germany); Rothe, S. [CERN, Geneva (Switzerland); Institut für Physik, Johannes Gutenberg-Universität, Mainz (Germany); Wendt, K.D.A. [Institut für Physik, Johannes Gutenberg-Universität, Mainz (Germany)

    2013-12-15

    Highlights: • The requirements for continuous and automated RILIS operation are outlined. • Laser wavelength, power, beam position and pulse timing are continuously monitored. • A network-extended LabVIEW-based equipment operation framework was developed. • The system serves as a foundation for collaborative laser spectroscopy data acquisition. • Example applications have been successfully tested with ISOLDE experiment setups. -- Abstract: With a steadily increasing on-line operation time up to a record 3000 h in the year 2012, the Resonance Ionization Laser Ion Source (RILIS) is one of the key components of the ISOLDE on-line isotope user facility at CERN. Ion beam production using the RILIS is essential for many experiments due to the unmatched combination of ionization efficiency and selectivity. To meet the reliability requirements the RILIS is currently operated in shift duty for continuous maintenance of crucial laser parameters such as wavelength, power, beam position and timing, as well as ensuring swift intervention in case of an equipment malfunction. A recent overhaul of the RILIS included the installation of new pump lasers, commercial dye lasers and a complementary, fully solid-state titanium:sapphire laser system. The framework of the upgrade also required the setup of a network-extended, LabVIEW-based system for data acquisition, remote control and equipment monitoring, to support RILIS operators as well as ISOLDE users. The system contributes to four key aspects of RILIS operation: equipment monitoring, machine protection, automated self-reliance, and collaborative data acquisition. The overall concept, technologies used, implementation status and recent applications during the 2012 on-line operation period will be presented along with a summary of future developments.

  8. Laser controllable generation and manipulation of micro-bubbles in water

    Science.gov (United States)

    Angelsky, O. V.; Bekshaev, A. Ya.; Maksimyak, P. P.; Maksimyak, A. P.; Hanson, S. G.; Kontush, S. M.

    2018-01-01

    Micrometer-sized vapor bubbles are formed due to local heating of the water suspension containing absorptive pigment particles of 100 nm diameter. The heating is performed by the CW near-infrared laser radiation. By changing the laser power, four regimes are realized: (1) bubble generation, (2) stable growth of the existing bubbles; (3) stationary existence of the bubbles and (4) bubbles' shrinkage and collapse. The generation and evolution of single bubbles and ensembles of bubbles with controllable sizes and numbers is demonstrated. The bubbles are grouped within the laserilluminated region. They can be easily moved and transported together with the focal spot. The results can be useful for applications associated with the precise manipulation and the species delivery in nano- and micro-engineering problems.

  9. Redundant manipulator techniques for partially decentralized path planning and control of a platoon of autonomous vehicles.

    Science.gov (United States)

    Stilwell, Daniel J; Bishop, Bradley E; Sylvester, Caleb A

    2005-08-01

    An approach to real-time trajectory generation for platoons of autonomous vehicles is developed from well-known control techniques for redundant robotic manipulators. The partially decentralized structure of this approach permits each vehicle to independently compute its trajectory in real-time using only locally generated information and low-bandwidth feedback generated by a system exogenous to the platoon. Our work is motivated by applications for which communications bandwidth is severely limited, such for platoons of autonomous underwater vehicles. The communication requirements for our trajectory generation approach are independent of the number of vehicles in the platoon, enabling platoons composed of a large number of vehicles to be coordinated despite limited communication bandwidth.

  10. Force/Position Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control

    Directory of Open Access Journals (Sweden)

    Kuijing Zheng

    2014-01-01

    Full Text Available To improve control performance of parallel manipulator, servo control is optimized according to 2-DOF control with Internal Model Control. Position loop of the controller is redesigned based on the original current loop and speed loop. The hybrid force/position control strategy on the basis of cross-coupling is proposed. With mechatronic cosimulation system, it is proved that the force/position hybrid control on the basis of 2-DOF Internal Model Control has better stability and position precision compared with the traditional PID control. The control precision and stability of the parallel manipulator are improved effectively in actual experiment. Two types of compliance operation including peg in hole and surface tracking are realized in 6PUS-UPU parallel manipulator and both have good applicable effect.

  11. Experimental studies of control concepts for a parallel manipulator with flexible links

    Energy Technology Data Exchange (ETDEWEB)

    Burkhardt, Markus; Eberhard, Peter [University of Stuttgart, Pfaffenwaldring (Germany); Seifried, Robert [Hamburg University of Technology, Hamburg (Germany)

    2015-07-15

    Control of flexible multibody systems, such as flexible manipulators, is a challenging task. This is especially true if end-effector trajectory tracking is aspired. On the one hand, these systems require a large number of generalized coordinates to describe their dynamical behavior accurately. On the other hand, only a small subset of these values can be measured or reconstructed on-the-fly. Hence, it is difficult, if not nearly impossible, to use a state controller. In addition, flexible systems are under actuated, i.e. they possess less control inputs than generalized coordinates. In case of a non-collocated output controller, which is the case for end-effector trajectory tracking, the closed loop of the system might lose passivity and is non-minimum phase. In order to achieve end-effector trajectory tracking, exact and approximate feed-forward controls can be applied. In this work, two different versions of such concepts are compared experimentally. These model-based concepts are computed off-line and they supply, next to the required input values, a C1 -continuous solution of the complete state vector which can be used for feedback control. If the system is non-minimum phase, a two-sided boundary value problem has to be solved and the solution includes a pre-actuation as well as a post-actuation phase. While the exact method incorporates all dynamical effects of the flexible multibody system, the approximate concepts neglect certain implications, for example the dynamical effects due to the flexibility. In addition to the presentation of the theoretical basics of the control approaches and the underlying models, this contribution addresses some of the crucial obstacles, which have to be overcome for the operation of the test bench, e.g., signal conditioning, state reconstruction and friction compensation. Since the installed sensors do not allow the direct measurement of the end effector position, image tracking is used to judge the quality of the different

  12. Two-Dimensional Programmable Manipulation of Magnetic Nanoparticles on-Chip

    DEFF Research Database (Denmark)

    Sarella, Anandakumar; Torti, Andrea; Donolato, Marco

    2014-01-01

    A novel device is designed for on-chip selective trap and two-dimensional remote manipulation of single and multiple fluid-borne magnetic particles using field controlled magnetic domain walls in circular nanostructures. The combination of different ring-shaped nanostructures and field sequences...... allows for remote manipulation of magnetic particles with high-precision along any arbitrary pathway on a chip surface....

  13. Kinematics and control of a fully parallel force-reflecting hand controller for manipulator teleoperation

    Science.gov (United States)

    Bryfogle, Mark D.; Nguyen, Charles C.; Antrazi, Sami S.; Chiou, Peter C.

    1993-01-01

    Design of a parallel force-reflecting hand controller that implements a friction- and inertia canceling control loop about the entire mechanism based on wrench sensing in the mechanism handgrip is discussed. Kinematics of the controller under consideration is analyzed and results are presented using a closed-form solution for the inverse kinematics and Newton-Raphson's method for the forward kinematics. Results indicate that the force control scheme based on a handgrip force sensor provides smaller steady-state errors than the scheme without a handigrip sensor.

  14. Fascial Manipulation® for chronic aspecific low back pain: a single blinded randomized controlled trial

    National Research Council Canada - National Science Library

    Branchini, Mirco; Lopopolo, Francesca; Andreoli, Ernesto; Loreti, Ivano; Marchand, Aurélie M; Stecco, Antonio

    2016-01-01

    .... This study aims at comparing the effectiveness of Fascial Manipulation® associated with a physiotherapy program following guidelines for CALBP compared to a physiotherapy program alone. Methods...

  15. [Controlled clinical trials on the treatment of lumbar disk herniation by Dingweiban and Xieban manipulation].

    Science.gov (United States)

    Zhou, Xiao-Bo; Jin, Tao; Shi, Rui-Hua; Wang, Zheng; Qi, Hong; Huang, Man-Bo; Li, Bi-Yao; Zhang, Zhi-Wei; Hu, Xiao-Bo; Liu, Shu-Guang; Chen, Wu; Yang, Sheng-Ya

    2008-12-01

    To observe and compare the clinical effect of Dingweiban and Xieban manipulation, and to compare the change of the deviation of spinous processes between two methods. One hundred and twenty-two cases were divided into two groups. Sixty-two cases were treated with Dingweiban manipulation method and 60 cases by Xieban manipulation. The changes of Fairbank scores, the clinical effects and the difference of the deviation of the spinous processes (L3, L4, L5) from the lumbar posterior-anterior X-ray were compared. The scores before and after treatment and 3 months after treatment were compared. There were significant differences between two groups (P manipulation group: 53 cases cured, 5 cases better, 3 cases effective and 1 case no effect. The result of clinical Xieban manipulation group: 43 cases cured, 6 cases better, 7 cases effective and 4 cases no effect. The clinical effects had significant differences after treatment and 3 months after treatment (P manipulation group (P manipulation group (P manipulation is better than Xieban manipulation in effects and has influence on the deviation of spinous processes, especially for the L5 spinous process.

  16. Reconfigurable mobile manipulation for accident response

    Energy Technology Data Exchange (ETDEWEB)

    ANDERSON,ROBERT J.; MORSE,WILLIAM D.; SHIREY,DAVID L.; CDEBACA,DANIEL M.; HOFFMAN JR.,JOHN P.; LUCY,WILLIAM E.

    2000-06-06

    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.

  17. Control and manipulation of pathogens with an optical trap for live cell imaging of intercellular interactions.

    Directory of Open Access Journals (Sweden)

    Jenny M Tam

    2010-12-01

    Full Text Available The application of live cell imaging allows direct visualization of the dynamic interactions between cells of the immune system. Some preliminary observations challenge long-held beliefs about immune responses to microorganisms; however, the lack of spatial and temporal control between the phagocytic cell and microbe has rendered focused observations into the initial interactions of host response to pathogens difficult. This paper outlines a method that advances live cell imaging by integrating a spinning disk confocal microscope with an optical trap, also known as an optical tweezer, in order to provide exquisite spatial and temporal control of pathogenic organisms and place them in proximity to host cells, as determined by the operator. Polymeric beads and live, pathogenic organisms (Candida albicans and Aspergillus fumigatus were optically trapped using non-destructive forces and moved adjacent to living cells, which subsequently phagocytosed the trapped particle. High resolution, transmitted light and fluorescence-based movies established the ability to observe early events of phagocytosis in living cells. To demonstrate the broad applicability of this method to immunological studies, anti-CD3 polymeric beads were also trapped and manipulated to form synapses with T cells in vivo, and time-lapse imaging of synapse formation was also obtained. By providing a method to exert fine control of live pathogens with respect to immune cells, cellular interactions can be captured by fluorescence microscopy with minimal perturbation to cells and can yield powerful insight into early responses of innate and adaptive immunity.

  18. Workspace Limiting Strategy for 6 DOF Force Controlled PKMs Manipulating High Inertia Objects

    Directory of Open Access Journals (Sweden)

    Francesco La Mura

    2018-02-01

    Full Text Available This article describes an efficient and effective strategy for limiting the workspace of a six degrees of freedom parallel manipulator, with challenging motion smoothness requirements due to both the high inertia objects carried by the end effector and the pose references coming from a force feedback loop. Firstly, a suitable formulation of the workspace is studied, distinguishing between different conventions and procedures. Thereafter a discrete and analytical formulation of the workspace is obtained and developed in order to suit this application. Having obtained the limits, a methodology to evaluate the robot pose is discussed, taking into account the reference pose buffering technique and the real time pose estimation through the numeric solution of the nonlinear forward kinematics equations. The safety algorithm designed checks the actual robot pose and future poses to be commanded, and takes control of the reference pose generation process, if an exit of the safety workspace is detected. The result obtained is a soft compliant surface within which the robot is free to move, but outside of which a “force field” pushes the robot end-effector to return smoothly. To reach this objective, the control deflects the end effector trajectory safely and smoothly and moves it back to within the workspace limits. Nevertheless, this preserves the continuity of the velocity and controls the acceleration, to avoid dangerous vibrations and shocks. Simulation and experimental result tests are conducted to verify the algorithm effectiveness and the efficient implementation.

  19. Manipulating particle trajectories with phase-control in surface acoustic wave microfluidics.

    Science.gov (United States)

    Orloff, Nathan D; Dennis, Jaclyn R; Cecchini, Marco; Schonbrun, Ethan; Rocas, Eduard; Wang, Yu; Novotny, David; Simmonds, Raymond W; Moreland, John; Takeuchi, Ichiro; Booth, James C

    2011-12-01

    We present a 91 MHz surface acoustic wave resonator with integrated microfluidics that includes a flow focus, an expansion region, and a binning region in order to manipulate particle trajectories. We demonstrate the ability to change the position of the acoustic nodes by varying the electronic phase of one of the transducers relative to the other in a pseudo-static manner. The measurements were performed at room temperature with 3 μm diameter latex beads dispersed in a water-based solution. We demonstrate the dependence of nodal position on pseudo-static phase and show simultaneous control of 9 bead streams with spatial control of -0.058 μm/deg ± 0.001 μm/deg. As a consequence of changing the position of bead streams perpendicular to their flow direction, we also show that the integrated acoustic-microfluidic device can be used to change the trajectory of a bead stream towards a selected bin with an angular control of 0.008 deg/deg ± 0.000(2) deg/deg.

  20. Effects of transcranial direct current stimulation on the control of finger force during dexterous manipulation in healthy older adults.

    Directory of Open Access Journals (Sweden)

    Pranav J Parikh

    Full Text Available The contribution of poor finger force control to age-related decline in manual dexterity is above and beyond ubiquitous behavioral slowing. Altered control of the finger forces can impart unwanted torque on the object affecting its orientation, thus impairing manual performance. Anodal transcranial direct current stimulation (tDCS over primary motor cortex (M1 has been shown to improve the performance speed on manual tasks in older adults. However, the effects of anodal tDCS over M1 on the finger force control during object manipulation in older adults remain to be fully explored. Here we determined the effects of anodal tDCS over M1 on the control of grip force in older adults while they manipulated an object with an uncertain mechanical property. Eight healthy older adults were instructed to grip and lift an object whose contact surfaces were unexpectedly made more or less slippery across trials using acetate and sandpaper surfaces, respectively. Subjects performed this task before and after receiving anodal or sham tDCS over M1 on two separate sessions using a cross-over design. We found that older adults used significantly lower grip force following anodal tDCS compared to sham tDCS. Friction measured at the finger-object interface remained invariant after anodal and sham tDCS. These findings suggest that anodal tDCS over M1 improved the control of grip force during object manipulation in healthy older adults. Although the cortical networks for representing objects and manipulative actions are complex, the reduction in grip force following anodal tDCS over M1 might be due to a cortical excitation yielding improved processing of object-specific sensory information and its integration with the motor commands for production of manipulative forces. Our findings indicate that tDCS has a potential to improve the control of finger force during dexterous manipulation in older adults.

  1. Tissue Damage Markers after a Spinal Manipulation in Healthy Subjects: A Preliminary Report of a Randomized Controlled Trial

    Directory of Open Access Journals (Sweden)

    A. Achalandabaso

    2014-01-01

    Full Text Available Spinal manipulation (SM is a manual therapy technique frequently applied to treat musculoskeletal disorders because of its analgesic effects. It is defined by a manual procedure involving a directed impulse to move a joint past its physiologic range of movement (ROM. In this sense, to exceed the physiologic ROM of a joint could trigger tissue damage, which might represent an adverse effect associated with spinal manipulation. The present work tries to explore the presence of tissue damage associated with SM through the damage markers analysis. Thirty healthy subjects recruited at the University of Jaén were submitted to a placebo SM (control group; n=10, a single lower cervical manipulation (cervical group; n=10, and a thoracic manipulation (n=10. Before the intervention, blood samples were extracted and centrifuged to obtain plasma and serum. The procedure was repeated right after the intervention and two hours after the intervention. Tissue damage markers creatine phosphokinase (CPK, lactate dehydrogenase (LDH, C-reactive protein (CRP, troponin-I, myoglobin, neuron-specific enolase (NSE, and aldolase were determined in samples. Statistical analysis was performed through a 3×3 mixed-model ANOVA. Neither cervical manipulation nor thoracic manipulation did produce significant changes in the CPK, LDH, CRP, troponin-I, myoglobin, NSE, or aldolase blood levels. Our data suggest that the mechanical strain produced by SM seems to be innocuous to the joints and surrounding tissues in healthy subjects.

  2. Acute effects of single and multiple level thoracic manipulations on chronic mechanical neck pain: a randomized controlled trial

    Science.gov (United States)

    Puntumetakul, Rungthip; Suvarnnato, Thavatchai; Werasirirat, Phurichaya; Uthaikhup, Sureeporn; Yamauchi, Junichiro; Boucaut, Rose

    2015-01-01

    Background Thoracic spine manipulation has become a popular alternative to local cervical manipulative therapy for mechanical neck pain. This study investigated the acute effects of single-level and multiple-level thoracic manipulations on chronic mechanical neck pain (CMNP). Methods Forty-eight patients with CMNP were randomly allocated to single-level thoracic manipulation (STM) at T6–T7 or multiple-level thoracic manipulation (MTM), or to a control group (prone lying). Cervical range of motion (CROM), visual analog scale (VAS), and the Thai version of the Neck Disability Index (NDI-TH) scores were measured at baseline, and at 24-hour and at 1-week follow-up. Results At 24-hour and 1-week follow-up, neck disability and pain levels were significantly (Pneck disability, pain level at rest, and CROM between the STM and MTM groups. Conclusion These results suggest that both single-level and multiple-level thoracic manipulation improve neck disability, pain levels, and CROM at 24-hour and 1-week follow-up in patients with CMNP. PMID:25624764

  3. Remote Supervision and Control of Air Conditioning Systems in Different Modes

    Science.gov (United States)

    Rafeeq, Mohammed; Afzal, Asif; Rajendra, Sree

    2018-01-01

    In the era of automation, most of the application of engineering and science are interrelated with system for optimal operation. To get the efficient result of an operation and desired response, interconnected systems should be controlled by directing, regulating and commanding. Here, air conditioning (AC) system is considered for experimentation, to supervise and control its functioning in both, automated and manual mode. This paper reports the work intended to design and develop an automated and manual AC system working in remote and local mode, to increase the level of comfort, easy operation, reducing human intervention and faults occurring in the system. The Programmable Logical Controller (PLC) and Supervisory Control and Data Acquisition (SCADA) system were used for remote supervision and monitoring of AC systems using series ninety protocol and remote terminal unit modbus protocol as communication module to operate in remote mode. PLC was used as remote terminal for continuous supervision and control of AC system. SCADA software was used as a tool for designing user friendly graphical user interface. The proposed SCADA AC system successfully monitors and controls in accordance within the parameter limits like temperature, pressure, humidity and voltage. With all the features, this designed system is capable of efficient handling of the resources like the compressor, humidifier etc., with all the levels of safety and durability. This system also maintains the temperature and controls the humidity of the remote location and also looks after the health of the compressor.

  4. Spinal manipulation does not affect pressure pain thresholds in the absence of neuromodulators: a randomized controlled trial.

    Science.gov (United States)

    Jordon, Max K; Beattie, Paul F; D'Urso, Sarah; Scriven, Sarah

    2017-09-01

    Measurement of pressure pain threshold (PPT) is a way to determine one of the many potential treatment effects of spinal manipulative therapy. To determine how multiple spinal manipulations administered in a single-session affected PPTs at local and distal sites in asymptomatic individuals. Participants were randomly assigned into one of three groups: Group one (n = 18) received a lumbar manipulation followed by a cervical manipulation. Group two (n = 17) received a cervical manipulation followed by a lumbar manipulation. The control group (n = 19) received two bouts of five minutes of rest. At baseline and after each intervention or rest period, each participant's PPTs were obtained using a handheld algometer. The PPTs were tested bilaterally over the lateral epicondyles of the humerus and over the mid-bellies of the upper trapezius, lumbar paraspinal, and the tibialis anterior muscles. This study was registered with ClinicalTrials.gov, and its Identifier is NCT02828501. Repeated-measures ANOVAs and Kruskal-Wallis tests showed no significant within- or between-group differences in PPT. Within-group effect sizes in the changes of PPT ranged from -.48 at the left paraspinal muscles to .24 at the left lateral humeral epicondyle. Statistical power to detect significant differences at α of 0.05 was calculated to be 0.94. This study suggests that in young adults who do not have current or recent symptoms of spinal pain, multiple within-session treatments of cervical and lumbar spinal manipulation fail to influence PPTs. Changes in PPT that are observed in symptomatic individuals are likely to be primarily influenced by pain-related neuromodulators rather than by an isolated, mechanical effect of spinal manipulation.

  5. The Effects of Thoracic Manipulation Versus Mobilization for Chronic Neck Pain: a Randomized Controlled Trial Pilot Study

    Science.gov (United States)

    Suvarnnato, Thavatchai; Puntumetakul, Rungthip; Kaber, David; Boucaut, Rose; Boonphakob, Yodchai; Arayawichanon, Preeda; Chatchawan, Uraiwan

    2013-01-01

    [Purpose] To investigate effects of thoracic manipulation versus mobilization on chronic neck pain. [Methods] Thirty-nine chronic neck pain subjects were randomly assigned to single level thoracic manipulation, single level thoracic mobilization, or a control group. The cervical range of motion (CROM) and pain ratings (using a visual analog scale: VAS) were measured before, immediately after and at a 24-hour follow-up. [Results] Thoracic manipulation significantly decreased VAS pain ratings and increased CROM in all directions in immediate and 24-hour follow-ups. The thoracic mobilization group significantly increased in CROM in most directions at immediate follow-up and right and left rotational directions at the 24-hour follow-up. Comparisons between groups revealed the CROM for the manipulation group to increase significantly more than for control subjects in most directions at immediate follow-up and flexion, left lateral flexion and left rotation at the 24-hour follow-up. The CROM for the thoracic mobilization group significantly increased in comparison to the control group in flexion at immediate follow-up and in flexion and left rotation at the 24-hour follow-up. [Conclusion] The study demonstrated reductions in VAS pain ratings and increases in CROM at immediate and 24-hour follow-ups from both single level thoracic spine manipulation and thoracic mobilization in chronic neck pain. PMID:24259872

  6. A generalised PID-type control scheme with simple tuning for the global regulation of robot manipulators with constrained inputs

    Science.gov (United States)

    Mendoza, Marco; Zavala-Río, Arturo; Santibáñez, Víctor; Reyes, Fernando

    2015-10-01

    In this paper, a globally stabilising PID-type control scheme with a generalised saturating structure for robot manipulators under input constraints is proposed. It gives rise to various families of bounded PID-type controllers whose implementation is released from the exact knowledge of the system parameters and model structure. Compared to previous approaches of the kind, the proposed scheme is not only characterised by its generalised structure but also by its very simple tuning criterion, the simplest hitherto obtained in the considered analytical framework. Experimental results on a 3-degree-of-freedom direct-drive manipulator corroborate the efficiency of the proposed approach.

  7. Active Vibration Control of a Large Flexible Manipulator by Inertial Force and Joint Torque. Ph.D. Thesis

    Science.gov (United States)

    Lee, Soo Han

    1988-01-01

    The efficiency and positional accuracy of a lightweight flexible manipulator are limited by its flexural vibrations, which last after a gross motion is completed. The vibration delays subsequent operations. In the proposed work, the vibration is suppressed by inertial force of a small arm in addition to the joint actuators and passive damping treatment. The proposed approach is: (1) Dynamic modeling of a combined system, a large flexible manipulator and a small arm, (2) Determination of optimal sensor location and controller algorithm, and (3) Verification of the fitness of model and the performance of controller.

  8. 10th IAEA Technical Meeting on Control, Data Acquisition and Remote Participation for Fusion Research

    Energy Technology Data Exchange (ETDEWEB)

    Winter, Axel, E-mail: axel.winter@iter.org

    2016-11-15

    The 10th Technical Meeting on Control, Data Acquisition, and Remote Participation for Fusion Research was held April 20–24, 2015. It was hosted this year by the Institute of Plasma Research, in Ahmedabad, India. This biennial conference has been a venue for sharing ideas and results since 1997. This year's conference focused on new developments and perspectives in the areas of control, data acquisition, and remote participation for nuclear fusion research around the world.

  9. A Multifunctional RF Remote Control for Ultralow Standby Power Home Appliances

    OpenAIRE

    Kwang-il Hwang; Sung-Hyun Yoon

    2014-01-01

    In spite of many benefits, since a target RF should be able to react to real time user commands even during system power-off, RF remote controls generally require more standby energy than IR manner. Therefore, in this paper a multifunctional RF remote control (MRRC), which is capable of providing larger coverage and various services, is introduced, and an ultralow standby power operation method for target RFs, utilizing an extended preamble transmission and a variable length periodic preamble...

  10. Flexible Joints Robotic Manipulator Control By Adaptive Gain Smooth Sliding Observer-Controller

    Directory of Open Access Journals (Sweden)

    A. FILIPESCU

    2003-12-01

    Full Text Available An adaptive gain sliding observer for uncertain parameter nonlinear systems together with an adaptive gain sliding controller is proposed in this paper. It considered nonlinear, SISO affine systems, with uncertainties in steady-state functions and parameters. A further parameter term, adaptively updated, has been introduced in steady state space model of the controlled system, in order to obtain useful information despite fault detection and isolation. By using of the sliding observer with adaptive gain, the robustness to uncertainties is increased and the parameters adaptively updated can provide useful information in fault detection. Also, the state estimation error is bounded accordingly with bound limits of the uncertainties. The both of them, the sliding adaptive observer and sliding controller are designed to fulfill the attractiveness condition of its corresponding switching surface. An application to a single arm with flexible joint robot is presented. In order to alleviate chattering, a parameterized tangent hyperbolic has been used as switching function, instead of pure relay one, to the observer and the controller. Also, the gains of the switching functions, to the sliding observer and sliding controller are adaptively updated depending of estimation error and tracking error, respectively. By the using adaptive gains, the transient and tracking response can be improved.

  11. ACUTE IMPROVEMENT IN HEMODYNAMIC CONTROL AFTER OSTEOPATHIC MANIPULATIVE TREATMENT IN THE THIRD TRIMESTER OF PREGNANCY

    Science.gov (United States)

    Hensel, Kendi L.; Pacchia, Christina F.; Smith, Michael L.

    2013-01-01

    Objectives The physiological changes that occur during pregnancy, including increased blood volume and cardiac output, can affect hemodynamic control, most profoundly with positional changes that affect venous return to the heart. By using Osteopathic Manipulative Treatment (OMT), a body-based modality theorized to affect somatic structures related to nervous and circulatory systems, we hypothesized that OMT acutely improves both autonomic and hemodynamic control during head-up tilt and heel raise in women at 30 weeks gestation. Design One hundred subjects were recruited at 30 weeks gestation. Setting The obstetric clinics of UNTHealth in Fort Worth, Texas. Intervention Subjects were randomized into one of three treatment groups: OMT, placebo ultrasound, or time control. Ninety subjects had complete data (N=25, 31 and 34 in each group respectively). Main outcome measures Blood pressure and heart rate were recorded during 5 min of head-up tilt followed by 4 min of intermittent heel raising. Results No significant differences in blood pressure, heart rate or heart rate variability were observed between groups with tilt before or after treatment (p>0.36), and heart rate variability was not different between treatment groups (p>0.55). However, blood pressure increased significantly (p=0.02) and heart rate decreased (p<0.01) during heel raise after OMT compared to placebo or time control. Conclusions These data suggest that OMT can acutely improve hemodynamic control during engagement of the skeletal muscle pump and this was most likely due to improvement of structural restrictions to venous return. PMID:24280470

  12. Movement control of manipulative tasks in patients with Gilles de la Tourette syndrome.

    Science.gov (United States)

    Serrien, Deborah J; Nirkko, Arto C; Loher, Thomas J; Lövblad, Karl-Olof; Burgunder, Jean-Marc; Wiesendanger, Mario

    2002-02-01

    When a hand-held object is moved, grip and load force are accurately coordinated for establishing grasp stability. In the present work, the question was raised whether patients with Gilles de la Tourette syndrome (TS), who show tic-like movements, are impaired in grip-load force control when executing a manipulative task. To this end, we assessed force regulation during action patterns that required rhythmical unimanual or bimanual (iso-directional/anti-directional) movements. Results showed that the profile of grip-load force ratio was characterized by maxima and minima that were realized at upward and downward hand positions, respectively. TS patients showed increased force ratios during unimanual and bimanual movements, compared with control subjects, indicative of an inaccurate specification of the precision grip. Functional imaging data complemented the behavioural results and revealed that secondary motor areas showed no (or greatly reduced) activation in TS patients when executing the movement tasks as compared with baseline conditions. This indicates that the metabolic level in the secondary motor areas was equal during rest and task performance. At the neuronal level, this observation suggests that these cortical areas were continuously involved in movement preparation. Based on these data, we conclude that the ongoing activation of secondary motor areas may be explained by the TS patients' involuntary urges to move. Accordingly, interference will prevent an accurate planning of voluntary behaviour. Together, these findings reveal modulations in movement organization in patients with TS and exemplify degrading consequences for manual function.

  13. Controlled manipulation of domain walls in ultra-thin CoFeB nanodevices

    Energy Technology Data Exchange (ETDEWEB)

    Wells, J., E-mail: James.Wells@npl.co.uk [National Physical Laboratory, Hampton Road, Teddington TW11 0LW (United Kingdom); Lee, J.H.; Mansell, R.; Cowburn, R.P. [Department of Physics, University of Cambridge, JJ Thompson Avenue, Cambridge CB3 0HE (United Kingdom); Kazakova, O. [National Physical Laboratory, Hampton Road, Teddington TW11 0LW (United Kingdom)

    2016-02-15

    We report on studies of magnetic domain wall (DW) movement within nanodevices containing magnetic components formed from perpendicularly magnetised CoFeB (0.6 nm) thin films. Methods for low energy and smooth DW propagation as well as controlled and reproducible pinning of DWs at geometrically defined sites along nanowires are presented. Conventional anomalous Hall effect measurements as well as an indirect method using overlying electrodes are presented and compared. The results obtained from the individual studies of DW injection, propagation, pinning and measurement are assimilated into a prototype device suitable for the controlled pinning and annihilation of a single domain wall within the structure. - Highlights: • DW manipulation and measurement studied in CoFeB/Pt ultrathin films. • Direct and indirect measurements of local magnetisation via anomalous Hall effect. • Low energy domain wall injection achieved. • Pinning potentials at geometrical interruptions measured using MOKE microscopy. • Domain wall trap and release shown via transport measurements of dedicated devices.

  14. Selective Control of Fear Expression by Optogenetic Manipulation of Infralimbic Cortex after Extinction

    Science.gov (United States)

    Kim, Hyung-Su; Cho, Hye-Yeon; Augustine, George J; Han, Jin-Hee

    2016-01-01

    Evidence from rodent and human studies has identified the ventromedial prefrontal cortex, specifically the infralimbic cortex (IL), as a critical brain structure in the extinction of conditioned fear. However, how IL activity controls fear expression at the time of extinction memory retrieval is unclear and controversial. To address this issue, we used optogenetics to precisely manipulate the activity of genetically targeted cells and to examine the real-time contribution of IL activity to expression of auditory-conditioned fear extinction in mice. We found that inactivation of IL, but not prelimbic cortex, impaired extinction retrieval. Conversely, photostimulation of IL excitatory neurons robustly enhanced the inhibition of fear expression after extinction, but not before extinction. Moreover, this effect was specific to the conditioned stimulus (CS): IL activity had no effect on expression of fear in response to the conditioned context after auditory fear extinction. Thus, in contrast to the expectation from a generally held view, artificial activation of IL produced no significant effect on expression of non-extinguished conditioned fear. Therefore, our data provide compelling evidence that IL activity is critical for expression of fear extinction and establish a causal role for IL activity in controlling fear expression in a CS-specific manner after extinction. PMID:26354044

  15. Photonic Crystals: Two-Dimensional Programmable Manipulation of Magnetic Nanoparticles on-Chip (Adv. Mater. 15/2014)

    DEFF Research Database (Denmark)

    Sarella, Anandakumar; Torti, Andrea; Donolato, Marco

    2014-01-01

    P. Vavassori and co-workers demonstrate on page 2384 that field-controlled displacement of magnetic domain walls in ferromagnetic nano-ring structures allows for capture and 2-dimensional remote manipulation of fluidborne magnetic nanoparticles over a chip surface.......P. Vavassori and co-workers demonstrate on page 2384 that field-controlled displacement of magnetic domain walls in ferromagnetic nano-ring structures allows for capture and 2-dimensional remote manipulation of fluidborne magnetic nanoparticles over a chip surface....

  16. Secure Remote Access Issues in a Control Center Environment

    Science.gov (United States)

    Pitts, Lee; McNair, Ann R. (Technical Monitor)

    2002-01-01

    The ISS finally reached an operational state and exists for local and remote users. Onboard payload systems are managed by the Huntsville Operations Support Center (HOSC). Users access HOSC systems by internet protocols in support of daily operations, preflight simulation, and test. In support of this diverse user community, a modem security architecture has been implemented. The architecture has evolved over time from an isolated but open system to a system which supports local and remote access to the ISS over broad geographic regions. This has been accomplished through the use of an evolved security strategy, PKI, and custom design. Through this paper, descriptions of the migration process and the lessons learned are presented. This will include product decision criteria, rationale, and the use of commodity products in the end architecture. This paper will also stress the need for interoperability of various products and the effects of seemingly insignificant details.

  17. Osteopathic Manipulative Treatment Improves Heart Surgery Outcomes: A Randomized Controlled Trial.

    Science.gov (United States)

    Racca, Vittorio; Bordoni, Bruno; Castiglioni, Paolo; Modica, Maddalena; Ferratini, Maurizio

    2017-07-01

    Controlling sternal pain after heart surgery is important to reduce the risk of postoperative complications, but pain is often undertreated because of contraindications and side effects of analgesic drugs. Recently, osteopathic manipulative treatment (OMT) was demonstrated to reduce pain in different clinical contexts, suggesting its potential utility after cardiac surgery. The aim of this open-label, controlled study is to assess whether OMT contributes to sternal pain relief and improves postoperative outcomes. Eighty post-sternotomy adult inpatients were randomly allocated one to one to receive a standardized cardiorespiratory rehabilitation program alone (control group) or combined with OMT. Pain intensity and respiratory functional capacity were quantified by the Visual Analogue Scale score and by a standardized breathing test, at the start and end of rehabilitation. At the start of rehabilitation, the control group and the OMT group had similar Visual Analogue Scale median scores (controls 4, interquartile range [IQR]: 2 to 5; OMT 4, IQR: 3 to 5; p = not significant) and mean inspiratory volumes (controls 825 ± 381 mL; OMT 744 ± 291 mL; p = not significant). At the end of rehabilitation, the OMT group had a lower Visual Analogue Scale median score (controls 3, IQR: 2 to 4; OMT 1, IQR: 1 to 2; p < 0.01) and higher mean inspiratory volume (controls 1,400 ± 588 mL; OMT 1,781 ± 633 mL; p < 0.01). The analgesic drug intake was similar in the two groups. The hospitalization was shorter in the OMT group than in the control group (19.1 ± 4.8 versus 21.7 ± 6.3 days; p < 0.05). The combination of standard care with OMT is effective in inducing pain relief and functional recovery, and significantly improves the management of patients after heart surgery with sternotomy. Copyright © 2017 The Society of Thoracic Surgeons. Published by Elsevier Inc. All rights reserved.

  18. Recovery From Chronic Low Back Pain After Osteopathic Manipulative Treatment: A Randomized Controlled Trial.

    Science.gov (United States)

    Licciardone, John C; Gatchel, Robert J; Aryal, Subhash

    2016-03-01

    Little is known about recovery after spinal manipulation in patients with low back pain (LBP). To assess recovery from chronic LBP after a short regimen of osteopathic manipulative treatment (OMT) in a responder analysis of the OSTEOPAThic Health outcomes In Chronic low back pain (OSTEOPATHIC) Trial. A randomized double-blind, sham-controlled trial was conducted to determine the efficacy of 6 OMT sessions over 8 weeks. Recovery was assessed at week 12 using a composite measure of pain recovery (10 mm or less on a 100-mm visual analog scale) and functional recovery (2 or less on the Roland-Morris Disability Questionnaire for back-specific functioning). The RRs and numbers-needed-to-treat (NNTs) for recovery with OMT were measured, and corresponding cumulative distribution functions were plotted according to baseline LBP intensity and back-specific functioning. Multiple logistic regression was used to compute the OR for recovery with OMT while simultaneously controlling for potential confounders. Sensitivity analyses were performed to corroborate the primary results. There were 345 patients who met neither of the recovery criteria at baseline in the primary analyses and 433 patients who met neither or only 1 of these criteria in the sensitivity analyses. There was a large treatment effect for recovery with OMT (RR, 2.36; 95% CI, 1.31-4.24; P=.003), which was associated with a clinically relevant NNT (8.9; 95% CI, 5.4-25.5). This significant finding persisted after adjustment for potential confounders (OR, 2.92; 95% CI, 1.43-5.97; P=.003). There was also a significant interaction effect between OMT and comorbid depression (P=.02), indicating that patients without depression were more likely to recover from chronic LBP with OMT (RR, 3.21; 95% CI, 1.59-6.50; P<.001) (NNT, 6.5; 95% CI, 4.2-14.5). The cumulative distribution functions demonstrated optimal RR and NNT responses in patients with moderate to severe levels of LBP intensity and back-specific dysfunction at

  19. Methodology for testing a system for remote monitoring and control on auxiliary machines in electric vehicles

    Directory of Open Access Journals (Sweden)

    Dimitrov Vasil

    2017-01-01

    Full Text Available A laboratory system for remote monitoring and control of an asynchronous motor controlled by a soft starter and contemporary measuring and control devices has been developed and built. This laboratory system is used for research and in teaching. A study of the principles of operation, setting up and examination of intelligent energy meters, soft starters and PLC has been made as knowledge of the relevant software products is necessary. This is of great importance because systems for remote monitoring and control of energy consumption, efficiency and proper operation of the controlled objects are very often used in different spheres of industry, in building automation, transport, electricity distribution network, etc. Their implementation in electric vehicles for remote monitoring and control on auxiliary machines is also possible and very useful. In this paper, a methodology of tests is developed and some experiments are presented. Thus, an experimental verification of the developed methodology is made.

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

    Directory of Open Access Journals (Sweden)

    Xin Gao

    2016-01-01

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

  1. Optimum and Controllable Multi-stage Proton Acceleration Manipulated by Double Beam Image Technique

    Science.gov (United States)

    Wang, Wenpeng

    2017-10-01

    With the development of ultra-intense laser technology, laser intensity can increase up to the order of 1022 W/cm2 in the laboratory. Ion beams in the MeV range and even the GeV range, driven by terawatt or petawatt lasers, exhibit ultra-short pulse duration, excellent emission, and ultra-high peak current. Thus, they can potentially be applied in fast ignition of inertial confinement fusion, medical therapy, proton imaging, and pre-accelerators for conventional acceleration devices. However, the generation of quasi-monoenergetic proton beams for realistic applications is still an experimental challenge. Here, the optimum and controllable two-stage proton acceleration is realized for the first time by a novel double beam image (DBI) technique in experiment. Two laser pulses are successfully tuned on two separated foils with both spatial collineation and time synchronizing, resulting in spectrum tailoring and an energy increase at the same time. Such a novel DBI technique can help us to realize the optimum two-stage acceleration in a feasible way, which opens the door for the exact manipulation of multi-stage acceleration to further improve the energy and spectra of particle beams.

  2. Metabolic manipulation in chronic heart failure: study protocol for a randomised controlled trial

    Directory of Open Access Journals (Sweden)

    Leon Francisco

    2011-06-01

    Full Text Available Abstract Background Heart failure is a major cause of morbidity and mortality in society. Current medical therapy centres on neurohormonal modulation with angiotensin converting enzyme inhibitors and β-blockers. There is growing evidence for the use of metabolic manipulating agents as adjunctive therapy in patients with heart failure. We aim to determine the effect of perhexiline on cardiac energetics and alterations in substrate utilisation in patients with non-ischaemic dilated cardiomyopathy. Methods A multi-centre, prospective, randomised double-blind, placebo-controlled trial of 50 subjects with non-ischaemic dilated cardiomyopathy recruited from University Hospital Birmingham NHS Foundation Trust and Cardiff and Vale NHS Trust. Baseline investigations include magnetic resonance spectroscopy to assess cardiac energetic status, echocardiography to assess left ventricular function and assessment of symptomatic status. Subjects are then randomised to receive 200 mg perhexiline maleate or placebo daily for 4 weeks with serum drug level monitoring. All baseline investigations will be repeated at the end of the treatment period. A subgroup of patients will undergo invasive investigations with right and left heart catheterisation to calculate respiratory quotient, and mechanical efficiency. The primary endpoint is an improvement in the phosphocreatine to adenosine triphosphate ratio at 4 weeks. Secondary end points are: i respiratory quotient; ii mechanical efficiency; iii change in left ventricular (LV function. Trial Registration ClinicalTrials.gov: NCT00841139 ISRCTN: ISRCTN2887836

  3. Pregnancy Research on Osteopathic Manipulation Optimizing Treatment Effects: The PROMOTE Study A Randomized Controlled Trial

    Science.gov (United States)

    HENSEL, Kendi L.; BUCHANAN, Steve; BROWN, Sarah K.; RODRIGUEZ, Mayra; CRUSER, des Anges

    2014-01-01

    Objective To evaluate the efficacy of Osteopathic Manipulative Treatment (OMT) to reduce low back pain and improve functioning during the third trimester in pregnancy and improve selected outcomes of labor and delivery. Study Design PROMOTE was a randomized, placebo-controlled trial of 400 women in their third trimester. Women were randomized to usual care only (UCO), usual care plus OMT (OMT), or usual care plus placebo ultrasound treatment (PUT). The study included seven treatments over nine weeks. The OMT protocol included specific techniques administered by board-certified OMT specialists. Outcomes were assessed using self-report measures for pain and back-related functioning, and medical records for delivery outcomes. Results There were 136 women in the OMT group, 131 in PUT, and 133 in UCO. Characteristics at baseline were similar across groups. Findings indicate significant treatment effects for pain and back related functioning (P<.001 for both), with outcomes for the OMT group similar to that of the PUT, but both groups were significantly improved compared to UCO. For secondary outcome of meconium- stained amniotic fluid there were no differences between the groups. Conclusion OMT was effective for mitigating pain and functional deterioration compared to the UCO group; however OMT did not differ significantly from PUT. This may be attributed to PUT being a more active treatment than intended. There was no higher likelihood of conversion to high risk status based on treatment group. Therefore, OMT is a safe, effective adjunctive modality to improve pain and functioning during their third trimester. PMID:25068560

  4. Novel reaction control techniques for redundant space manipulators: Theory and simulated microgravity tests

    Science.gov (United States)

    Cocuzza, Silvio; Pretto, Isacco; Debei, Stefano

    2011-06-01

    This paper presents two novel redundancy resolution schemes aimed at locally minimizing the reaction torque transferred to the spacecraft during manipulator manoeuvres. The subject is of particular interest in space robotics because reduced reactions result in reduced energy consumption and longer operating life of the attitude control system. The first presented solution is based on a weighted Jacobian pseudoinverse and is derived by using Lagrangian multipliers. The weight matrix is defined by means of the inertia matrix which appears in the spacecraft reaction torque dynamics. The second one is based on a least squares formulation of the minimization problem. In this formulation the linearity of the forward kinematics and of the reaction torque dynamics equations with respect to the joint accelerations is used. A closed-form solution is derived for both the presented methods, and their equivalence is proven analytically. Moreover, the proposed solutions, which are suitable for real-time implementation, are extended in order to take into account the physical limits of the manipulator joints directly inside the solution algorithms. A software simulator has been developed in order to simulate the performance of the presented solutions for the selected test cases. The proposed solutions have then been experimentally tested using a 3D free-flying robot previously tested in an ESA parabolic flight campaign. In the test campaign the 3D robot has been converted in a 2D robot thanks to its modularity in order to perform planar tests, in which the microgravity environment can be simulated without time constraints. Air-bearings are used to sustain the links weight, and a dynamometer is used to measure the reaction torque. The experimental validation of the presented inverse kinematics solutions, with an insight on the effect of joint flexibility on their performance, has been carried out, and the experimental results confirmed the good performance of the proposed methods

  5. Teleoperation of a robot manipulator from 3D human hand-arm motion

    Science.gov (United States)

    Kofman, Jonathan; Verma, Siddharth; Wu, Xianghai; Luu, Timothy

    2003-10-01

    The control of a robot manipulator by a human operator is often necessary in unstructured dynamic environments with unfamiliar objects. Remote teleoperation is required when human presence at the robot site is undesirable or difficult, such as in handling hazardous materials and operating in dangerous or inaccessible environments. Previous approaches have employed mechanical or other contacting interfaces which require unnatural motions for object manipulation tasks or hinder dexterous human motion. This paper presents a non-contacting method of teleoperating a robot manipulator by having the human operator perform the 3D human hand-arm motion that would naturally be used to compete an object manipulation task and tracking the motion with a stereo-camera system at a local site. The 3D human hand-arm motion is reconstructed at the remote robot site and is used to control the position and orientation of the robot manipulator end-effector in real-time. Images captured of the robot interacting with objects at the remote site provide visual feedback to the human operator. Tests in teleoperation of the robot manipulator have demonstrated the ability of the human to carry out object manipulator tasks remotely and the teleoperated robot manipulator system to copy human-arm motions in real-time.

  6. Remote control of a cooling system; Regelen en controleren op afstand

    Energy Technology Data Exchange (ETDEWEB)

    Bassa, E. [ed.

    1996-10-01

    The renovation of a supermarket building in Nieuw-Lekkerland, Netherlands, included the replacement of the existing refrigerating facility. One of the arguments to choose a new unit was the introduction of the Hazard Analysis Critical Control Points (HACCP) quality control system. The new unit is equipped with a remote control system, using the most up-to-date instruments

  7. Remote sensing bio-control damage on aquatic invasive alien plant ...

    African Journals Online (AJOL)

    Popular machine learning algorithms that offer operational potential to classify bio-control damage are proposed. This paper concludes with the challenges of remote sensing bio-control damage as well as proposes recommendations to guide future research to successfully detect and map bio-control damage on AIAP ...

  8. Control Suite and Teleoperator Interface for Whole-Body Mobile Manipulators Project

    Data.gov (United States)

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

  9. Implementation of vision based 2-DOF underwater Manipulator

    Directory of Open Access Journals (Sweden)

    Geng Jinpeng

    2015-01-01

    Full Text Available Manipulator is of vital importance to the remotely operated vehicle (ROV, especially when it works in the nuclear reactor pool. Two degrees of freedom (2-DOF underwater manipulator is designed to the ROV, which is composed of control cabinet, buoyancy module, propellers, depth gauge, sonar, a monocular camera and other attitude sensors. The manipulator can be used to salvage small parts like bolts and nuts to accelerate the progress of the overhaul. It can move in the vertical direction alone through the control of the second joint, and can grab object using its unique designed gripper. A monocular vision based localization algorithm is applied to help the manipulator work independently and intelligently. Eventually, field experiment is conducted in the swimming pool to verify the effectiveness of the manipulator and the monocular vision based algorithm.

  10. Development of a novel robotic platform with controllable stiffness manipulation arms for laparoendoscopic single-site surgery (LESS).

    Science.gov (United States)

    Wang, Jianchen; Wang, Shuxin; Li, Jinhua; Ren, Xiangyun; Briggs, Randall Miller

    2018-02-01

    For current LESS robotic systems, the trade-off between dexterity and payload capability is always present. This paper presents a novel LESS robotic platform equipped with controllable stiffness manipulation arms. Each manipulation arm with an articulated section and a controllable stiffness continuum section (CSCS) can be switched between a 7-DoF compliant status and 5-DoF rigid status according to the operation requirement. Screw theory and product exponential formula are used to quantify the kinematic performance. The stiffness of the manipulation arm promotes 3.03 to 4.12 times from compliant to rigid CSCS with maximum payload of 10 N in rigid status. The shortest rigid/compliant switching time is 5 s. The precision of a tracking test and an ex vivo procedure verified the accuracy and effectiveness of the controllable stiffness manipulation arms. This robot could potentially improve the surgical performance and further expand robotic LESS procedures. Copyright © 2017 John Wiley & Sons, Ltd.

  11. Remote control of an MR imaging study via tele-collaboration tools

    Science.gov (United States)

    Sullivan, John M., Jr.; Mullen, Julia S.; Benz, Udo A.; Schmidt, Karl F.; Murugavel, Murali; Chen, Wei; Ghadyani, Hamid

    2005-04-01

    In contrast to traditional 'video conferencing' the Access Grid (AG), developed by Argonne National Laboratory, is a collaboration of audio, video and shared application tools which provide the 'persistent presence' of each participant. Among the shared application tools are the ability to share viewing and control of presentations, browsers, images and movies. When used in conjunction with Virtual Network Computing (VNC) software, an investigator can interact with colleagues at a remote site, and control remote systems via local keyboard and mouse commands. This combination allows for effective viewing and discussion of information, i.e. data, images, and results. It is clear that such an approach when applied to the medical sciences will provide a means by which a team of experts can not only access, but interact and control medical devices for the purpose of experimentation, diagnosis, surgery and therapy. We present the development of an application node at our 4.7 Tesla MR magnet facility, and a demonstration of remote investigator control of the magnet. A local magnet operator performs manual tasks such as loading the test subject into the magnet and administering the stimulus associated with the functional MRI study. The remote investigator has complete control of the magnet console. S/he can adjust the gradient coil settings, the pulse sequence, image capture frequency, etc. A geographically distributed audience views and interacts with the remote investigator and local MR operator. This AG demonstration of MR magnet control illuminates the potential of untethered medical experiments, procedures and training.

  12. Remote device control and monitor system for the LHD deuterium experiments

    Energy Technology Data Exchange (ETDEWEB)

    Nakanishi, Hideya, E-mail: nakanisi@nifs.ac.jp [National Institute for Fusion Science (NIFS), Toki, Gifu 509-5292 (Japan); Dept. Fusion Science, SOKENDAI (The Graduate University for Advanced Studies), Toki, Gifu 509-5292 (Japan); Ohsuna, Masaki; Ito, Tatsuki; Nonomura, Miki; Imazu, Setsuo; Emoto, Masahiko; Iwata, Chie; Yoshida, Masanobu; Yokota, Mitsuhiro; Maeno, Hiroya; Aoyagi, Miwa; Ogawa, Hideki; Nakamura, Osamu; Morita, Yoshitaka; Inoue, Tomoyuki; Watanabe, Kiyomasa [National Institute for Fusion Science (NIFS), Toki, Gifu 509-5292 (Japan); Ida, Katsumi; Ishiguro, Seiji; Kaneko, Osamu [National Institute for Fusion Science (NIFS), Toki, Gifu 509-5292 (Japan); Dept. Fusion Science, SOKENDAI (The Graduate University for Advanced Studies), Toki, Gifu 509-5292 (Japan)

    2016-11-15

    Highlights: • Device remote control will be significant for the LHD deuterium experiments. • A central management GUI to control the power distribution for devices. • For safety, power management is separated from operational commanding. • Wi-Fi was tested and found to be not reliable with fusion plasmas. - Abstract: Upon beginning the LHD deuterium experiment, the opportunity for maintenance work in the torus hall will be conspicuously reduced such that all instruments must be controlled remotely. The LHD data acquisition (DAQ) and archiving system have been using about 110 DAQ front-end, and the DAQ central control and monitor system has been implemented for their remote management. This system is based on the “multi-agent” model whose communication protocol has been unified. Since DAQ front-end electronics would suffer from the “single-event effect” (SEE) of D-D neutrons, software-based remote operation might become ineffective, and then securely intercepting or recycling the electrical power of the device would be indispensable for recovering from a non-responding fault condition. In this study, a centralized control and monitor system has been developed for a number of power distribution units (PDUs). This system adopts the plug-in structure in which the plug-in modules can absorb the differences among the commercial products of numerous vendors. The combination of the above-mentioned functionalities has led to realizing the flexible and highly reliable remote control infrastructure for the plasma diagnostics and the device management in LHD.

  13. Home Use, Remotely Supervised, and Remotely Controlled Transcranial Direct Current Stimulation: A Systematic Review of the Available Evidence.

    Science.gov (United States)

    Palm, Ulrich; Kumpf, Ulrike; Behler, Nora; Wulf, Linda; Kirsch, Beatrice; Wörsching, Jana; Keeser, Daniel; Hasan, Alkomiet; Padberg, Frank

    2017-09-15

    Transcranial direct current stimulation (tDCS) is gaining growing importance in the treatment of neurological and psychiatric disorders and is currently investigated for home-based and remotely supervised applications. Here, we systematically review the available evidence from a database search (PubMed, ICTRP, clinicaltrials.gov) from January 2000 to May 2017. We detected 22 original research papers, trial protocols or trial registrations dealing with tDCS as an add-on intervention to cognitive or physiotherapeutic intervention. Overall, study samples are small; many studies are single-blinded and focus on feasibility and safety. There are two guideline papers setting basic requirements for clinical trials. Further research needs to focus on home-based treatment from different viewpoints, that is, safety, technical monitoring, reproducibility of repeated applications, feasibility of combined interventions and systematic assessment of efficacy, and safety in large randomized controlled clinical trials (RCTs). However, remotely controlled and supervised tDCS for home use represents a promising approach for widespread use of noninvasive brain stimulation (NIBS) in clinical care. © 2017 International Neuromodulation Society.

  14. Osteopathic manipulative treatment and pain in preterms: study protocol for a randomised controlled trial.

    Science.gov (United States)

    Cerritelli, Francesco; Cicchitti, Luca; Martelli, Marta; Barlafante, Gina; Renzetti, Cinzia; Pizzolorusso, Gianfranco; Lupacchini, Mariacristina; D'Orazio, Marianna; Marinelli, Benedetta; Cozzolino, Vincenzo; Fusilli, Paola; D'Incecco, Carmine

    2015-03-08

    Recent evidence proved the necessity to improve health care and pain management in newborns. Osteopathic manipulative treatment (OMT) has been largely used to treat painful syndromes as well as term and preterm newborns. Recent studies have demonstrated positive results of osteopathy in reducing length of stay and costs. However, no trials were carried out on pain in newborns. The aim of the present clinical trial is to explore the effectiveness of osteopathic treatment in reducing pain in a sample of preterms. A three-armed single blinded placebo-control randomised controlled trial protocol has been designed to primarily evaluate the extent to which OMT is effective in reducing pain in preterms. One hundred and twenty newborns will be enrolled from one tertiary neonatal intensive care unit in central Italy and randomised in three groups: study, sham and control. The study group will be further prospectively randomised in two subgroups: experienced osteopaths and students. All preterms will receive standard medical care. Osteopathic treatment will be applied to the study group only whilst 'soft touch' will be administer to the sham group only. Newborns will undergo manual sessions once a week for the entire period of hospitalisation. Blinding will be assured for neonatal staff and outcome assessor. Primary outcome will be the mean difference in baseline score changes of PIPP questionnaire between discharge and entry among the three groups. Secondary outcomes will be: mean difference in length of stay and costs between groups. Statistical analyses will use per-protocol analysis method. Missing data will be handled using last observation carried forward imputation technique. The present single blinded randomised controlled trial has been designed to explore potential advantages of OMT in the management of newborns' pain. Currently, based on a patient-centred need-based approach, this research will be looking at the benefit of osteopathic care rather than the efficacy

  15. Haptic shared control improves hot cell remote handling despite controller inaccuracies

    Energy Technology Data Exchange (ETDEWEB)

    Oosterhout, J. van, E-mail: J.vanOosterhout@differ.nl [Delft University of Technology, Faculty of 3mE, BioMechanical Engineering Department, Mekelweg 2, 2628 CD Delft (Netherlands); Abbink, D.A. [Delft University of Technology, Faculty of 3mE, BioMechanical Engineering Department, Mekelweg 2, 2628 CD Delft (Netherlands); Koning, J.F. [Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands); Boessenkool, H. [FOM Institute DIFFER (Dutch Institute for Fundamental Energy Research), Association EURATOM-FOM, Partner in the Trilateral Euregio Cluster, PO Box 1207, 3430 BE Nieuwegein (Netherlands); Wildenbeest, J.G.W. [Delft University of Technology, Faculty of 3mE, BioMechanical Engineering Department, Mekelweg 2, 2628 CD Delft (Netherlands); Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands); Heemskerk, C.J.M. [Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands)

    2013-10-15

    Highlights: Haptic shared control is generally based upon perfect environment information. A realistic implementation holds model errors with respect to the environment. Operators were aided with inaccurate guiding forces during a peg-in-hole task. The results showed that small guiding inaccuracies still aid the operator. -- Abstract: A promising solution to improve task performance in ITER hot cell remote handling is the use of haptic shared control. Haptic shared control can assist the human operator along a safe and optimal path with continuous guiding forces from an intelligent autonomous controller. Previous research tested such controllers with accurate knowledge of the environment (giving flawless guiding forces), while in a practical implementation guidance forces will sometimes be flawed due to inaccurate models or sensor information. This research investigated the effect of zero and small (7.5 mm) errors on task performance compared to normal (unguided) operation. In a human factors experiment subjects performed a three dimensional virtual reality peg-in-hole type task (30 mm diameter; 0.1 mm clearance), with and without potentially flawed haptic shared control. The results showed that the presence of guiding forces, despite of small guiding errors, still improved task performance with respect to unguided operations.

  16. A secure and reliable monitor and control system for remote observing with the Large Millimeter Telescope

    Science.gov (United States)

    Wallace, Gary; Souccar, Kamal; Malin, Daniella

    2004-09-01

    Remote access to telescope monitor and control capabilities necessitates strict security mechanisms to protect the telescope and instruments from malicious or unauthorized use, and to prevent data from being stolen, altered, or corrupted. The Large Millimeter Telescope (LMT) monitor and control system (LMTMC) utilizes the Common Object Request Broker Architecture (CORBA) middleware technology to connect remote software components. The LMTMC provides reliable and secure remote observing by automatically generating SSLIOP enabled CORBA objects. TAO, the ACE open source Object Request Broker (ORB), now supports secure communications by implementing the Secure Socket Layer Inter-ORB Protocol (SSLIOP) as a pluggable protocol. This capability supplies the LMTMC with client and server authentication, data integrity, and encryption. Our system takes advantage of the hooks provided by TAO SSLIOP to implement X.509 certificate based authorization. This access control scheme includes multiple authorization levels to enable granular access control.

  17. An adaptive PID like controller using mix locally recurrent neural network for robotic manipulator with variable payload.

    Science.gov (United States)

    Sharma, Richa; Kumar, Vikas; Gaur, Prerna; Mittal, A P

    2016-05-01

    Being complex, non-linear and coupled system, the robotic manipulator cannot be effectively controlled using classical proportional-integral-derivative (PID) controller. To enhance the effectiveness of the conventional PID controller for the nonlinear and uncertain systems, gains of the PID controller should be conservatively tuned and should adapt to the process parameter variations. In this work, a mix locally recurrent neural network (MLRNN) architecture is investigated to mimic a conventional PID controller which consists of at most three hidden nodes which act as proportional, integral and derivative node. The gains of the mix locally recurrent neural network based PID (MLRNNPID) controller scheme are initialized with a newly developed cuckoo search algorithm (CSA) based optimization method rather than assuming randomly. A sequential learning based least square algorithm is then investigated for the on-line adaptation of the gains of MLRNNPID controller. The performance of the proposed controller scheme is tested against the plant parameters uncertainties and external disturbances for both links of the two link robotic manipulator with variable payload (TL-RMWVP). The stability of the proposed controller is analyzed using Lyapunov stability criteria. A performance comparison is carried out among MLRNNPID controller, CSA optimized NNPID (OPTNNPID) controller and CSA optimized conventional PID (OPTPID) controller in order to establish the effectiveness of the MLRNNPID controller. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  18. Voltage magnitude and margin controller for remote industrial microgrid with high wind penetration

    DEFF Research Database (Denmark)

    Cai, Yu; Lin, Jin; Song, Yonghua

    2013-01-01

    It is well known that the remote industrial microgrid is located at the periphery of the grid, which is weakly connected to the main grid. In order to enhance the voltage stability and ensure a good power quality for industries, a voltage magnitude and margin controller based on wind turbines...... is proposed in this paper. This controller includes two parts to improve voltage stability in different time scales by using local measurements. Case studies conducted for a remote microgrid with high wind penetration have proved the effectiveness of the proposed control scheme....

  19. IREXF: Data Exfiltration from Air-gapped Networks by Infrared Remote Control Signals

    OpenAIRE

    Zhou, Zheng; Zhang, Weiming; Yu, Nenghai

    2018-01-01

    he technology on infrared remote control is widely applied in human daily life. It is also applied in the place with a top security level. Infrared remote control signal is regarded as a simple, safe and clean resource that can help us control the electrical appliances nearby. In this paper, we build IREXF, a novel infrared optical covert channel from a well-protected air-gapped network via a malicious infrared module implanted previously into a keyboard. A malware preinstalled in the air-gap...

  20. Acute effects of single and multiple level thoracic manipulations on chronic mechanical neck pain: a randomized controlled trial

    Directory of Open Access Journals (Sweden)

    Puntumetakul R

    2015-01-01

    Full Text Available Rungthip Puntumetakul,1,2 Thavatchai Suvarnnato,1,3 Phurichaya Werasirirat,1 Sureeporn Uthaikhup,2 Junichiro Yamauchi,4,5 Rose Boucaut6 1School of Physical Therapy, Faculty of Associated Medical Sciences, 2Research Center in Back, Neck, Other Joint Pain and Human Performance, 3Physical Therapy Unit, Srinagarind Hospital, Faculty of Medicine, Khon Kaen University, Khon Kaen, Thailand; 4Graduate School of Human Health Sciences, Tokyo Metropolitan University, 5Future Institute for Sport Sciences, Tokyo, Japan; 6School of Health Sciences (Physiotherapy, University of South Australia, Adelaide, SA, Australia Background: Thoracic spine manipulation has become a popular alternative to local cervical manipulative therapy for mechanical neck pain. This study investigated the acute effects of single-level and multiple-level thoracic manipulations on chronic mechanical neck pain (CMNP.Methods: Forty-eight patients with CMNP were randomly allocated to single-level thoracic manipulation (STM at T6–T7 or multiple-level thoracic manipulation (MTM, or to a control group (prone lying. Cervical range of motion (CROM, visual analog scale (VAS, and the Thai version of the Neck Disability Index (NDI-TH scores were measured at baseline, and at 24-hour and at 1-week follow-up.Results: At 24-hour and 1-week follow-up, neck disability and pain levels were significantly (P<0.05 improved in the STM and MTM groups compared with the control group. CROM in flexion and left lateral flexion were increased significantly (P<0.05 in the STM group when compared with the control group at 1-week follow-up. The CROM in right rotation was increased significantly after MTM compared to the control group (P<0.05 at 24-hour follow-up. There were no statistically significant differences in neck disability, pain level at rest, and CROM between the STM and MTM groups.Conclusion: These results suggest that both single-level and multiple-level thoracic manipulation improve neck disability

  1. Flowering time control in ornamental gloxinia (Sinningia speciosa) by manipulation of miR159 expression.

    Science.gov (United States)

    Li, Xiaoyan; Bian, Hongwu; Song, Dafeng; Ma, Shengyun; Han, Ning; Wang, Junhui; Zhu, Muyuan

    2013-05-01

    Gloxinia (Sinningia speciosa) is a popular commercial plant for its attractive and colourful flowers. However, the genetic mechanism of flowering time regulation in gloxinia is largely unknown. Recent studies on model plants have elucidated that miR159 acts as a negative regulator of floral transition in short-day photoperiods. The aim of this study was to investigate whether genetic modification of miR159 expression can offer an effective approach for regulation of flowering characteristics in gloxinia. Transgenic gloxinia plants were generated that over-express or suppress miR159 by means an efficient Agrobacterium-mediated transformation system in order to study the effect of miR159 on flowering time. In addition, the full-length cDNA of gloxinia GAMYB (SsGAMYB) was also cloned, and was verified to be a target of miR159 by modified RNA ligase-mediated 5' rapid amplification of cDNA ends. Transgenic gloxinia plants that over-express or suppress miR159 exhibited significantly late or early flowering, respectively. During flower development, the expression level of miR159 was negatively correlated with SsGAMYB in gloxinia. MiR159-mediated SsGAMYB expression affected the expression levels of SsLEAFY (SsLFY) and three MADS-box genes (SsAP1, SsAP3 and SsAG), which regulated floral transition downstream of GAMYB. In addition, suppression of miR159 caused a conversion of petals and sepals in a few transgenic plants. miR159-regulated GAMYB expression is an effective pathway of flowering time control in gloxinia. Transgenic manipulation of miR159 can be used as an applicable strategy to regulate flowering time in commercial ornamental plants.

  2. Short-Term Effects of Thoracic Spine Manipulation on Shoulder Impingement Syndrome: A Randomized Controlled Trial.

    Science.gov (United States)

    Haik, Melina N; Alburquerque-Sendín, Francisco; Camargo, Paula R

    2017-08-01

    To investigate the short-term effects of thoracic spine manipulation (TSM) on pain, function, scapular kinematics, and scapular muscle activity in individuals with shoulder impingement syndrome. Randomized controlled trial with blinded assessor and patient. Laboratory. Patients with shoulder impingement syndrome (N=61). Participants were randomly allocated to TSM group (n=30) or sham-TSM group (n=31) and attended 2 intervention sessions over a 1-week period. Scapular kinematics and muscle activity were measured at day 1 (baseline, before the first intervention), day 2 preintervention (before second intervention), day 2 postintervention (after the second intervention), and day 3 (follow-up). Shoulder pain and function were assessed by the Disability of the Arm, Shoulder and Hand questionnaire and Western Ontario Rotator Cuff Index at baseline, day 2 preintervention, and follow-up. An assessor blinded to group assignment measured all outcomes. Pain decreased by 0.7 points (95% confidence interval, 1.3-0.1 points) at day 2 preintervention and 0.9 points (95% confidence interval, 1.5-0.3 points) at day 2 postintervention in the TSM group. The Disability of the Arm, Shoulder and Hand questionnaire (P=.01) and Western Ontario Rotator Cuff Index (P=.02) scores improved in both groups. Scapular upward rotation increased during arm lowering (PTSM group. Upper trapezius activity increased (PTSM group. Middle trapezius, lower trapezius, and serratus anterior decreased activities in both groups during elevation and lowering of the arm. TSM may increase scapular upward rotation during arm lowering. TSM does not seem to influence activity of the scapular muscles. The results concerning shoulder pain, function, scapular tilt, and internal rotation are not conclusive. Copyright © 2016 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

  3. Finite-time state-dependent Riccati equation for time-varying nonaffine systems: rigid and flexible joint manipulator control.

    Science.gov (United States)

    Korayem, M H; Nekoo, S R

    2015-01-01

    This article investigates finite-time optimal and suboptimal controls for time-varying systems with state and control nonlinearities. The state-dependent Riccati equation (SDRE) controller was the main framework. A finite-time constraint imposed on the equation changes it to a differential equation, known as the state-dependent differential Riccati equation (SDDRE) and this equation was applied to the problem reported in this study that provides general formulation and stability analysis. The following four solution methods were developed for solving the SDDRE; backward integration, state transition matrix (STM) and the Lyapunov based method. In the Lyapunov approach, both positive and negative definite solutions to related SDRE were used to provide suboptimal gain for the SDDRE. Finite-time suboptimal control is applied for robotic manipulator, as finite-time constraint strongly decreases state error and operation time. General state-dependent coefficient (SDC) parameterizations for rigid and flexible joint arms (prismatic or revolute joints) are introduced. By including nonlinear control inputs in the formulation, the actuator׳s limits can be inserted directly to the state-space equation of a manipulator. A finite-time SDRE was implemented on a 6R manipulator both in theory and experimentally. And a reduced 3R arm was modeled and tested as a flexible joint robot (FJR). Evaluations of load carrying capacity and operation time were investigated to assess the capability of this approach, both of which showed significant improvement. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  4. Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master-Slave Systems.

    Science.gov (United States)

    Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

    2017-01-01

    Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master-slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user's wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a

  5. Evaluation of high-voltage, high-power, solid-state remote power controllers for amps

    Science.gov (United States)

    Callis, Charles P.

    1987-01-01

    The Electrical Power Branch at Marshall Space Flight Center has a Power System Development Facility where various power circuit breadboards are tested and evaluated. This project relates to the evaluation of a particular remote power controller (RPC) energizing high power loads. The Facility equipment permits the thorough testing and evaluation of high-voltage, high-power solid-state remote power controllers. The purpose is to evaluate a Type E, 30 Ampere, 200 V dc remote power controller. Three phases of the RPC evaluation are presented. The RPC is evaluated within a low-voltage, low-power circuit to check its operational capability. The RPC is then evaluated while performing switch/circuit breaker functions within a 200 V dc, 30 Ampere power circuit. The final effort of the project relates to the recommended procedures for installing these RPC's into the existing Autonomously Managed Power System (AMPS) breadboard/test facility at MSFC.

  6. Field programmable gate array–based servo control integrated chip for a six-axis articulated robot manipulator

    Directory of Open Access Journals (Sweden)

    Ying-Shieh Kung

    2016-05-01

    Full Text Available The objective of this article is to build a field programmable gate array–based six-axis servo control integrated chip which can integrate the function of a motion trajectory planning and the function of six position/speed/current servo controllers into one integrated chip. In the work, first, a mathematical modeling of a robot manipulator with the actuator using permanent magnet synchronous motor is derived. Second, the proportional controller in the position loop, a proportional–integral controller in the speed loop and a vector controller in the current loop for each axis are applied. Third, a system on a programmable chip technology which comprises an Altera field programmable gate array chip and an embedded soft-core Nios-II processor is considered to develop the proposed servo control integrated chip. However, in the servo control integrated chip, it has two modules. The first module is an embedded soft-core Nios-II processor which is used to generate the motion trajectory planning by software. The second module presents a six-axis servo controller intellectual property by hardware which is applied to execute six position/speed/current controllers. Therefore, the function of a motion trajectory command and the function of six position/speed/current servo controllers for a six-axis robot manipulator can be integrated into one field programmable gate array. Finally, to verify the effectiveness and correctness of the proposed field programmable gate array–based servo control integrated chip, a six-axis robot manipulator is applied and some experimental results are demonstrated.

  7. Changes in pain perception after pelvis manipulation in women with primary dysmenorrhea: a randomized controlled trial.

    Science.gov (United States)

    Molins-Cubero, Silvia; Rodríguez-Blanco, Cleofás; Oliva-Pascual-Vaca, Angel; Heredia-Rizo, Alberto M; Boscá-Gandía, Juan J; Ricard, François

    2014-09-01

    This study aims to evaluate the immediate effect of a global pelvic manipulation (GPM) technique, bilaterally applied, on low back pelvic pain in women with primary dysmenorrhea (PD). A prospective, randomized, double-blind, controlled trial. Faculty of Nursing, Physiotherapy and Podiatry. University of Sevilla, Spain. The sample group included 40 women (30 ± 6.10 years) that were divided into an experimental group (EG) (N = 20) who underwent a bilateral GPM technique and a control group (CG) (N = 20) who underwent a sham (placebo) intervention. Evaluations were made of self-reported low back pelvic pain (visual analog scale), pressure pain threshold (PPT) in sacroiliac joints (SIJs), and the endogenous response of the organism to pain following catecholamines and serotonin release in blood levels. The intragroup comparison showed a significant improvement in the EG in the self-perceived low back pelvic pain (P = 0.003) and in the mechanosensitivity in both SIJs (P = 0.001). In the between-group comparison, there was a decrease in pain perception (P = 0.004; F(1,38) = 9.62; R(2) = 0.20) and an increase in the PPT of both SIJs, in the right side (P = 0.001; F(1,38) = 21.29; R(2) = 0.35) and in the left side (P = 0.001; F(1,38) = 20.63; R(2) = 0.35). There were no intergroup differences for catecholamines plasma levels (adrenaline P = 0.123; noradrenaline P = 0.281; dopamine P = 0.173), but there were for serotonin levels (P = 0.045; F(1,38) = 4.296; R(2) = 0.10). The bilateral GPM technique improves in a short term the self-perceived low back pelvic pain, the PPT in both SIJs, and the serotonin levels in women with PD. It shows no significant differences with a sham intervention in catecholamines plasma levels. Wiley Periodicals, Inc.

  8. Design of Novel Online Access and Control Interface for Remote Experiment on DC Drives

    Directory of Open Access Journals (Sweden)

    Jagadeesh Chandra A.P

    2009-05-01

    Full Text Available Internet has revolutionized the way in which the information is delivered. Laboratory based courses play an important role in technical education. Automation is changing the nature of these laboratories and the system designer’s focus on Internet accessed experiments owing to the availability of several tools to integrate electronic and mechanical hardware with the World Wide Web. Stand-alone approaches in remote learning have grown tremendously in the recent years. One of the important components in remote experimentation is the integration of Virtual Instruments to perform real hardware tasks in near real-time. The paper describes a web interface to the electrical hardware and integration of LabVIEW Virtual Instruments to the remote access and control of DC Drives. Customized electrical hardware serves as the web interface, supporting various features to remotely control and measure the parameters of the electrical machine. Novel techniques have been used to interface a low power data acquisition system with the DC machine driven by the AC power supply. The system uses the client-server architecture to access the web page of the Virtual Instruments through web browser. The developed system imitates the real control of experiment hardware, but being operated remotely through Internet.

  9. Improvement of remote control system of automatic ultrasonic equipment for inspection of reactor pressure vessel

    Energy Technology Data Exchange (ETDEWEB)

    Cheong, Yong Moo; Jung, H. K.; Joo, Y. S.; Koo, K. M.; Hyung, H.; Sim, C. M.; Gong, U. S.; Kim, S. H.; Lee, J. P.; Rhoo, H. C.; Kim, M. S.; Ryoo, S. K.; Choi, C. H.; Oh, K. I

    1999-12-01

    One of the important issues related to the nuclear safety is in-service inspection of reactor pressure vessel (RPV). A remote controlled automatic ultrasonic method is applied to the inspection. At present the automatic ultrasonic inspection system owned by KAERI is interrupted due to degradation of parts. In order to resume field inspection new remote control system for the equipment was designed and installed to the existing equipment. New ultrasonic sensors and their modules for RPV inspection were designed and fabricated in accordance with the new requirements of the inspection codes. Ultrasonic sensors were verified for the use in the RPV inspection. (autho0008.

  10. Research on Construction Method of Operational Reliability Control Model for Space Manipulator Based on Particle Filter

    National Research Council Canada - National Science Library

    Gao, Xin; Wang, Yifan; Sun, Hanxu; Jia, Qingxuan; Yang, Xiaojian; Du, Mingtao; Huang, Jingyu

    2015-01-01

    ... reliability is given during its process of design and manufacture, relevant to various structural parameters of the manipulator and performance parameters of components [9]; the operational reliability is a character to maintain the performance ability shown in the actual use process of a product, which considers not only the influence factors of ...

  11. Performance analysis of two-degree of freedom fractional order PID controllers for robotic manipulator with payload.

    Science.gov (United States)

    Sharma, Richa; Gaur, Prerna; Mittal, A P

    2015-09-01

    The robotic manipulators are multi-input multi-output (MIMO), coupled and highly nonlinear systems. The presence of external disturbances and time-varying parameters adversely affects the performance of these systems. Therefore, the controller designed for these systems should effectively deal with such complexities, and it is an intriguing task for control engineers. This paper presents two-degree of freedom fractional order proportional-integral-derivative (2-DOF FOPID) controller scheme for a two-link planar rigid robotic manipulator with payload for trajectory tracking task. The tuning of all controller parameters is done using cuckoo search algorithm (CSA). The performance of proposed 2-DOF FOPID controllers is compared with those of their integer order designs, i.e., 2-DOF PID controllers, and with the traditional PID controllers. In order to show effectiveness of proposed scheme, the robustness testing is carried out for model uncertainties, payload variations with time, external disturbance and random noise. Numerical simulation results indicate that the 2-DOF FOPID controllers are superior to their integer order counterparts and the traditional PID controllers. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  12. Prospective randomized controlled trial comparing 1- versus 7-day manipulation following collagenase injection for dupuytren contracture.

    Science.gov (United States)

    Mickelson, Dayne T; Noland, Shelley S; Watt, Andrew J; Kollitz, Kathleen M; Vedder, Nicholas B; Huang, Jerry I

    2014-10-01

    To compare the efficacy, tolerance, and safety of manual manipulation at day 7 to day 1 following collagenase Clostridium histolyticum (CCH) injection for Dupuytren contracture. Eligible patients were randomized to manipulation at day 1 versus day 7 following CCH injection. Preinjection, premanipulation, postmanipulation, and 30-day follow-up metacarpophalangeal (MCP) and proximal interphalangeal (PIP) joint contractures were measured. Pain scores were recorded at each time point. Data were stratified per cohort based on primary joint treated (MCP vs PIP). Means were compared using paired and unpaired t-tests. Forty-three patients with 46 digits were eligible and were randomized to 1-day (22 digits) and 7-day (24 digits) manipulation. For MCP joints, there were no significant differences in flexion contractures between 1- and 7-day cohorts for initial (47° vs 46°), postmanipulation (0° vs 2°), or 30-day follow-up (1° vs 2°) measurements. Premanipulation, the residual contracture was significantly lower in the 7-day group (23° vs 40°). For PIP joints, there were no significant differences between 1- and 7-day cohorts for initial (63° vs 62°), premanipulation (56° vs 52°), postmanipulation (13° vs 15°), or 30-day (14° vs 16°) measurements. There were no significant differences in pain or skin tears between the 2 groups. No flexor tendon ruptures were observed. The effectiveness of CCH in achieving correction of Dupuytren contractures was preserved when manipulation was performed on day 7, with no differences in correction, pain, or skin tears. These data suggest that manipulation can be scheduled at the convenience of the patient and surgeon within the first 7 days after injection. Therapeutic I. Copyright © 2014 American Society for Surgery of the Hand. Published by Elsevier Inc. All rights reserved.

  13. Mapping the Parameter Space of tDCS and Cognitive Control via Manipulation of Current Polarity and Intensity

    OpenAIRE

    Karuza, Elisabeth A.; Balewski, Zuzanna Z.; Hamilton, Roy H.; Medaglia, John D.; Tardiff, Nathan; Thompson-Schill, Sharon L.

    2016-01-01

    In the cognitive domain, enormous variation in methodological approach prompts questions about the generalizability of behavioral findings obtained from studies of transcranial direct current stimulation (tDCS). To determine the impact of common variations in approach, we systematically manipulated two key stimulation parameters—current polarity and intensity—and assessed their impact on a task of inhibitory control (the Eriksen Flanker). Ninety participants were randomly assigned to one of n...

  14. The Use of a Brain Computer Interface Remote Control to Navigate a Recreational Device

    Directory of Open Access Journals (Sweden)

    Shih Chung Chen

    2013-01-01

    Full Text Available People suffering from paralysis caused by serious neural disorder or spinal cord injury also need to be given a means of recreation other than general living aids. Although there have been a proliferation of brain computer interface (BCI applications, developments for recreational activities are scarcely seen. The objective of this study is to develop a BCI-based remote control integrated with commercial devices such as the remote controlled Air Swimmer. The brain is visually stimulated using boxes flickering at preprogrammed frequencies to activate a brain response. After acquiring and processing these brain signals, the frequency of the resulting peak, which corresponds to the user’s selection, is determined by a decision model. Consequently, a command signal is sent from the computer to the wireless remote controller via a data acquisition (DAQ module. A command selection training (CST and simulated path test (SPT were conducted by 12 subjects using the BCI control system and the experimental results showed a recognition accuracy rate of 89.51% and 92.31% for the CST and SPT, respectively. The fastest information transfer rate demonstrated a response of 105 bits/min and 41.79 bits/min for the CST and SPT, respectively. The BCI system was proven to be able to provide a fast and accurate response for a remote controller application.

  15. Design and Implementation of a Remote Controlled Car Jack

    OpenAIRE

    Oshevire Patrick

    2014-01-01

    This paper would involve designing the system and also constructing a unit that can be used to jack up any regular car as controlled by the transmitter to the receiver. The receiver circuit would be controlled by microcontroller. It also involves the designing an infra-red transmitter circuit capable of transmitting a coded frequency. The receiver circuit would be able to receive the transmitted infra-red beam and be able to process and decode the control signals for the upward movement of t...

  16. Fascial Manipulation? for chronic aspecific low back pain: a single blinded randomized controlled trial

    OpenAIRE

    Mirco Branchini; Francesca Lopopolo; Ernesto Andreoli; Ivano Loreti; Aurélie M Marchand; Antonio Stecco

    2016-01-01

    Background: The therapeutic approach to chronic aspecific low back pain (CALBP) has to consider the multifactorial aetiology of the disorder. International guidelines do not agree on unequivocal treatment indications. Recommendations for fascial therapy are few and of low level evidence but several studies indicate strong correlations between fascial thickness and low back pain. This study aims at comparing the effectiveness of Fascial Manipulation® associated with a physiotherapy program fol...

  17. Advanced methods for displays and remote control of robots.

    Science.gov (United States)

    Eliav, Ami; Lavie, Talia; Parmet, Yisrael; Stern, Helman; Edan, Yael

    2011-11-01

    An in-depth evaluation of the usability and situation awareness performance of different displays and destination controls of robots are presented. In two experiments we evaluate the way information is presented to the operator and assess different means for controlling the robot. Our study compares three types of displays: a "blocks" display, a HUD (head-up display), and a radar display, and two types of controls: touch screen and hand gestures. The HUD demonstrated better performance when compared to the blocks display and was perceived to have greater usability compared to the radar display. The HUD was also found to be more useful when the operation of the robot was more difficult, i.e., when using the hand-gesture method. The experiments also pointed to the importance of using a wide viewing angle to minimize distortion and for easier coping with the difficulties of locating objects in the field of view margins. The touch screen was found to be superior in terms of both objective performance and its perceived usability. No differences were found between the displays and the controllers in terms of situation awareness. This research sheds light on the preferred display type and controlling method for operating robots from a distance, making it easier to cope with the challenges of operating such systems. Copyright © 2011 Elsevier Ltd and The Ergonomics Society. All rights reserved.

  18. Exploring Children’s Use of a Remotely Controlled Surfacebot Character for Storytelling

    NARCIS (Netherlands)

    Catala, Alejandro; Theune, Mariet; Reidsma, Dennis; ter Stal, Silke; Heylen, Dirk K.J.

    This paper explores the use of a remotely controlled character to be used by children in storytelling activities. The character is implemented in a moveable tablet or surfacebot, which supports the development of inexpensive expressive agents capable of moving around in real space, applicable in

  19. What works in Indigenous tobacco control? The perceptions of remote Indigenous community members and health staff.

    Science.gov (United States)

    Johnston, Vanessa; Thomas, David P

    2010-04-01

    To explore the perceptions of remote Indigenous community members and health staff regarding the acceptability and effectiveness of different tobacco control health promotion interventions. Qualitative methods were used for this exploratory study, including interviews with remote Indigenous community members and health staff, as well as observations of the delivery of different tobacco control activities in three remote communities in the Northern Territory (NT). Several tobacco control interventions for which there is strong evidence in other settings were generally perceived as acceptable and efficacious in the remote Indigenous setting. Primary care interventions, such as brief advice and pharmaceutical quitting aids, when available and accessible, were perceived as important and effective strategies to help people quit, as were the promotion of smokefree areas. By contrast unmodified Quit programs were perceived to have questionable application in this context and there were conflicting findings regarding taxation increases on tobacco and social marketing campaigns. Several evidence-based 'mainstream' activities are perceived to be acceptable to this population, but we may also need to address the concerns raised by health staff and community members about the acceptability of some unmodified activities. Additionally, organisational barriers within the health system may be contributing to the reduced effectiveness of tobacco control in this setting.

  20. DESAIN DAN IMPLEMENTASI SISTEM KENDALI INTENSITAS CAHAYA PPR MENGGUNAKAN SMS BERBASIS REMOTE CONTROL

    Directory of Open Access Journals (Sweden)

    Mohammad Khairuddin

    2015-06-01

    Full Text Available Makalah ini membahas kendali jarak jauh intensitas cahaya piranti penerangan ruang (PPR secara efisien menggunakan short message service (SMS berbasis remote control. Dengan sistem kendali berbasis SMS sebagai remote control maka semua PPR dapat dikendalikan dari manapun di seluruh penjuru tanah air dengan syarat tempat tersebut terjangkau oleh sinyal telekomunikasi yang disediakan oleh provider. Sistem ini didesain untuk memenuhi arahan hemat energi oleh Kementerian Energi dan Pertambangan. Sistem kendali intensitas cahaya PPR menggunakan SMS berbasis remote control ini sebagai terobosan sistem saklar manual yang selama ini dibatasi oleh ruang secara fisik. Kemudahan penggunaan handphone (HP telah menjadi peluang bagi sistem saklar PPR. Didukung dengan semakin murahnya biaya berkomunikasi melalui SMS. Peluang ini mendukung kemudahan pengguna HP dengan menambah fitur sistem kendali intensitas cahaya PPR menggunakan SMS berbasis remote control. Sistem kendali jarak jauh menggunakan server modem wavecom fastrack supreme. Sistem ini menggunakan prosesor ATmega8 dengan interfacing menggunakan RS232. Hasil eksperimen menunjukan bahwa tidak ada perbedaan waktu terhadap variabel jarak posisi PPR dengan HP pengirim SMS selaku comander untuk eksekusi pengaturan intensitas cahaya. Dengan rerata waktu jeda 4,38 detik. Semakin besar prosentase sudut pemicuan TRIAC maka akan semakin besar nilai intensitas cahaya. Tidak ada perbedaan signifikan terhadap lama waktu hasil eksekusi terhadap variasi provider yang digunakan.

  1. Design and testing of a remotely controlled surfkite for the Laddermill

    NARCIS (Netherlands)

    Lansdorp, B.; Remes, B.D.W.; Ockels, W.

    2005-01-01

    This paper presents the design and testing of a remotely controlled surfkite for the Laddermill. The Laddermill is a novel concept to generate electricity from high altitude winds. It generates electricity by pulling a rope from a generator, with lift generated by kites. Part of the rope that is

  2. Using remote substituents to control solution structure and anion binding in lanthanide complexes

    DEFF Research Database (Denmark)

    Tropiano, Manuel; Blackburn, Octavia A.; Tilney, James A.

    2013-01-01

    of the molecule, at a substantial distance from the binding pocket. Herein, we explore these remote substituent effects and explain the observed behaviour through discussion of the way in which remote substituents can influence and control the global structure of a molecule through their demands upon...... conformational space. Peripheral modifications to a binuclear lanthanide motif derived from α,α'-bis(DO3 Ayl)-m-xylene are shown to result in dramatic changes to the binding constant for isophthalate. In this system, the parent compound displays considerable conformational flexibility, yet can be assumed to bind...

  3. THE REMOTE AND MOBILE AIR TRAFFIC CONTROL TOWER AND ITS POSSIBLE APPLICATION TO THE OPERATIONAL AREA

    Directory of Open Access Journals (Sweden)

    Tímea VAS

    2014-10-01

    Full Text Available The concept of remote and mobile Air Traffic Control Tower (ATC TWR and its development has started in Europe, Australia and also in the USA, in order to improve the efficiency of Air Traffic Management (ATM systems in terms of air transportation safety. These new technologies are applicable in many countries in peace time, but on mobility reasons these are promoted to achieve commitments in the operational area. This article describes the devices and range of equipment of mobile and remote tower, and their specifications, which can even serve a medium sized airport, furthermore examines, whether how can those provide the air traffic services at an operational airfield.

  4. Quantifying the transient carbon dynamics of ecosystem scale carbon cycle responses to piñon pine mortality using a large-scale experimental manipulation, remote sensing and model-data fusion

    Science.gov (United States)

    Litvak, M. E.; Hilton, T. W.; Krofcheck, D. J.; Fox, A. M.; Robinson, E.; McDowell, N. G.; Rahn, T.; Sinsabaugh, R.

    2012-12-01

    The southwestern United States experienced an extended drought from 1999-2002 which led to widespread coniferous tree mortality throughout New Mexico, Arizona, Utah and Colorado. Piñon-juniper (PJ) woodlands, which occupy 24 million ha throughout the Southwest, proved to be extremely vulnerable to this drought, experiencing 40 to 95% mortality of piñon pine (Pinus edulis) and 2-25% mortality of juniper (Juniperus monosperma) in less than 3 years (Breshears et al., 2005). Understanding the response trajectories of these woodlands is crucial given that climate projections for the region suggest that episodic droughts, such as the one correlated with these recent conifer mortality, are likely to increase in frequency and severity and to expand northward. We are using a combination of eddy covariance, soil respiration, sap flow and biomass carbon pool measurements made at: (i) an undisturbed PJ woodland (control) in central New Mexico and at a manipulation site within 2 miles of the control where all piñon trees greater than 7 cm diameter at breast height within the 4 ha flux footprint were girdled (decreasing LAI by ~ 1/3) to quantify the response of ecosystem carbon and water dynamics in PJ woodlands to widespread piñon mortality. As expected, piñon mortality triggered an abrupt shift in carbon stocks from productive biomass to detritus, leading to a 25% decrease in gross primary production, and >50% decrease in net ecosystem production in the two years following mortality. Because litter and course woody debris are slow to decompose in these semiarid environments, ecosystem respiration initially decreased following mortality, and only increased two years post mortality following a large monsoon precipitation event. In the three years following mortality, reduced competition for water in these water limited ecosystems and increased light availability has triggered compensatory growth in understory vegetation observed in both remote sensing and ground

  5. Remote control of the industry processes. POWERLINK protocol application

    Science.gov (United States)

    Wóbel, A.; Paruzel, D.; Paszkiewicz, B.

    2017-08-01

    The present technological development enables the use of solutions characterized by a lower failure rate, and work with greater precision. This allows you to obtain the most efficient production, high speed production and reliability of individual components. The main scope of this article was POWERLINK protocol application for communication with the controller B & R through communication Ethernet for recording process parameters. This enables control of run production cycle using an internal network connected to the PC industry. Knowledge of the most important parameters of the production in real time allows detecting of a failure immediately after occurrence. For this purpose, the position of diagnostic use driver X20CP1301 B&R to record measurement data such as pressure, temperature valve between the parties and the torque required to change the valve setting was made. The use of POWERLINK protocol allows for the transmission of information on the status of every 200 μs.

  6. FPGA LabVIEW Programming, Monitoring and Remote Control

    OpenAIRE

    Petru Cotfas; Marius Ghercioiu; Doru Ursutiu; Cornel Samoila

    2009-01-01

    NI ELVIS is an educational design and prototyping platform from National Instruments Corp. based on NI LabVIEW graphical system design software. The platform is used for teaching concepts in areas such as instrumentation, circuits, control, communication, and embedded design in a hands-on, interactive manner. NI ELVIS contains an integrated suite of the 12 most commonly used instruments – DMM, oscilloscope, function generator, MIO, Counter etc - in a compact, rugged, laboratory-friendly form ...

  7. Investigation on sense of control parameters for joystick interface in remote operated container crane application

    Science.gov (United States)

    Abdullah, U. N. N.; Handroos, H.

    2017-09-01

    Introduction: This paper presents the study of sense of control parameters to improve the lack of direct motion feeling through remote operated container crane station (ROCCS) joystick interface. The investigations of the parameters in this study are important to develop the engineering parameters related to the sense of control goal in the next design process. Methodology: Structured interviews and observations were conducted to obtain the user experience data from thirteen remote container crane operators from two international terminals. Then, interview analysis, task analysis, activity analysis and time line analysis were conducted to compare and contrast the results from interviews and observations. Results: Four experience parameters were identified to support the sense of control goal in the later design improvement of the ROCC joystick interface. The significance of difficulties to control, unsynchronized movements, facilitate in control and decision making in unexpected situation as parameters to the sense of control goal were validated by' feedbacks from operators as well as analysis. Contribution: This study provides feedback directly from end users towards developing a sustainable control interface for ROCCS in specific and remote operated off-road vehicles in general.

  8. Requirements for remote control system of boilers. Intelligent ka no yoken

    Energy Technology Data Exchange (ETDEWEB)

    Nohara, I. (Japan Boiler Association, Tokyo (Japan))

    1991-12-01

    Cases of adopting intelligent systems for boilers are increasing. Computerization with digital control technology is in progress in the field of boilers and the integrated control system is being put to practical use in which organic relationship between a boiler and other devices is maintained by the signals from the computer. The prerequisite for such systems is the possibility of confirming pressure water level and combustion condition at both the location of boiler installation and the remote supervisory control room. The safety of the boiler can be assured only in the system where the remote control system is effectively combined with the monitoring at the biller installation site maintenance etc. and man-machine system is necessary same as the conventional systems. With the progress of intelligent systems boiler engineers are expected to play more important roles.

  9. Novel Networked Remote Laboratory Architecture for Open Connectivity Based on PLC-OPC-LabVIEW-EJS Integration. Application in Remote Fuzzy Control and Sensors Data Acquisition.

    Science.gov (United States)

    González, Isaías; Calderón, Antonio José; Mejías, Andrés; Andújar, José Manuel

    2016-10-31

    In this paper the design and implementation of a network for integrating Programmable Logic Controllers (PLC), the Object-Linking and Embedding for Process Control protocol (OPC) and the open-source Easy Java Simulations (EJS) package is presented. A LabVIEW interface and the Java-Internet-LabVIEW (JIL) server complete the scheme for data exchange. This configuration allows the user to remotely interact with the PLC. Such integration can be considered a novelty in scientific literature for remote control and sensor data acquisition of industrial plants. An experimental application devoted to remote laboratories is developed to demonstrate the feasibility and benefits of the proposed approach. The experiment to be conducted is the parameterization and supervision of a fuzzy controller of a DC servomotor. The graphical user interface has been developed with EJS and the fuzzy control is carried out by our own PLC. In fact, the distinctive features of the proposed novel network application are the integration of the OPC protocol to share information with the PLC and the application under control. The user can perform the tuning of the controller parameters online and observe in real time the effect on the servomotor behavior. The target group is engineering remote users, specifically in control- and automation-related tasks. The proposed architecture system is described and experimental results are presented.

  10. Novel Networked Remote Laboratory Architecture for Open Connectivity Based on PLC-OPC-LabVIEW-EJS Integration. Application in Remote Fuzzy Control and Sensors Data Acquisition

    Science.gov (United States)

    González, Isaías; Calderón, Antonio José; Mejías, Andrés; Andújar, José Manuel

    2016-01-01

    In this paper the design and implementation of a network for integrating Programmable Logic Controllers (PLC), the Object-Linking and Embedding for Process Control protocol (OPC) and the open-source Easy Java Simulations (EJS) package is presented. A LabVIEW interface and the Java-Internet-LabVIEW (JIL) server complete the scheme for data exchange. This configuration allows the user to remotely interact with the PLC. Such integration can be considered a novelty in scientific literature for remote control and sensor data acquisition of industrial plants. An experimental application devoted to remote laboratories is developed to demonstrate the feasibility and benefits of the proposed approach. The experiment to be conducted is the parameterization and supervision of a fuzzy controller of a DC servomotor. The graphical user interface has been developed with EJS and the fuzzy control is carried out by our own PLC. In fact, the distinctive features of the proposed novel network application are the integration of the OPC protocol to share information with the PLC and the application under control. The user can perform the tuning of the controller parameters online and observe in real time the effect on the servomotor behavior. The target group is engineering remote users, specifically in control- and automation-related tasks. The proposed architecture system is described and experimental results are presented. PMID:27809229

  11. Novel Networked Remote Laboratory Architecture for Open Connectivity Based on PLC-OPC-LabVIEW-EJS Integration. Application in Remote Fuzzy Control and Sensors Data Acquisition

    Directory of Open Access Journals (Sweden)

    Isaías González

    2016-10-01

    Full Text Available In this paper the design and implementation of a network for integrating Programmable Logic Controllers (PLC, the Object-Linking and Embedding for Process Control protocol (OPC and the open-source Easy Java Simulations (EJS package is presented. A LabVIEW interface and the Java-Internet-LabVIEW (JIL server complete the scheme for data exchange. This configuration allows the user to remotely interact with the PLC. Such integration can be considered a novelty in scientific literature for remote control and sensor data acquisition of industrial plants. An experimental application devoted to remote laboratories is developed to demonstrate the feasibility and benefits of the proposed approach. The experiment to be conducted is the parameterization and supervision of a fuzzy controller of a DC servomotor. The graphical user interface has been developed with EJS and the fuzzy control is carried out by our own PLC. In fact, the distinctive features of the proposed novel network application are the integration of the OPC protocol to share information with the PLC and the application under control. The user can perform the tuning of the controller parameters online and observe in real time the effect on the servomotor behavior. The target group is engineering remote users, specifically in control- and automation-related tasks. The proposed architecture system is described and experimental results are presented.

  12. Remote wireless control of building management systems automation.

    OpenAIRE

    Gylling, Marcus

    2004-01-01

    The controlling unit in building management system automation is a PLC. Every device in an installation is connected to the PLC. When a user wants to interact with a system an operator terminal, which is attached to a cabinet where the PLC is installed, is used. With this solution the user needs to be in front of the cabinet to interact with the system. Alarms do not get the user’s attention until the user checks the operator terminal. Using a solution where the communication with the PLC is ...

  13. The addition of upper cervical manipulative therapy in the treatment of patients with fibromyalgia: a randomized controlled trial.

    Science.gov (United States)

    Moustafa, Ibrahim M; Diab, Aliaa A

    2015-07-01

    The aim of this study was to investigate the immediate and long-term effects of a one-year multimodal program, with the addition of upper cervical manipulative therapy, on fibromyalgia management outcomes in addition to three-dimensional (3D) postural measures. This randomized clinical trial with one-year follow-up was completed at the research laboratory of our university. A total of 120 (52 female) patients with fibromyalgia syndrome (FMS) and definite C1-2 joint dysfunction were randomly assigned to the control or an experimental group. Both groups received a multimodal program; additionally, the experimental group received upper cervical manipulative therapy. Primary outcomes were the Fibromyalgia Impact Questionnaire (FIQ), whereas secondary outcomes included Pain Catastrophizing Scale (PCS), algometric score, Pittsburgh Sleep Quality Index (PSQI), Beck Anxiety Inventory (BAI), Beck Depression Inventory (BDI), and 3D postural measures. Measures were assessed at three time intervals: baseline, 12 weeks, and 1 year after the 12-week follow-up. The general linear model with repeated measures indicated a significant group × time effect in favor of the experimental group on the measures of 3D postural parameters (P manipulative therapy to a multimodal program is beneficial in treating patients with FMS.

  14. Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master–Slave Systems

    Science.gov (United States)

    Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

    2017-01-01

    Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master–slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user’s wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a

  15. Affine Transform to Reform Pixel Coordinates of EOG Signals for Controlling Robot Manipulators Using Gaze Motions

    Directory of Open Access Journals (Sweden)

    Muhammad Ilhamdi Rusydi

    2014-06-01

    Full Text Available Biosignals will play an important role in building communication between machines and humans. One of the types of biosignals that is widely used in neuroscience are electrooculography (EOG signals. An EOG has a linear relationship with eye movement displacement. Experiments were performed to construct a gaze motion tracking method indicated by robot manipulator movements. Three operators looked at 24 target points displayed on a monitor that was 40 cm in front of them. Two channels (Ch1 and Ch2 produced EOG signals for every single eye movement. These signals were converted to pixel units by using the linear relationship between EOG signals and gaze motion distances. The conversion outcomes were actual pixel locations. An affine transform method is proposed to determine the shift of actual pixels to target pixels. This method consisted of sequences of five geometry processes, which are translation-1, rotation, translation-2, shear and dilatation. The accuracy was approximately 0.86° ± 0.67° in the horizontal direction and 0.54° ± 0.34° in the vertical. This system successfully tracked the gaze motions not only in direction, but also in distance. Using this system, three operators could operate a robot manipulator to point at some targets. This result shows that the method is reliable in building communication between humans and machines using EOGs.

  16. Controlling acoustic streaming in an ultrasonic heptagonal tweezers with application to cell manipulation.

    Science.gov (United States)

    Bernassau, A L; Glynne-Jones, P; Gesellchen, F; Riehle, M; Hill, M; Cumming, D R S

    2014-01-01

    Acoustic radiation force has been demonstrated as a method for manipulating micron-scale particles, but is frequently affected by unwanted streaming. In this paper the streaming in a multi-transducer quasi-standing wave acoustic particle manipulation device is assessed, and found to be dominated by a form of Eckart streaming. The experimentally observed streaming takes the form of two main vortices that have their highest velocity in the region where the standing wave is established. A finite element model is developed that agrees well with experimental results, and shows that the Reynolds stresses that give rise to the fluid motion are strongest in the high velocity region. A technical solution to reduce the streaming is explored that entails the introduction of a biocompatible agar gel layer at the bottom of the chamber so as to reduce the fluid depth and volume. By this means, we reduce the region of fluid that experiences the Reynolds stresses; the viscous drag per unit volume of fluid is also increased. Particle Image Velocimetry data is used to observe the streaming as a function of agar-modified cavity depth. It was found that, in an optimised structure, Eckart streaming could be reduced to negligible levels so that we could make a sonotweezers device with a large working area of up to 13 mm × 13 mm. Copyright © 2013 Elsevier B.V. All rights reserved.

  17. From Antarctica to space: Use of telepresence and virtual reality in control of remote vehicles

    Science.gov (United States)

    Stoker, Carol; Hine, Butler P., III; Sims, Michael; Rasmussen, Daryl; Hontalas, Phil; Fong, Terrence W.; Steele, Jay; Barch, Don; Andersen, Dale; Miles, Eric

    1994-01-01

    In the Fall of 1993, NASA Ames deployed a modified Phantom S2 Remotely-Operated underwater Vehicle (ROV) into an ice-covered sea environment near McMurdo Science Station, Antarctica. This deployment was part of the antarctic Space Analog Program, a joint program between NASA and the National Science Foundation to demonstrate technologies relevant for space exploration in realistic field setting in the Antarctic. The goal of the mission was to operationally test the use of telepresence and virtual reality technology in the operator interface to a remote vehicle, while performing a benthic ecology study. The vehicle was operated both locally, from above a dive hole in the ice through which it was launched, and remotely over a satellite communications link from a control room at NASA's Ames Research Center. Local control of the vehicle was accomplished using the standard Phantom control box containing joysticks and switches, with the operator viewing stereo video camera images on a stereo display monitor. Remote control of the vehicle over the satellite link was accomplished using the Virtual Environment Vehicle Interface (VEVI) control software developed at NASA Ames. The remote operator interface included either a stereo display monitor similar to that used locally or a stereo head-mounted head-tracked display. The compressed video signal from the vehicle was transmitted to NASA Ames over a 768 Kbps satellite channel. Another channel was used to provide a bi-directional Internet link to the vehicle control computer through which the command and telemetry signals traveled, along with a bi-directional telephone service. In addition to the live stereo video from the satellite link, the operator could view a computer-generated graphic representation of the underwater terrain, modeled from the vehicle's sensors. The virtual environment contained an animate graphic model of the vehicle which reflected the state of the actual vehicle, along with ancillary information such

  18. [Case-control study on manipulation combined with Chinese herbs for the treatment of lumbar disc herniation within chronic stage].

    Science.gov (United States)

    Zhang, Yu; Wu, Guan-nan; Li, Xing; Zhang, Yong-dong; Li, Zuo-xu; Ma, Ming; Lei, Zhong-min; Li, Jun-jie

    2011-11-01

    To observe and compare the therapeutic effects of two methods to lumbar disc herniation treated by manipulation combined with Chinese herbs and traction with Western medicine. A multi-center with a central district unit was used to study the patients with lumbar disc herniation from November 28th, 2008 to May 7th, 2010. All the patients were divided into treatment group and control group. The treatment group had 100 cases, including 45 males and 55 females, averaged (43.43 +/- 9.18) years. The treatment group was treated by manipulation combined with Chinese herbs; Control group had 100 cases (5 cases were fall off), including 38 males and 57 females, averaged (42.29 +/- 9.78) years. The control group was treated by traction with Western medicine. The course of treatment was 3 weeks. VAS, M-JOA, LMS (lower limb muscle strength) and classification efficacy was used to evaluate outcome and therapeutic effects before and after treatment. VAS and M-JOA were improved after the treatment both in treatment group and control group; there was no significant difference in LMS before and after treatment in both groups. VAS and M-JOA in treatment group was superior to those of control group after treatment. There was no significant difference in LMS. According to classification efficacy, 41 cases got excellent result, 34 good, 13 fair and 12 poor in treatment group; in control group, 35 cases obtained excellent results, 16 good, 19 fair and 25 poor. The effect of treatment group was better than that of control group. Both of two methods can improve the score of VAS, M-JOA, and treatment group is better than that of control group. While for the improvement of LMS, both of two methods have no obvious effects.

  19. Effect of osteopathic manipulative treatment on length of stay in a population of preterm infants: a randomized controlled trial

    Science.gov (United States)

    2013-01-01

    Background The use of osteopathic manipulative treatment (OMT) in preterm infants has been documented and results from previous studies suggest the association between OMT and length of stay (LOS) reduction, as well as significant improvements in several clinical outcomes. The aim of the present study is to investigate the effect of OMT on LOS in premature infants. Methods A randomized controlled trial was conducted on preterm newborns admitted to a single NICU between 2008-2009. N=110 subjects free of medical complications and with gestational age >28 and an important role in the management of preterm infants hospitalization. Trial registration ClinicalTrials.gov, NCT01544257. PMID:23622070

  20. Manipulation of metabolic pathways controlled by signaling molecules, inducers of antibiotic production, for genome mining in Streptomyces spp.

    Science.gov (United States)

    Arakawa, Kenji

    2018-02-23

    Streptomyces is well characterized by an ability to produce a wide variety of secondary metabolites including antibiotics, whose expression is strictly controlled by small diffusible signaling molecules at nano-molar concentrations. The signaling molecules identified to date are classified into three skeletons; γ-butyrolactones, furans, and γ-butenolides. Accumulated data suggest the structural diversity of the signaling molecules in Streptomyces species and their potential in activating cryptic secondary metabolite biosynthetic pathways. Several genome mining approaches to activate silent biosynthetic gene clusters have been reported for natural product discovery. This review updates recent examples on genetic manipulation including blockage of metabolic pathways together with inactivation of transcriptional repressor genes.

  1. Identification of cognitive factors related to remote work performance using closed circuit TV displays

    Science.gov (United States)

    Clarke, M. M.; Garin, J.

    1981-01-01

    Operator perceptual cognitive styles as predictors of remote task performance were identified. Remote tasks which require the use of servo controlled master/slave manipulators and closed circuit television for teleoperator repair and maintenance of nuclear fuel recycling systems are examined. A useful procedure for identifying such perceptual styles is described.

  2. Adaptive Control for Revolute Joints Robot Manipulator with Uncertain/Unknown Dynamic Parameters and in Presence of Disturbance in Control Input

    DEFF Research Database (Denmark)

    Seyed Sakha, Masoud; Shaker, Hamid Reza

    2017-01-01

    This paper presents an effective adaptive controller for revolute joints robot manipulator where the control input is accompanied with a random disturbance (with unknown PSD). It is clear that, disturbance can compromise the overall performance of the system. To cope with this problem, a control...... technique is proposed which uses the concept of exponential practical stability. Unlike other counterparts, the proposed method does not need information such as the physical parameters of robot and gravitational acceleration. The results show that the proposed controller achieves an excellent performance...

  3. Reducing alcohol-related aggression: Effects of a self-awareness manipulation and locus of control in heavy drinking males.

    Science.gov (United States)

    Purvis, Danielle M; Gallagher, Kathryn E; Parrott, Dominic J

    2016-07-01

    Alcohol Myopia Theory (AMT; Steele & Josephs, 1990) purports that alcohol facilitates aggression by narrowing attentional focus onto salient and instigatory cues common to conflict situations. However, few tests of its counterintuitive prediction - that alcohol may decrease aggression when inhibitory cues are most salient - have been conducted. The present study examined whether an AMT-inspired self-awareness intervention manipulation would reduce heavy drinking men's intoxicated aggression toward women and also examined whether a relevant individual variable, locus of control, would moderate this effect. Participants were 102 intoxicated male heavy drinkers who completed a self-report measure of locus of control and completed the Taylor Aggression Paradigm (Taylor, 1967). In this task, participants administered electric shocks to, and received electric shocks from, a fictitious female opponent while exposed to an environment saturated with or devoid of self-awareness cues. Results indicated that the self-awareness manipulation was associated with less alcohol-related aggression toward the female confederate for men who reported an internal, but not an external, locus of control. Findings support AMT as a theoretical framework to inform preventative interventions for alcohol-related aggression and highlight the importance of individual differences in receptivity to such interventions. Copyright © 2016 Elsevier Ltd. All rights reserved.

  4. Control System Design Implementation and Preliminary Demonstration for a Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

    Science.gov (United States)

    Komendera, Erik E.; Doggett, William R.; Dorsey, John T.; Debus, Thomas J.; Holub, Kris; Dougherty, Sean P.

    2015-01-01

    Satellite servicing is a high priority task for NASA and the space industry, addressing the needs of a variety of missions, and potentially lowering the overall cost of missions through refurbishment and reuse. However, the ability to service satellites is severely limited by the lack of long reach manipulation capability and inability to launch new devices due the end of the Space Transport System, or Space Shuttle Program. This paper describes the design and implementation of a control system for a Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN), including; defining the forward and inverse kinematics, endpoint velocity to motor velocity, required cable tensions, and a proportional-integral-derivative (PID) controller. The tensions and velocities necessary to maneuver and capture small and large payloads are also discussed. To demonstrate the utility of the TALISMAN for satellite servicing, this paper also describes a satellite servicing demonstration using two TALISMAN prototypes to grasp and inspect a satellite mockup. Potential avenues for improving the control system are discussed.

  5. Mapping the Parameter Space of tDCS and Cognitive Control via Manipulation of Current Polarity and Intensity.

    Science.gov (United States)

    Karuza, Elisabeth A; Balewski, Zuzanna Z; Hamilton, Roy H; Medaglia, John D; Tardiff, Nathan; Thompson-Schill, Sharon L

    2016-01-01

    In the cognitive domain, enormous variation in methodological approach prompts questions about the generalizability of behavioral findings obtained from studies of transcranial direct current stimulation (tDCS). To determine the impact of common variations in approach, we systematically manipulated two key stimulation parameters-current polarity and intensity-and assessed their impact on a task of inhibitory control (the Eriksen Flanker). Ninety participants were randomly assigned to one of nine experimental groups: three stimulation conditions (anode, sham, cathode) crossed with three intensity levels (1.0, 1.5, 2.0 mA). As participants performed the Flanker task, stimulation was applied over left dorsolateral prefrontal cortex (DLPFC; electrode montage: F3-RSO). The behavioral impact of these manipulations was examined using mixed effects linear regression. Results indicate a significant effect of stimulation condition (current polarity) on the magnitude of the interference effect during the Flanker; however, this effect was specific to the comparison between anodal and sham stimulation. Inhibitory control was therefore improved by anodal stimulation over the DLPFC. In the present experimental context, no reliable effect of stimulation intensity was observed, and we found no evidence that inhibitory control was impeded by cathodal stimulation. Continued exploration of the stimulation parameter space, particularly with more robustly powered sample sizes, is essential to facilitating cross-study comparison and ultimately working toward a reliable model of tDCS effects.

  6. Fault Tolerant Control Architecture Design for Mobile Manipulation in Scientific Facilities

    Directory of Open Access Journals (Sweden)

    Mohammad M. Aref

    2015-01-01

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

  7. Manipulation of quantum states in a memory cell: controllable Mach-Zehnder interferometer

    Science.gov (United States)

    Losev, A. S.; Golubeva, T. Yu; Golubev, Yu M.

    2017-05-01

    In this article, we consider the possibility of manipulation of quantum signals, ensured by the use of the tripod-type atomic memory cell. We show that depending on a configuration of driving fields at the writing and reading, such a cell allows the signal to both be stored and transformed. It is possible to provide the operation of the memory cell in a Mach-Zehnder interferometer mode passing two successive pulses at the input. We proposed a procedure of partial signal readout that provides entanglement between the retrieved light and the atomic ensemble. Thus, we have shown that a tripod atomic cell is a promising candidate to implement quantum logical operations, including two-qubit ones, which can be performed on the basis of only one cell.

  8. Fascial Manipulation® for chronic aspecific low back pain: a single blinded randomized controlled trial.

    Science.gov (United States)

    Branchini, Mirco; Lopopolo, Francesca; Andreoli, Ernesto; Loreti, Ivano; Marchand, Aurélie M; Stecco, Antonio

    2015-01-01

    The therapeutic approach to chronic aspecific low back pain (CALBP) has to consider the multifactorial aetiology of the disorder. International guidelines do not agree on unequivocal treatment indications. Recommendations for fascial therapy are few and of low level evidence but several studies indicate strong correlations between fascial thickness and low back pain. This study aims at comparing the effectiveness of Fascial Manipulation® associated with a physiotherapy program following guidelines for CALBP compared to a physiotherapy program alone. 24 subjects were randomized into two groups, both received eight treatments over 4 weeks. Outcomes were measured at baseline, at the end of therapy and at a 1 month and a 3 months follow-up. Pain was measured with the visual analogue scale (VAS) and the brief pain inventory (BPI), function with the Rolland-Morris disability questionnaire (RMDQ), state of well-being with the short-form 36 health-survey (SF-36). The mean clinical important difference (MCID) was also measured. Patients receiving Fascial Manipulation® showed statistically and clinically significant improvements at the end of care for all outcomes, in the short (RMDQ, VAS, BPI) and medium term for VAS and BPI compared to manual therapy. The MCID show significant improvements in the means and percentage of subjects in groups in all outcomes post-treatment, in the short and medium term. Fascial tissues were implicated in the aetiology of CALBP and treatment led to decreased symptomatic, improved functional and perceived well-being outcomes that were of greater amplitude compared to manual therapy alone.

  9. Design and Implementation of a Remote Control System for a Bio-Inspired Jumping Robot

    Directory of Open Access Journals (Sweden)

    Jun Zhang

    2012-10-01

    Full Text Available This paper presents the design and implementation of a remote control system for a bio-inspired jumping robot. The system is composed of a server, a gateway, and a jumping robot. The proposed remote control system is used to monitor the posture of the jumping robot and control it in remote places. A three-axis accelerometer is used to detect the tilts of the robot. A compass is used to sense the azimuth of the robot. The calibrations of the accelerometer and the compass are conducted. The sensor data of the robot can be sent to the server through a ZigBee wireless sensor network (WSN. An algorithm is designed to calculate the posture of the robot from the sensor data. The posture of the robot can be displayed on the human-computer interface of the server using the virtual reality technology of OpenGL. The robots can be controlled by the operator through the interface. Two experiments have been done to verify the posture detection method and test the performance of the system.

  10. A Semi-Automatic, Remote-Controlled Video Observation System for Transient Luminous Events

    Science.gov (United States)

    Allin, T.; Neubert, T.; Laursen, S.; Rasmussen, I. L.; Soula, S.

    2003-12-01

    In support for global ELF/VLF observations, HF measurements in France, and conjugate photometry/VLF observations in South Africa, we developed and operated a semi-automatic, remotely controlled video system for the observation of middle-atmospheric transient luminous events (TLEs). Installed at the Pic du Midi Observatory in Southern France, the system was operational during the period from July 18 to September 15, 2003. The video system, based two low-light, non-intensified CCD video cameras, was mounted on top of a motorized pan/tilt unit. The cameras and the pan/tilt unit were controlled over serial links from a local computer, and the video outputs were distributed to a pair of PCI frame grabbers in the computer. This setup allowed remote users to log in and operate the system over the internet. Event detection software provided means of recording and time-stamping single TLE video fields and thus eliminated the need for continuous human monitoring of TLE activity. The computer recorded and analyzed two parallel video streams at the full 50 Hz field rate, while uploading status images, TLE images, and system logs to a remote web server. The system detected more than 130 TLEs - mostly sprites - distributed over 9 active evenings. We have thus demonstrated the feasibility of remote agents for TLE observations, which are likely to find use in future ground-based TLE observation campaigns, or to be installed at remote sites in support for space-borne or other global TLE observation efforts.

  11. Design and implementation of a novel modal space active force control concept for spatial multi-DOF parallel robotic manipulators actuated by electrical actuators.

    Science.gov (United States)

    Yang, Chifu; Zhao, Jinsong; Li, Liyi; Agrawal, Sunil K

    2018-01-01

    Robotic spine brace based on parallel-actuated robotic system is a new device for treatment and sensing of scoliosis, however, the strong dynamic coupling and anisotropy problem of parallel manipulators result in accuracy loss of rehabilitation force control, including big error in direction and value of force. A novel active force control strategy named modal space force control is proposed to solve these problems. Considering the electrical driven system and contact environment, the mathematical model of spatial parallel manipulator is built. The strong dynamic coupling problem in force field is described via experiments as well as the anisotropy problem of work space of parallel manipulators. The effects of dynamic coupling on control design and performances are discussed, and the influences of anisotropy on accuracy are also addressed. With mass/inertia matrix and stiffness matrix of parallel manipulators, a modal matrix can be calculated by using eigenvalue decomposition. Making use of the orthogonality of modal matrix with mass matrix of parallel manipulators, the strong coupled dynamic equations expressed in work space or joint space of parallel manipulator may be transformed into decoupled equations formulated in modal space. According to this property, each force control channel is independent of others in the modal space, thus we proposed modal space force control concept which means the force controller is designed in modal space. A modal space active force control is designed and implemented with only a simple PID controller employed as exampled control method to show the differences, uniqueness, and benefits of modal space force control. Simulation and experimental results show that the proposed modal space force control concept can effectively overcome the effects of the strong dynamic coupling and anisotropy problem in the physical space, and modal space force control is thus a very useful control framework, which is better than the current joint

  12. Calibration and Motion Control of a Cable-Driven Parallel Manipulator Based Triple-Level Spatial Positioner

    Directory of Open Access Journals (Sweden)

    Xuechao Duan

    2014-02-01

    Full Text Available This paper deals with the kinematic calibration and motion control of a triple-level spatial positioner consisting of the cable-driven parallel manipulator (CDPM, active gyro stabilizer (AGS, and the Stewart platform. A six-degree-of-freedom laser tracker is employed when calibrating the benchmark positions and measuring the real-time position and orientation in motion control, which makes it a straightforward solution to tackle with hierarchical mechatronic system actuated by servomotors with incremental encoders. Then the trajectory planning and motion control of the triple-level robotic spatial positioner are explored to verify the correctness and to what extent the calibration improves the system. This CDPM based spatial positioner has an accuracy of several millimeters though it has a ten-meter workspace.

  13. Osteopathic manipulative treatment for low back pain: a systematic review and meta-analysis of randomized controlled trials

    Science.gov (United States)

    Licciardone, John C; Brimhall, Angela K; King, Linda N

    2005-01-01

    Background Osteopathic manipulative treatment (OMT) is a distinctive modality commonly used by osteopathic physicians to complement their conventional treatment of musculoskeletal disorders. Previous reviews and meta-analyses of spinal manipulation for low back pain have not specifically addressed OMT and generally have focused on spinal manipulation as an alternative to conventional treatment. The purpose of this study was to assess the efficacy of OMT as a complementary treatment for low back pain. Methods Computerized bibliographic searches of MEDLINE, EMBASE, MANTIS, OSTMED, and the Cochrane Central Register of Controlled Trials were supplemented with additional database and manual searches of the literature. Six trials, involving eight OMT vs control treatment comparisons, were included because they were randomized controlled trials of OMT that involved blinded assessment of low back pain in ambulatory settings. Data on trial methodology, OMT and control treatments, and low back pain outcomes were abstracted by two independent reviewers. Effect sizes were computed using Cohen's d statistic and meta-analysis results were weighted by the inverse variance of individual comparisons. In addition to the overall meta-analysis, stratified meta-analyses were performed according to control treatment, country where the trial was conducted, and duration of follow-up. Sensitivity analyses were performed for both the overall and stratified meta-analyses. Results Overall, OMT significantly reduced low back pain (effect size, -0.30; 95% confidence interval, -0.47 – -0.13; P = .001). Stratified analyses demonstrated significant pain reductions in trials of OMT vs active treatment or placebo control and OMT vs no treatment control. There were significant pain reductions with OMT regardless of whether trials were performed in the United Kingdom or the United States. Significant pain reductions were also observed during short-, intermediate-, and long-term follow-up. Conclusion

  14. Osteopathic manipulative treatment for low back pain: a systematic review and meta-analysis of randomized controlled trials

    Directory of Open Access Journals (Sweden)

    King Linda N

    2005-08-01

    Full Text Available Abstract Background Osteopathic manipulative treatment (OMT is a distinctive modality commonly used by osteopathic physicians to complement their conventional treatment of musculoskeletal disorders. Previous reviews and meta-analyses of spinal manipulation for low back pain have not specifically addressed OMT and generally have focused on spinal manipulation as an alternative to conventional treatment. The purpose of this study was to assess the efficacy of OMT as a complementary treatment for low back pain. Methods Computerized bibliographic searches of MEDLINE, EMBASE, MANTIS, OSTMED, and the Cochrane Central Register of Controlled Trials were supplemented with additional database and manual searches of the literature. Six trials, involving eight OMT vs control treatment comparisons, were included because they were randomized controlled trials of OMT that involved blinded assessment of low back pain in ambulatory settings. Data on trial methodology, OMT and control treatments, and low back pain outcomes were abstracted by two independent reviewers. Effect sizes were computed using Cohen's d statistic and meta-analysis results were weighted by the inverse variance of individual comparisons. In addition to the overall meta-analysis, stratified meta-analyses were performed according to control treatment, country where the trial was conducted, and duration of follow-up. Sensitivity analyses were performed for both the overall and stratified meta-analyses. Results Overall, OMT significantly reduced low back pain (effect size, -0.30; 95% confidence interval, -0.47 – -0.13; P = .001. Stratified analyses demonstrated significant pain reductions in trials of OMT vs active treatment or placebo control and OMT vs no treatment control. There were significant pain reductions with OMT regardless of whether trials were performed in the United Kingdom or the United States. Significant pain reductions were also observed during short-, intermediate-, and long

  15. The implement of a remote control system for automated warehouse by ZigBee networking

    Directory of Open Access Journals (Sweden)

    Cheng Ho-Chih

    2017-01-01

    Full Text Available Excessive raw materials and products in stock unduly increase an enterprise's overhead. However, insufficient raw materials and products will also influence the efficiency and output of the manufacturing process. Therefore, to largely reduce stock cost and facilitate adequate production for plants with multiple manufacturing processes and warehouses, the adjustment of raw material and products between warehouses is necessary. In addition, in order to keep track of current raw materials and products, remote online monitoring and control of the storage/retrieval system is compulsory. To simplify the search in an AS/BS process, a graph-aided strategy that manually selects the location within the stock map is presented. Moreover, to avoid interference from internet wiring allocation with existing equipment, a wireless storage/retrieval system using the ZigBee module is adopted. Consequently, a prototype of the remote wireless monitoring and control storage/retrieval system for sixteen storage spaces is exemplified.

  16. Enabling People with Developmental Disabilities to Actively Perform Designated Occupational Activities according to Simple Instructions with a Nintendo Wii Remote Controller by Controlling Environmental Stimulation

    Science.gov (United States)

    Shih, Ching-Hsiang; Wang, Shu-Hui; Chang, Man-Ling; Shih, Ching-Hsiang

    2012-01-01

    The latest researches have adopted software technology, turning the Nintendo Wii Remote Controller into a high performance three-dimensional object orientation detector. This study extended Wii Remote Controller functionality to assess whether two people with developmental disabilities would be able to actively perform designated simple…

  17. Modelling, Design and Robust Control of a Remotely Operated Underwater Vehicle

    OpenAIRE

    Luis Govinda García-Valdovinos; Tomás Salgado-Jiménez; Manuel Bandala-Sánchez; Luciano Nava-Balanzar; Rodrigo Hernández-Alvarado; José Antonio Cruz-Ledesma

    2014-01-01

    Underwater remotely operated vehicles (ROVs) play an important role in a number of shallow and deep- water missions for marine science, oil and gas extraction, exploration and salvage. In these applications, the motions of the ROV are guided either by a human pilot on a surface support vessel through an umbilical cord providing power and telemetry, or by an automatic pilot. In the case of automatic control, ROV state feedback is provided by acoustic and inertial sensors and this state informa...

  18. Remote control mine-detection system with GPR and metal detector

    Science.gov (United States)

    Ivashov, Sergey I.; Makarenkov, V. I.; Masterkov, A. V.; Razevig, Vladimir V.; Sablin, Vyacheslav N.; Sheyko, Anton P.; Vasilyev, Igor A.

    2000-04-01

    In this paper we describe a method of minefield reconnaissance with the use of the multi-frequency ground-penetrating radar (GPR) combined with a metal detector. This method allows the mine images in the soil to be obtained in the band of the mine detector sensors. An experimental installation with remote control and scanning sensors has been designed and built. A mine detector of this kind can be used in peacekeeping and humanitarian operations.

  19. Computer-Based Monitoring and Remote Controlling for Oil Well Pumps Using Scada

    Directory of Open Access Journals (Sweden)

    Rudi Tjiptadi

    2011-12-01

    Full Text Available The research aims to change manually the monitoring and controlling of oil well pumps into a computer-based system using SCADA (Supervisory and Data Acquisition system. To design the protection system which consists of controller unit and display system, RTU (Remote Terminal Unit and MTU (Master Terminal Unit are used. The research results in a controller unit which is able to communicate to personal computer using RS-232 C and an alarm system to protect oil pump motors by detecting sensors installed at the pumps. 

  20. A Feed-forward Geometrical Compensation and Adaptive Feedback Control Algorithm for Hydraulic Robot Manipulators

    DEFF Research Database (Denmark)

    Conrad, Finn; Zhou, Jianjun; Gabacik, Andrzej

    1998-01-01

    Invited paper presents a new control algorithm based on feed-forward geometrical compensation strategy combined with adaptive feedback control.......Invited paper presents a new control algorithm based on feed-forward geometrical compensation strategy combined with adaptive feedback control....

  1. Variations of high frequency parameter of heart rate variability following osteopathic manipulative treatment in healthy subjects compared to control group and sham therapy: randomized controlled trial

    OpenAIRE

    Nuria eRuffini; Giandomenico eD'alessandro; Nicolò eMariani; Alberto ePollastrelli; Lucia eCardinali; Francesco eCerritelli

    2015-01-01

    Context: Heart Rate Variability (HRV) indicates how heart rate changes in response to inner and external stimuli. HRV is linked to health status and it is an indirect marker of the autonomic nervous system (ANS) function. Objective: To investigate the influence of osteopathic manipulative treatment (OMT) on cardiac autonomic modulation in healthy subjects, compared with sham therapy and control group. Methods: Sixty-six healthy subjects, both male and female, were included in the present 3-ar...

  2. Experiment on vibration control of a two-link flexible manipulator using an input shaper and adaptive positive position feedback

    Directory of Open Access Journals (Sweden)

    ZhongYi Chu

    2015-10-01

    Full Text Available This article presents a novel approach for actively suppressing the vibration within a two-link flexible manipulator to adapt the variation in the model parameters, which is composed of an input shaper and multimode adaptive positive position feedback. Input shaper is applied to shape the command to avoid the flexible vibration in the manoeuvre motion, and the residual vibration can be suppressed by a piezo actuator with the adaptive positive position feedback approach. To demonstrate the approach, two sets of piezoelectric actuator/stain gauge sensor pairs are bonded to the surface of the two-link flexible manipulator; slewing of the flexible link induces vibrations in the link that persist long after the motors stop moving. Vibration suppression is achieved through a combined scheme of input shaper–based motor motion control and an adaptive positive position feedback–based piezo actuator controller. Experimental results show the effectiveness of the proposed approach and its suitability for implementation in an existing robot.

  3. Silk-based resorbable electronic devices for remotely controlled therapy and in vivo infection abatement.

    Science.gov (United States)

    Tao, Hu; Hwang, Suk-Won; Marelli, Benedetto; An, Bo; Moreau, Jodie E; Yang, Miaomiao; Brenckle, Mark A; Kim, Stanley; Kaplan, David L; Rogers, John A; Omenetto, Fiorenzo G

    2014-12-09

    A paradigm shift for implantable medical devices lies at the confluence between regenerative medicine, where materials remodel and integrate in the biological milieu, and technology, through the use of recently developed material platforms based on biomaterials and bioresorbable technologies such as optics and electronics. The union of materials and technology in this context enables a class of biomedical devices that can be optically or electronically functional and yet harmlessly degrade once their use is complete. We present here a fully degradable, remotely controlled, implantable therapeutic device operating in vivo to counter a Staphylococcus aureus infection that disappears once its function is complete. This class of device provides fully resorbable packaging and electronics that can be turned on remotely, after implantation, to provide the necessary thermal therapy or trigger drug delivery. Such externally controllable, resorbable devices not only obviate the need for secondary surgeries and retrieval, but also have extended utility as therapeutic devices that can be left behind at a surgical or suturing site, following intervention, and can be externally controlled to allow for infection management by either thermal treatment or by remote triggering of drug release when there is retardation of antibiotic diffusion, deep infections are present, or when systemic antibiotic treatment alone is insufficient due to the emergence of antibiotic-resistant strains. After completion of function, the device is safely resorbed into the body, within a programmable period.

  4. Auger ACCESS—Remote Controlling and Monitoring the Pierre Auger Observatory

    Science.gov (United States)

    Jejkal, Thomas

    2013-10-01

    Ultra high energy cosmic rays are the most energetic particles in the universe. They are measured to have energies of up to 1020 eV and occur at a rate of about once per square kilometer per century. To increase the probability of detecting one of these events, a huge detector covering a large area is needed. The Pierre Auger Collaboration build up an observatory covering 3000 square kilometers of the Pampa Amarilla close to Malargüe for this purpose. Until now, the Auger Observatory has been controlled exclusively via the local network for security and performance reasons. As local operation is associated with high travel costs, the Auger ACCESS project, started in 2005, has constructed a secure, operable and sustainable solution for remote control and monitoring. The implemented solution includes Grid technologies for secured access and infrastructure virtualization for building up a fully featured testing environment for the Auger Observatory. Measurements showed only a negligible delay for communicating with the observatory in Argentina, which allows the establishment of remote control rooms in the near future for full remote operation and remarkable cost reduction.

  5. Dynamic modeling and hierarchical compound control of a novel 2-DOF flexible parallel manipulator with multiple actuation modes

    Science.gov (United States)

    Liang, Dong; Song, Yimin; Sun, Tao; Jin, Xueying

    2018-03-01

    This paper addresses the problem of rigid-flexible coupling dynamic modeling and active control of a novel flexible parallel manipulator (PM) with multiple actuation modes. Firstly, based on the flexible multi-body dynamics theory, the rigid-flexible coupling dynamic model (RFDM) of system is developed by virtue of the augmented Lagrangian multipliers approach. For completeness, the mathematical models of permanent magnet synchronous motor (PMSM) and piezoelectric transducer (PZT) are further established and integrated with the RFDM of mechanical system to formulate the electromechanical coupling dynamic model (ECDM). To achieve the trajectory tracking and vibration suppression, a hierarchical compound control strategy is presented. Within this control strategy, the proportional-differential (PD) feedback controller is employed to realize the trajectory tracking of end-effector, while the strain and strain rate feedback (SSRF) controller is developed to restrain the vibration of the flexible links using PZT. Furthermore, the stability of the control algorithm is demonstrated based on the Lyapunov stability theory. Finally, two simulation case studies are performed to illustrate the effectiveness of the proposed approach. The results indicate that, under the redundant actuation mode, the hierarchical compound control strategy can guarantee the flexible PM achieves singularity-free motion and vibration attenuation within task workspace simultaneously. The systematic methodology proposed in this study can be conveniently extended for the dynamic modeling and efficient controller design of other flexible PMs, especially the emerging ones with multiple actuation modes.

  6. Osteopathic Manipulative Therapy in Women With Postpartum Low Back Pain and Disability: A Pragmatic Randomized Controlled Trial.

    Science.gov (United States)

    Schwerla, Florian; Rother, Katrin; Rother, Denis; Ruetz, Michaela; Resch, Karl-Ludwig

    2015-07-01

    Persistent low back pain (LBP) is a common complaint among women during and after pregnancy, and its effects on quality of life can be disabling. To evaluate the effectiveness of osteopathic manipulative therapy (OMTh; manipulative care provided by foreign-trained osteopaths) in women with persistent LBP and functional disability after childbirth. A pragmatic randomized controlled trial was conducted among a sample of women with a history of pregnancy-related LBP for at least 3 months after delivery. Participants were identified from the general population in Germany. By means of external randomization, women were allocated to an OMTh group and a waitlist control group. Osteopathic manipulative therapy was provided 4 times at intervals of 2 weeks, with a follow-up after 12 weeks. The OMTh was tailored to each participant and based on osteopathic principles. The participants allocated to the control group did not receive OMTh during the 8-week study; rather, they were put on a waiting list to receive OMTh on completion of the study. Further, they were not allowed to receive any additional treatment (ie, medication, physical therapy, or other sources of pain relief) during the study period. The main outcome measures were pain intensity as measured by a visual analog scale and the effect of LBP on daily activities as assessed by the Oswestry Disability Index (ODI). A total of 80 women aged between 23 and 42 years (mean [SD], 33.6 [4.5] years) were included in the study, with 40 in the OMTh group and 40 in the control group. Pain intensity decreased in the OMTh group from 7.3 to 2.0 (95% CI, 4.8-5.9; P<.001) and in the control group from 7.0 to 6.5 (95% CI, -0.2 to -0.9; P=.005). The between-group comparison of changes revealed a statistically significant improvement in pain intensity in the OMTh group (between-group difference of means, 4.8; 95% CI, 4.1-5.4; P<.001) and level of disability (between-group difference of means, 10.6; 95% CI, 9.9-13.2; P<.005). The follow

  7. Adaptive Task-Space Cooperative Tracking Control of Networked Robotic Manipulators Without Task-Space Velocity Measurements.

    Science.gov (United States)

    Liang, Xinwu; Wang, Hesheng; Liu, Yun-Hui; Chen, Weidong; Hu, Guoqiang; Zhao, Jie

    2016-10-01

    In this paper, the task-space cooperative tracking control problem of networked robotic manipulators without task-space velocity measurements is addressed. To overcome the problem without task-space velocity measurements, a novel task-space position observer is designed to update the estimated task-space position and to simultaneously provide the estimated task-space velocity, based on which an adaptive cooperative tracking controller without task-space velocity measurements is presented by introducing new estimated task-space reference velocity and acceleration. Furthermore, adaptive laws are provided to cope with uncertain kinematics and dynamics and rigorous stability analysis is given to show asymptotical convergence of the task-space tracking and synchronization errors in the presence of communication delays under strongly connected directed graphs. Simulation results are given to demonstrate the performance of the proposed approach.

  8. Manipulation Therapy Relieved Pain More Rapidly Than Acupuncture among Lateral Epicondylalgia (Tennis Elbow Patients: A Randomized Controlled Trial with 8-Week Follow-Up

    Directory of Open Access Journals (Sweden)

    Chung-Yuan Hsu

    2016-01-01

    Full Text Available Radial bone adjustment manipulation treatment may be effective to reduce pain rapidly in lateral epicondylalgia patients and the pathological tension in the biceps brachii muscle is highly concerned. To prove this hypothesis, we conducted a randomized controlled trial and included 35 patients with lateral epicondylalgia for more than 2 months. Either manipulation treatment (n=16 or acupuncture (n=19 was given to these patients for 2 weeks and all patients’ symptoms were followed up for 8 weeks after treatment. Both groups demonstrated changes in pain VAS score, grip strength, and DASH questionnaire. Lateral epicondylalgia patients who received manipulation treatment felt pain relief sooner than those who had acupuncture treatments during the first few treatments. However, both acupuncture and manipulation are effective, while the difference has no significance at the 8-week follow-up. The trial was registered with Current Controlled Trials ISRCTN81308551 on 5 February 2016.

  9. New class of control laws for robotic manipulators. I - Nonadaptive case. II - Adaptive case

    Science.gov (United States)

    Wen, John T.; Bayard, David S.

    1988-01-01

    A new class of exponentially stabilizing control laws for joint level control of robot arms is discussed. Closed-loop exponential stability has been demonstrated for both the set point and tracking control problems by a slight modification of the energy Lyapunov function and the use of a lemma which handles third-order terms in the Lyapunov function derivatives. In the second part, these control laws are adapted in a simple fashion to achieve asymptotically stable adaptive control. The analysis addresses the nonlinear dynamics directly without approximation, linearization, or ad hoc assumptions, and uses a parameterization based on physical (time-invariant) quantities.

  10. The research of remote wireless monitor & control system for LAMOST telescope

    Science.gov (United States)

    Xu, L. Z.; Xu, X. Q.

    2008-01-01

    The R&D of the Chinese 4-m ever-ambitious telescope, Large Sky Area Multi-Object Fiber Spectroscopic Telescope (LAMOST), has advanced towards a new stage, and first light is expected at the beginning of 2007. The telescope control system is a complicated software engineering. Thus it needs to monitor the telescope around the clock and offers various ways to control the telescope. With the rapid development of IT technology one of the fashions is the mobile telephone carried around by average people mainly for daily communication, and mobile notes application has become a real hit. This paper presents GSM based remote wireless application adapted to telescope control, which can be utilized for greatly enhancing LAMOST' accessibility. The novel technique has recently been developed in LAMOST control lab. Test has demonstrated successful execution of Monitor & Control (M&C) commands for LAMOST through remote wireless mobile. The hardware and software configuration with techniques involved for reliable and secure communication is outlined in this paper too. It's is the first research for the telescope control system in China. The technique has gotten the national patent NO.

  11. A remote controllable fiber-type near-infrared light-responsive actuator.

    Science.gov (United States)

    Shi, Qiuwei; Li, Jiahui; Hou, Chengyi; Shao, Yuanlong; Zhang, Qinghong; Li, Yaogang; Wang, Hongzhi

    2017-10-10

    A novel near-infrared (NIR) light-responsive sodium polyacrylate (PAAS)/graphene oxide (GO) fiber with a torsional pre-deformation structure is reported to realize remote control actuation. The torsional pre-deformed PAAS/GO fiber exhibited various actuation phenomena, under the control of a low powered near-infrared light (50 mW cm(-2)), such as rotating in a low-temperature range (<25 °C), rolling a distance of 10 times of its diameter within 10 s, and even driving the shape change of a fabric (the weight is as high as 20 times of the fiber itself).

  12. Passivity-based control of robotic manipulators for safe cooperation with humans

    Science.gov (United States)

    Zanchettin, Andrea Maria; Lacevic, Bakir; Rocco, Paolo

    2015-02-01

    This paper presents a novel approach to the control of articulated robots in unstructured environments. The proposed control ensures several properties. First, the controller guarantees the achievement of a goal position without getting stuck in local minima. Then, the controller makes the closed-loop system passive, which renders the approach attractive for applications where the robot needs to safely interact with humans. Finally, the control law is explicitly shaped by the safety measure - the danger field. The proposed control law has been implemented and validated in a realistic experimental scenario, demonstrating the effectiveness in driving the robot to a given configuration in a cluttered environment, without any offline planning phase. Furthermore, the passivity of the system enables the robot to easily accommodate external forces on the tool, when a physical contact between the robot and the environment is established.

  13. Master manipulators

    National Research Council Canada - National Science Library

    Adamo, S

    2016-01-01

      In her new book, This Is Your Brain on Parasites, Kathleen McAuliffe examines the unusual and often dramatic ways that parasites and microbial manipulators can influence the behavior of their hosts...

  14. Optical Communication System for Remote Monitoring and Adaptive Control of Distributed Ground Sensors Exhibiting Collective Intelligence

    Energy Technology Data Exchange (ETDEWEB)

    Cameron, S.M.; Stantz, K.M.; Trahan, M.W.; Wagner, J.S.

    1998-11-01

    Comprehensive management of the battle-space has created new requirements in information management, communication, and interoperability as they effect surveillance and situational awareness. The objective of this proposal is to expand intelligent controls theory to produce a uniquely powerful implementation of distributed ground-based measurement incorporating both local collective behavior, and interoperative global optimization for sensor fusion and mission oversight. By using a layered hierarchal control architecture to orchestrate adaptive reconfiguration of autonomous robotic agents, we can improve overall robustness and functionality in dynamic tactical environments without information bottlenecks. In this concept, each sensor is equipped with a miniaturized optical reflectance modulator which is interactively monitored as a remote transponder using a covert laser communication protocol from a remote mothership or operative. Robot data-sharing at the ground level can be leveraged with global evaluation criteria, including terrain overlays and remote imaging data. Information sharing and distributed intelli- gence opens up a new class of remote-sensing applications in which small single-function autono- mous observers at the local level can collectively optimize and measure large scale ground-level signals. AS the need for coverage and the number of agents grows to improve spatial resolution, cooperative behavior orchestrated by a global situational awareness umbrella will be an essential ingredient to offset increasing bandwidth requirements within the net. A system of the type described in this proposal will be capable of sensitively detecting, tracking, and mapping spatial distributions of measurement signatures which are non-stationary or obscured by clutter and inter- fering obstacles by virtue of adaptive reconfiguration. This methodology could be used, for example, to field an adaptive ground-penetrating radar for detection of underground structures in

  15. Chiropractic spinal manipulative therapy for migraine: a study protocol of a single-blinded placebo-controlled randomised clinical trial.

    Science.gov (United States)

    Chaibi, Aleksander; Šaltytė Benth, Jūratė; Tuchin, Peter J; Russell, Michael Bjørn

    2015-11-19

    Migraine affects 15% of the population, and has substantial health and socioeconomic costs. Pharmacological management is first-line treatment. However, acute and/or prophylactic medicine might not be tolerated due to side effects or contraindications. Thus, we aim to assess the efficacy of chiropractic spinal manipulative therapy (CSMT) for migraineurs in a single-blinded placebo-controlled randomised clinical trial (RCT). According to the power calculations, 90 participants are needed in the RCT. Participants will be randomised into one of three groups: CSMT, placebo (sham manipulation) and control (usual non-manual management). The RCT consists of three stages: 1 month run-in, 3 months intervention and follow-up analyses at the end of the intervention and 3, 6 and 12 months. The primary end point is migraine frequency, while migraine duration, migraine intensity, headache index (frequency x duration x intensity) and medicine consumption are secondary end points. Primary analysis will assess a change in migraine frequency from baseline to the end of the intervention and follow-up, where the groups CSMT and placebo and CSMT and control will be compared. Owing to two group comparisons, p values below 0.025 will be considered statistically significant. For all secondary end points and analyses, a p value below 0.05 will be used. The results will be presented with the corresponding p values and 95% CIs. The RCT will follow the clinical trial guidelines from the International Headache Society. The Norwegian Regional Committee for Medical Research Ethics and the Norwegian Social Science Data Services have approved the project. Procedure will be conducted according to the declaration of Helsinki. The results will be published at scientific meetings and in peer-reviewed journals. NCT01741714. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://www.bmj.com/company/products-services/rights-and-licensing/

  16. Distributed cerebellar plasticity implements adaptable gain control in a manipulation task: a closed-loop robotic simulation

    Directory of Open Access Journals (Sweden)

    Jesus A Garrido Alcazar

    2013-10-01

    Full Text Available Adaptable gain regulation is at the core of the forward controller operation performed by the cerebro-cerebellar loops and it allows the intensity of motor acts to be finely tuned in a predictive manner. In order to learn and store information about body-object dynamics and to generate an internal model of movement, the cerebellum is thought to employ long-term synaptic plasticity. LTD at the PF-PC synapse has classically been assumed to subserve this function (Marr, 1969. However, this plasticity alone cannot account for the broad dynamic ranges and time scales of cerebellar adaptation. We therefore tested the role of plasticity distributed over multiple synaptic sites (Gao et al., 2012; Hansel et al., 2001 by generating an analog cerebellar model embedded into a control loop connected to a robotic simulator. The robot used a three-joint arm and performed repetitive fast manipulations with different masses along an 8-shape trajectory. In accordance with biological evidence, the cerebellum model was endowed with both LTD and LTP at the PF-PC, MF-DCN and PC-DCN synapses. This resulted in a network scheme whose effectiveness was extended considerably compared to one including just PF-PC synaptic plasticity. Indeed, the system including distributed plasticity reliably self-adapted to manipulate different masses and to learn the arm-object dynamics over a time course that included fast learning and consolidation, along the lines of what has been observed in behavioral tests. In particular, PF-PC plasticity operated as a time correlator between the actual input state and the system error, while MF-DCN and PC-DCN plasticity played a key role in generating the gain controller. This model suggests that distributed synaptic plasticity allows generation of the complex learning properties of the cerebellum. The incorporation of further plasticity mechanisms and of spiking signal processing will allow this concept to be extended in a more realistic

  17. Osmotically driven drug delivery through remote-controlled magnetic nanocomposite membranes

    KAUST Repository

    Zaher, A.

    2015-09-29

    Implantable drug delivery systems can provide long-term reliability, controllability, and biocompatibility, and have been used in many applications, including cancer pain and non-malignant pain treatment. However, many of the available systems are limited to zero-order, inconsistent, or single burst event drug release. To address these limitations, we demonstrate prototypes of a remotely operated drug delivery device that offers controllability of drug release profiles, using osmotic pumping as a pressure source and magnetically triggered membranes as switchable on-demand valves. The membranes are made of either ethyl cellulose, or the proposed stronger cellulose acetate polymer, mixed with thermosensitive poly(N-isopropylacrylamide) hydrogel and superparamagnetic iron oxide particles. The prototype devices\\' drug diffusion rates are on the order of 0.5–2 μg/h for higher release rate designs, and 12–40 ng/h for lower release rates, with maximum release ratios of 4.2 and 3.2, respectively. The devices exhibit increased drug delivery rates with higher osmotic pumping rates or with magnetically increased membrane porosity. Furthermore, by vapor deposition of a cyanoacrylate layer, a drastic reduction of the drug delivery rate from micrograms down to tens of nanograms per hour is achieved. By utilizing magnetic membranes as the valve-control mechanism, triggered remotely by means of induction heating, the demonstrated drug delivery devices benefit from having the power source external to the system, eliminating the need for a battery. These designs multiply the potential approaches towards increasing the on-demand controllability and customizability of drug delivery profiles in the expanding field of implantable drug delivery systems, with the future possibility of remotely controlling the pressure source.

  18. A Force-Controllable Macro-Micro Manipulator and its Application to Medical Robotics

    Science.gov (United States)

    Marzwell, Neville I.; Uecker, Darrin R.; Wang, Yulun

    1993-01-01

    This paper describes an 8-degrees-of-freedom macro-micro robot. This robot is capable of performing tasks that require accurate force control, such as polishing, finishing, grinding, deburring, and cleaning. The design of the macro-micro mechanism, the control algorithms, and the hardware/sofware implemtation of the algotithms are described in this paper. Initial experimental results are reported.

  19. Port-Hamiltonian and power-based integral control of a manipulator system

    NARCIS (Netherlands)

    Dirksz, Daniel; Scherpen, Jacquelien M.A.

    2011-01-01

    In industrial applications integral control is often used in controllers to counteract the effects of disturbances and other uncertainties. The integral action compensates for steady-state errors caused by such uncertainties. However, for nonlinear systems, when adding an integrator in the classical

  20. Quantum dynamics manipulation using optimal control theory in the presence of laser field noise

    Science.gov (United States)

    Kumar, Praveen; Malinovskaya, Svetlana A.

    2010-08-01

    We discuss recent advances in optimal control theory (OCT) related to the investigation of the impact of control field noise on controllability of quantum dynamics. Two numerical methods, the gradient method and the iteration method, are paid particular attention. We analyze the problem of designing noisy control fields to maximize the vibrational transition probability in diatomic quantum systems, e.g. the HF and OH molecules. White noise is used as an additive random variable in the amplitude of the control field. It is demonstrated that the convergence is faster in the presence of noise and population transfer is increased by 0.04% for small values of noise compared to the field amplitude.

  1. Efficacy and safety of manual acupuncture manipulations with different frequencies on epigastric pain syndrome (EPS) in functional dyspepsia (FD) patients: study protocol for a randomized controlled trial.

    Science.gov (United States)

    Hong, Shou-Hai; Ding, Sha-Sha; Wu, Fei; Bi, Ying; Xu, Fu; Wan, Yi-Jia; Xuan, Li-Hua

    2017-03-06

    Manual acupuncture (MA) manipulations are one of the key factors influencing acupuncture effects in traditional Chinese medicine theory. Different MA manipulations contain different stimulating parameters, thus generating different acupuncture responses or effects. Evidence has demonstrated that acupuncture is effective for functional dyspepsia (FD). However, the effects of different stimulating parameters of MA manipulations on FD remain unclear. This study is a randomized controlled trial with a four-arm, parallel-group structure. Patients with FD with epigastric pain syndrome (EPS) will be included and randomly allocated into four groups: three MA manipulation groups (separately treated with a frequency of 1 Hz, 2 Hz, or 3 Hz) and a control group. All groups will receive omeprazole as a basic treatment and acupuncture: in the MA manipulation groups, the needles will be manipulated manually with three different frequencies on the basis when de qi is reached, while in the control group, the needles will be inserted without any manipulation. All patients will receive acupuncture treatment of five consecutive sessions per week for 2 weeks and be followed up at 4, 8, and 12 weeks. The primary outcomes of the study include patients' response to the treatment. The secondary outcomes include dyspeptic symptoms, quality of life, mental status, fasting serum gastrin, motilin, and ghrelin concentrations, and adverse events. The protocol was approved by the Ethics committee of the First Affiliated Hospital of Zhejiang Chinese Medical University (2016-K-057-01). The aim of this study is to evaluate the efficacy and safety of MA manipulations with different stimulating parameters (different frequencies) on EPS in patients with FD. Chinese Clinical Trial Registry, ChiCTR-IOR-16008189 . Registered on 30 March 2016.

  2. A Comparative Study of Control Methods for a Robotic Manipulator with Six DOF in Simulation

    Directory of Open Access Journals (Sweden)

    Smyrnaiou Georgia P.

    2017-01-01

    Full Text Available In this paper a comparative study of the classical control methods for the testing of a mathematical model, which controls six actuators of a six degrees of freedom robotic arm with a single controller, is illustrated, aiming to the constructive simplification of the system. In more detail, a mathematical model of the system is designed which simulates all mechanical parts, including 5-way directional pneumatic valve, the pneumatic actuators/pistons and the mathematical model of the controller. The purpose of the above is the tuning of a Single Input, Multiple Output (SIMO controller which will direct the motion of the six pneumatic pistons. The thorough analysis of the implementation of the pneumatic system in Matlab/Simulink environment is followed by experimentation and results using Proportional (P, Proportional-Integral (PI, Proportional-Derivative (PD and Proportional-Integral-Derivative (PID controllers. The simulation results show the advantages of the above classical control methods on the robotic human arm which imitating human motion and made by a well-known company in the field of pneumatic automation.

  3. Bathymetry mapping using a GPS-sonar equipped remote control boat: Application in waste stabilisation ponds

    Science.gov (United States)

    Coggins, Liah; Ghadouani, Anas; Ghisalberti, Marco

    2014-05-01

    Traditionally, bathymetry mapping of ponds, lakes and rivers have used techniques which are low in spatial resolution, sometimes subjective in terms of precision and accuracy, labour intensive, and that require a high level of safety precautions. In waste stabilisation ponds (WSP) in particular, sludge heights, and thus sludge volume, are commonly measured using a sludge judge (a clear plastic pipe with length markings). A remote control boat fitted with a GPS-equipped sonar unit can improve the resolution of depth measurements, and reduce safety and labour requirements. Sonar devices equipped with GPS technology, also known as fish finders, are readily available and widely used by people in boating. Through the use of GPS technology in conjunction with sonar, the location and depth can be recorded electronically onto a memory card. However, despite its high applicability to the field, this technology has so far been underutilised. In the case of WSP, the sonar can measure the water depth to the top of the sludge layer, which can then be used to develop contour maps of sludge distribution and to determine sludge volume. The coupling of sonar technology with a remotely operative vehicle has several advantages of traditional measurement techniques, particularly in removing human subjectivity of readings, and the sonar being able to collect more data points in a shorter period of time, and continuously, with a much higher spatial resolution. The GPS-sonar equipped remote control boat has been tested on in excess of 50 WSP within Western Australia, and has shown a very strong correlation (R2 = 0.98) between spot readings taken with the sonar compared to a sludge judge. This has shown that the remote control boat with GPS-sonar device is capable of providing sludge bathymetry with greatly increased spatial resolution, while greatly reducing profiling time. Remotely operated vehicles, such as the one built in this study, are useful for not only determining sludge

  4. Intraguild relationships between sympatric predators exposed to lethal control: predator manipulation experiments

    National Research Council Canada - National Science Library

    Allen, Benjamin L; Allen, Lee R; Engeman, Richard M; Leung, Luke K-P

    2013-01-01

    .... The lethal control of top-predators has therefore been predicted to inhibit top-predator function, generate the release of mesopredators and indirectly harm native fauna through trophic cascade effects...

  5. Comparative Study between Robust Control of Robotic Manipulators by Static and Dynamic Neural Networks

    OpenAIRE

    Ghrab, Nadya; Kallel, Hichem

    2013-01-01

    A comparative study between static and dynamic neural networks for robotic systems control is considered. So, two approaches of neural robot control were selected, exposed, and compared. One uses a static neural network; the other uses a dynamic neural network. Both compensate the nonlinear modeling and uncertainties of robotic systems. The first approach is direct; it approximates the nonlinearities and uncertainties by a static neural network. The second approach is indirect; it uses a dyna...

  6. Developments in Fluid Power Control of Machinery and Manipulators (2 of 2)

    DEFF Research Database (Denmark)

    Conrad, Finn; Sørensen, Torben; Zhou, Jianjun

    2000-01-01

    The paper reports and discusses results from a Danish mechatronic research programme focusing on intelligent actuators for motion control as well as results from the ESPRIT project SWING on IT-tools for rapid prototyping of fluid power components and systems.......The paper reports and discusses results from a Danish mechatronic research programme focusing on intelligent actuators for motion control as well as results from the ESPRIT project SWING on IT-tools for rapid prototyping of fluid power components and systems....

  7. Genetic manipulation of endosymbionts to control vector and vector borne diseases

    Directory of Open Access Journals (Sweden)

    Jay Prakash Gupta

    Full Text Available Vector borne diseases (VBD are on the rise because of failure of the existing methods of control of vector and vector borne diseases and the climate change. A steep rise of VBDs are due to several factors like selection of insecticide resistant vector population, drug resistant parasite population and lack of effective vaccines against the VBDs. Environmental pollution, public health hazard and insecticide resistant vector population indicate that the insecticides are no longer a sustainable control method of vector and vector-borne diseases. Amongst the various alternative control strategies, symbiont based approach utilizing endosymbionts of arthropod vectors could be explored to control the vector and vector borne diseases. The endosymbiont population of arthropod vectors could be exploited in different ways viz., as a chemotherapeutic target, vaccine target for the control of vectors. Expression of molecules with antiparasitic activity by genetically transformed symbiotic bacteria of disease-transmitting arthropods may serve as a powerful approach to control certain arthropod-borne diseases. Genetic transformation of symbiotic bacteria of the arthropod vector to alter the vector’s ability to transmit pathogen is an alternative means of blocking the transmission of VBDs. In Indian scenario, where dengue, chikungunya, malaria and filariosis are prevalent, paratransgenic based approach can be used effectively. [Vet World 2012; 5(9.000: 571-576

  8. Manipulation does not add to the effect of extension exercises in chronic low-back pain (LBP). A randomized, controlled, double blind study

    DEFF Research Database (Denmark)

    Rasmussen, J.; Laetgaard, J.; Lindecrona, A.L.

    2008-01-01

    by a visual analogue scale. RESULTS: Pain in both back and leg decreased without differences between groups. Segmental binding of the low-back was associated with persisting clinical symptoms at four weeks. CONCLUSION: No additional effect was demonstrated of manipulation, when extension exercises were used......OBJECTIVES: Both exercises and manipulation are recommended as basic therapy in back diseases, while a possible synergistic effect of these treatments have not been clarified. This study was conducted to test a possible further effect of manipulation as adjunct to extension exercises for unspecific...... LBP. METHODS: 72 patients with chronic LBP (mean 12 months) were examined by a specialist in manual medicine, who detected localized binding between the lumbar segments. All patients were instructed in extension exercises, while randomized to either pretreatment with specific manipulation or control...

  9. 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.

  10. Integrated solution for the complete remote sensing process - Earth Observation Mission Control Centre (EOMC2)

    Science.gov (United States)

    Czapski, Paweł

    2016-07-01

    We are going to show the latest achievements of the Remote Sensing Division of the Institute of Aviation in the area of remote sensing, i.e. the project of the integrated solution for the whole remote sensing process ranging from acquiring to providing the end user with required information. Currently, these tasks are partially performed by several centers in Poland, however there is no leader providing an integrated solution. Motivated by this fact, the Earth Observation Mission Control Centre (EOMC2) was established in the Remote Sensing Division of the Institute of Aviation that will provide such a comprehensive approach. Establishing of EOMC2 can be compared with creating Data Center Aerial and Satellite Data Centre (OPOLIS) in the Institute of Geodesy and Cartography in the mid-70s in Poland. OPOLIS was responsible for broadly defined data processing, it was a breakthrough innovation that initiated the use of aerial image analysis in Poland. Operation center is a part of the project that will be created, which in comparison with the competitors will provide better solutions, i.e.: • Centralization of the acquiring, processing, publishing and archiving of data, • Implementing elements of the INSPIRE directive recommendations on spatial data management, • Providing the end-user with information in the near real-time, • Ability of supplying the system with images of various origin (aerial, satellite, e.g. EUMETCast, Sentinel, Landsat) and diversity of telemetry data, data aggregation and using the same algorithms to images obtained from different sources, • System reconfiguration and batch processing of large data sets at any time, • A wide range of potential applications: precision agriculture, environmental protection, crisis management and national security, aerial, small satellite and sounding rocket missions monitoring.

  11. Manipulating the banana rhizosphere microbiome for biological control of Panama disease.

    Science.gov (United States)

    Xue, Chao; Penton, C Ryan; Shen, Zongzhuan; Zhang, Ruifu; Huang, Qiwei; Li, Rong; Ruan, Yunze; Shen, Qirong

    2015-08-05

    Panama disease caused by Fusarium oxysporum f. sp. cubense infection on banana is devastating banana plantations worldwide. Biological control has been proposed to suppress Panama disease, though the stability and survival of bio-control microorganisms in field setting is largely unknown. In order to develop a bio-control strategy for this disease, 16S rRNA gene sequencing was used to assess the microbial community of a disease-suppressive soil. Bacillus was identified as the dominant bacterial group in the suppressive soil. For this reason, B. amyloliquefaciens NJN-6 isolated from the suppressive soil was selected as a potential bio-control agent. A bioorganic fertilizer (BIO), formulated by combining this isolate with compost, was applied in nursery pots to assess the bio-control of Panama disease. Results showed that BIO significantly decreased disease incidence by 68.5%, resulting in a doubled yield. Moreover, bacterial community structure was significantly correlated to disease incidence and yield and Bacillus colonization was negatively correlated with pathogen abundance and disease incidence, but positively correlated to yield. In total, the application of BIO altered the rhizo-bacterial community by establishing beneficial strains that dominated the microbial community and decreased pathogen colonization in the banana rhizosphere, which plays an important role in the management of Panama disease.

  12. Physical manipulation of biological and chemical syntheses for nanoparticle shape and size control

    Science.gov (United States)

    Ogale, S. B.; Ahmad, A.; Pasricha, R.; Dhas, V. V.; Syed, A.

    2006-12-01

    A nanosynthesis scheme is demonstrated which renders excellent control of nanoparticle shape, size, and dispersity in a solution based synthesis process. The scheme, termed as percolative microcavity synthesis, involves the use of a granular medium with percolative microcavities which facilitate nearly similar grain size/shape dependent reaction zones limiting intrinsic growth inhomogeneities, enabling particle size/shape control. The viability of the process is demonstrated for the synthesis of gold nanoparticles by a plant extract based biological method as well as a chemical method.

  13. The Real Time Remote Motion Control of Two Wheeled Mobile Balance Robot by Using Video Streaming

    Directory of Open Access Journals (Sweden)

    Ali Unluturk

    2016-01-01

    Full Text Available This study presents the motion control of a real time two wheeled balance robot capable of moving back and forward, turning right and left and video streaming via IP (Internet Protocol camera on it. A C++ based visual user interface is created on PC (Personal Computer in order to control of the designed Two Wheeled Mobile Balance Robot (TWMBR. By means of the interface, all controller parameters of the robot can be changed via wireless communication module on it. Moreover, the robot’s tilt angle with respect to time, linear displacement and controller output can be observed simultaneously. Within the robot control interface, the videos from IP camera is transferred into the operator screen via TCP/IP (Transmission Control Protocol/Internet Protocol communication protocol. So, the robot can be controlled via arrow keys and visual interface on PC remotely by an operator. Acceleration and gyro sensors are fused by means of a real-time Kalman Filter so that robot can keep its balance in both moving and stable state in the designed system. Thus, an accurate tilt angle control is realized. Classic PID (Proportional-Integral-Derivative algorithm is used as robot controller. In conclusion, via IP camera on the robot, the real-time motion control is performed and data diagrams about motion control are obtained.

  14. Feedback control system based on a remote operated PID controller implemented using mbed NXP LPC1768 development board

    Science.gov (United States)

    Pricop, Emil; Zamfir, Florin; Paraschiv, Nicolae

    2015-11-01

    Process control is a challenging research topic for both academia and industry for a long time. Controllers evolved from the classical SISO approach to modern fuzzy or neuro-fuzzy embedded devices with networking capabilities, however PID algorithms are still used in the most industrial control loops. In this paper, we focus on the implementation of a PID controller using mbed NXP LPC1768 development board. This board integrates a powerful ARM Cortex- M3 core and has networking capabilities. The implemented controller can be remotely operated by using an Internet connection and a standard Web browser. The main advantages of the proposed embedded system are customizability, easy operation and very low power consumption. The experimental results obtained by using a simulated process are analysed and shows that the implementation can be done with success in industrial applications.

  15. Developments in Fluid Power Control of Machinery and Manipulators (1 of 2)

    DEFF Research Database (Denmark)

    Conrad, Finn; Zarotti, Luca G.; Sørensen, Torben

    2000-01-01

    The paper presents objectives and results from the ESPRIT project SWING.The increasing competition on the world marked and the increasing public demands, requirements and regulations for protection of the environment are both driving forces and challenges for improving the development of control ...

  16. Controlled damaging and repair of self-organized nanostructures by atom manipulation at room temperature

    NARCIS (Netherlands)

    Gurlu, O.; van Houselt, Arie; Thijssen, W.H.A.; van Ruitenbeek, J.M.; Poelsema, Bene; Zandvliet, Henricus J.W.

    2007-01-01

    The possibility of controlled local demolition and repair of the recently discovered self-organized Pt nanowires on Ge(001) surfaces has been explored. These nanowires are composed of Pt dimers, which are found to be rather weakly bound to the underlying substrate. Using this property, we

  17. Feasibility of a 2nd generation MR-compatible manipulator for transrectal prostate biopsy guidance

    NARCIS (Netherlands)

    Bomers, J.G.R.; Bosboom, D.G.H.; Tigelaar, G.H.; Sabisch, J.; Futterer, J.J.; Yakar, D.

    2017-01-01

    OBJECTIVES: To assess the feasibility of a 2nd generation MR-compatible, remote-controlled manipulator (RCM) as an aid to perform MR-guided transrectal prostate biopsy in males with suspicion of prostate cancer (PCa). METHODS: This prospective phase I study was approved by the local ethical

  18. The Design and Implementation of the Remote Centralized-Monitoring System of Well-Control Equipment Based on RFID Technique

    Directory of Open Access Journals (Sweden)

    Luo Bin

    2017-01-01

    Full Text Available At present, in domestic for the management of well control equipment continue to the traditional way of nameplates identifies and paper-based registration, there are many issues like the separation of data information of device, easy lose, difficult query, confused management and many other problems, which will make the problem device into the well field, and then resulting in well control runaway drilling accident. To solve the above problems, this paper put forward to the integrated remote centralized-monitoring management mode of the well-control equipment. Taking the advantages of IOT technology, adopting the RFID technology, and combining with the remote transmission, this paper designs the remote centralized-monitoring system of well-control equipment based on RFID, which realizes the intelligent management of well-control equipment and meets the actual demand of the well-control equipment safe use and timely scheduling, and it has the ability of field application.

  19. Autophagy response: manipulating the mTOR-controlled machinery by amino acids and pathogens.

    Science.gov (United States)

    Fader, Claudio Marcelo; Aguilera, Milton Osmar; Colombo, María Isabel

    2015-10-01

    Macroautophagy is a self-degradative process that normally maintains cellular homeostasis via a lysosomal pathway. It is induced by different stress signals, including nutrients and growth factors' restriction as well as pathogen invasions. These stimuli are modulated by the serine/threonine protein kinase mammalian target of rapamycin (mTOR) which control not only autophagy but also protein translation and gene expression. This review focuses on the important role of mTOR as a master regulator of cell growth and the autophagy pathway. Here, we have discussed the role of intracellular amino acid availability and intracellular pH in the redistribution of autophagic structures, which may contribute to mammalian target of rapamycin complex 1 (mTORC1) activity regulation. We have also discussed that mTORC1 complex and components of the autophagy machinery are localized at the lysosomal surface, representing a fascinating mechanism to control the metabolism, cellular clearance and also to restrain invading intracellular pathogens.

  20. Use of beat-to-beat cardiovascular variability data to determine the validity of sham therapy as the placebo control in osteopathic manipulative medicine research.

    Science.gov (United States)

    Henley, Charles E; Wilson, Thad E

    2014-11-01

    Osteopathic manipulative medicine researchers often use sham therapy as the placebo control during clinical trials. Optimally, the sham therapy should be a hands-on procedure that is perceptually indistinguishable from osteopathic manipulative treatment, does not create an effect on its own, and is not a treatment intervention. However, the sham therapy itself may often influence the outcome. The use of cardiovascular variability (eg, beat-to-beat heart rate variability) as a surrogate for the autonomic nervous system is one objective method by which to identify such an effect. By monitoring cardiovascular variability, investigators can assess autonomic nervous system activity as a response to the sham therapy and quickly determine whether or not the selected sham therapy is a true placebo control. The authors provide evidence for assessment of beat-to-beat heart rate variability as one method for assuring objectivity of sham therapy as a placebo control in osteopathic manipulative medicine research. © 2014 The American Osteopathic Association.

  1. Keyboard before Head Tracking Depresses User Success in Remote Camera Control

    Science.gov (United States)

    Zhu, Dingyun; Gedeon, Tom; Taylor, Ken

    In remote mining, operators of complex machinery have more tasks or devices to control than they have hands. For example, operating a rock breaker requires two handed joystick control to position and fire the jackhammer, leaving the camera control to either automatic control or require the operator to switch between controls. We modelled such a teleoperated setting by performing experiments using a simple physical game analogue, being a half size table soccer game with two handles. The complex camera angles of the mining application were modelled by obscuring the direct view of the play area and the use of a Pan-Tilt-Zoom (PTZ) camera. The camera control was via either a keyboard or via head tracking using two different sets of head gestures called “head motion” and “head flicking” for turning camera motion on/off. Our results show that the head motion control was able to provide a comparable performance to using a keyboard, while head flicking was significantly worse. In addition, the sequence of use of the three control methods is highly significant. It appears that use of the keyboard first depresses successful use of the head tracking methods, with significantly better results when one of the head tracking methods was used first. Analysis of the qualitative survey data collected supports that the worst (by performance) method was disliked by participants. Surprisingly, use of that worst method as the first control method significantly enhanced performance using the other two control methods.

  2. Multiple node remote messaging

    Energy Technology Data Exchange (ETDEWEB)

    Blumrich, Matthias A. (Ridgefield, CT); Chen, Dong (Croton on Hudson, NY); Gara, Alan G. (Mount Kisco, NY); Giampapa, Mark E. (Irvington, NY); Heidelberger, Philip (Cortlandt Manor, NY); Ohmacht, Martin (Yorktown Heights, NY); Salapura, Valentina (Chappaqua, NY); Steinmacher-Burow, Burkhard (Esslingen, DE); Vranas, Pavlos (Danville, CA)

    2010-08-31

    A method for passing remote messages in a parallel computer system formed as a network of interconnected compute nodes includes that a first compute node (A) sends a single remote message to a remote second compute node (B) in order to control the remote second compute node (B) to send at least one remote message. The method includes various steps including controlling a DMA engine at first compute node (A) to prepare the single remote message to include a first message descriptor and at least one remote message descriptor for controlling the remote second compute node (B) to send at least one remote message, including putting the first message descriptor into an injection FIFO at the first compute node (A) and sending the single remote message and the at least one remote message descriptor to the second compute node (B).

  3. Remote light-controlled intracellular target recognition by photochromic fluorescent glycoprobes.

    Science.gov (United States)

    Zhang, Junji; Fu, Youxin; Han, Hai-Hao; Zang, Yi; Li, Jia; He, Xiao-Peng; Feringa, Ben L; Tian, He

    2017-10-17

    Development of powerful fluorescence imaging probes and techniques sets the basis for the spatiotemporal tracking of cells at different physiological and pathological stages. While current imaging approaches rely on passive probe-analyte interactions, here we develop photochromic fluorescent glycoprobes capable of remote light-controlled intracellular target recognition. Conjugation between a fluorophore and spiropyran produces the photochromic probe, which is subsequently equipped with a glycoligand "antenna" to actively localize a target cell expressing a selective receptor. We demonstrate that the amphiphilic glycoprobes that form micelles in water can selectively enter the target cell to operate photochromic cycling as controlled by alternate UV/Vis irradiations. We further show that remote light conversion of the photochromic probe from one isomeric state to the other activates its reactivity toward a target intracellular analyte, producing locked fluorescence that is no longer photoisomerizable. We envision that this research may spur the use of photochromism for the development of bioimaging probes.Fluorescence sensing in biological environments is prone to background signal interference. Here the authors design a photochromic fluorescent glycoprobe for light-controlled photo-switchable cell imaging and photo-activated target recognition, resulting in an increased sensing precision.

  4. Remotely controlled fusion of selected vesicles and living cells: a key issue review

    Science.gov (United States)

    Bahadori, Azra; Moreno-Pescador, Guillermo; Oddershede, Lene B.; Bendix, Poul M.

    2018-03-01

    Remote control over fusion of single cells and vesicles has a great potential in biological and chemical research allowing both transfer of genetic material between cells and transfer of molecular content between vesicles. Membrane fusion is a critical process in biology that facilitates molecular transport and mixing of cellular cytoplasms with potential formation of hybrid cells. Cells precisely regulate internal membrane fusions with the aid of specialized fusion complexes that physically provide the energy necessary for mediating fusion. Physical factors like membrane curvature, tension and temperature, affect biological membrane fusion by lowering the associated energy barrier. This has inspired the development of physical approaches to harness the fusion process at a single cell level by using remotely controlled electromagnetic fields to trigger membrane fusion. Here, we critically review various approaches, based on lasers or electric pulses, to control fusion between individual cells or between individual lipid vesicles and discuss their potential and limitations for present and future applications within biochemistry, biology and soft matter.

  5. Is there a place for crystalloids and colloids in remote damage control resuscitation?

    Science.gov (United States)

    Medby, Christian

    2014-05-01

    Crystalloids and colloids are used in prehospital fluid resuscitation to replace blood loss and preserve tissue perfusion until definite surgical control of bleeding can be achieved. However, large volumes of fluids will increase bleeding by elevating blood pressure, dislodging blood clots, and diluting coagulation factors and platelets. Hypotensive fluid resuscitation strategies are used to avoid worsening of uncontrolled bleeding. This is largely supported by animal studies. Most clinical evidence suggests that restricting fluid therapy is associated with improved outcome. Remote damage control resuscitation emphasizes the early use of blood products and restriction of other fluids to support coagulation and tissue oxygenation. Controversy regarding the optimal choice and composition of resuscitation fluids is ongoing. Compared with crystalloids, less colloid is needed for the same expansion of intravascular volume. On the other hand, colloids may cause coagulopathy not only related to dilution. The most important advantage of using colloids is logistical because less volume and weight are needed. In conclusion, prehospital fluid resuscitation is considered the standard of care, but there is little clinical evidence supporting the use of either crystalloids or colloids in remote damage control resuscitation. Alternative resuscitation fluids are needed.

  6. Remote Synchronization Experiments for Quasi-Zenith Satellite System Using Multiple Navigation Signals as Feedback Control

    Directory of Open Access Journals (Sweden)

    Toshiaki Iwata

    2011-01-01

    Full Text Available The remote synchronization system for the onboard crystal oscillator (RESSOX is a remote control method that permits synchronization between a ground station atomic clock and Japanese quasi-zenith satellite system (QZSS crystal oscillators. To realize the RESSOX of the QZSS, the utilization of navigation signals of QZSS for feedback control is an important issue. Since QZSS transmits seven navigation signals (L1C/A, L1CP, L1CD, L2CM, L2CL, L5Q, and L5I, all combinations of these signals should be evaluated. First, the RESSOX algorithm will be introduced. Next, experimental performance will be demonstrated. If only a single signal is available, ionospheric delay should be input from external measurements. If multiple frequency signals are available, any combination, except for L2 and L5, gives good performance with synchronization error being within two nanoseconds that of RESSOX. The combination of L1CD and L5Q gives the best synchronization performance (synchronization error within 1.14 ns. Finally, in the discussion, comparisons of long-duration performance, computer simulation, and sampling number used in feedback control are considered. Although experimental results do not correspond to the simulation results, the tendencies are similar. For the overlapping Allan deviation of long duration, the stability of 1.23×10−14 at 100,160 s is obtained.

  7. A randomized, controlled trial of osteopathic manipulative treatment for acute low back pain in active duty military personnel

    Science.gov (United States)

    Cruser, des Anges; Maurer, Douglas; Hensel, Kendi; Brown, Sarah K; White, Kathryn; Stoll, Scott T

    2012-01-01

    Objective Acute low back pain (ALBP) may limit mobility and impose functional limitations in active duty military personnel. Although some manual therapies have been reported effective for ALBP in military personnel, there have been no published randomized controlled trials (RCTs) of osteopathic manipulative treatment (OMT) in the military. Furthermore, current military ALBP guidelines do not specifically include OMT. Methods This RCT examined the efficacy of OMT in relieving ALBP and improving functioning in military personnel at Fort Lewis, Washington. Sixty-three male and female soldiers ages 18 to 35 were randomly assigned to a group receiving OMT plus usual care or a group receiving usual care only (UCO). Results The primary outcome measures were pain on the quadruple visual analog scale, and functioning on the Roland Morris Disability Questionnaire. Outcomes were measured immediately preceding each of four treatment sessions and at four weeks post-trial. Intention to treat analysis found significantly greater post-trial improvement in ‘Pain Now’ for OMT compared to UCO (P = 0·026). Furthermore, the OMT group reported less ‘Pain Now’ and ‘Pain Typical’ at all visits (P = 0·025 and P = 0·020 respectively). Osteopathic manipulative treatment subjects also tended to achieve a clinically meaningful improvement from baseline on ‘Pain at Best’ sooner than the UCO subjects. With similar baseline expectations, OMT subjects reported significantly greater satisfaction with treatment and overall self-reported improvement (P<0·01). Conclusion This study supports the effectiveness of OMT in reducing ALBP pain in active duty military personnel. PMID:23372389

  8. A randomized, controlled trial of osteopathic manipulative treatment for acute low back pain in active duty military personnel.

    Science.gov (United States)

    Cruser, des Anges; Maurer, Douglas; Hensel, Kendi; Brown, Sarah K; White, Kathryn; Stoll, Scott T

    2012-02-01

    Acute low back pain (ALBP) may limit mobility and impose functional limitations in active duty military personnel. Although some manual therapies have been reported effective for ALBP in military personnel, there have been no published randomized controlled trials (RCTs) of osteopathic manipulative treatment (OMT) in the military. Furthermore, current military ALBP guidelines do not specifically include OMT. This RCT examined the efficacy of OMT in relieving ALBP and improving functioning in military personnel at Fort Lewis, Washington. Sixty-three male and female soldiers ages 18 to 35 were randomly assigned to a group receiving OMT plus usual care or a group receiving usual care only (UCO). The primary outcome measures were pain on the quadruple visual analog scale, and functioning on the Roland Morris Disability Questionnaire. Outcomes were measured immediately preceding each of four treatment sessions and at four weeks post-trial. Intention to treat analysis found significantly greater post-trial improvement in 'Pain Now' for OMT compared to UCO (P = 0·026). Furthermore, the OMT group reported less 'Pain Now' and 'Pain Typical' at all visits (P = 0·025 and P = 0·020 respectively). Osteopathic manipulative treatment subjects also tended to achieve a clinically meaningful improvement from baseline on 'Pain at Best' sooner than the UCO subjects. With similar baseline expectations, OMT subjects reported significantly greater satisfaction with treatment and overall self-reported improvement (P<0·01). This study supports the effectiveness of OMT in reducing ALBP pain in active duty military personnel.

  9. A review of a method for dynamic load distribution, dynamical modeling, and explicit internal force control when two manipulators mutually lift and transport a rigid body object

    Energy Technology Data Exchange (ETDEWEB)

    Unseren, M.A.

    1997-04-20

    The paper reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restrict the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for the closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.

  10. The quality of placebos used in randomized, controlled trials of lumbar and pelvic joint thrust manipulation-a systematic review.

    Science.gov (United States)

    Puhl, Aaron A; Reinhart, Christine J; Doan, Jon B; Vernon, Howard

    2017-03-01

    Spinal manipulative therapy (SMT) has been attributed with substantial non-specific effects. Accurate assessment of the non-specific effects of SMT relies on high-quality studies with low risk of bias that compare with appropriate placebos. This review aims to characterize the types and qualities of placebo control procedures used in controlled trials of manually applied, lumbar and pelvic (LP)-SMT, and to evaluate the assessment of subject blinding and expectations. This is a systematic review of randomized, placebo-controlled trials. We searched MEDLINE, EMBASE, Cochrane Central Register of Controlled Trials, Index to Chiropractic Literature, and relevant bibliographies. We included randomized, placebo or sham-controlled trials where the index treatment was manually applied LP-SMT. There were no restrictions on the type of condition being investigated. Two independent reviewers selected the studies, assessed study quality, and extracted the data. Relevant data were the type and quality of placebo control(s) used, the assessment of blinding and expectations, and the results of those assessments. Twenty-five randomized, placebo-controlled trials were included in this review. There were 18 trials that used a sham manual SMT procedure for their placebo control intervention; the most common approach was with an SMT setup but without the application of any thrust. One small pilot study used an unequivocally indistinguishable placebo, two trials used placebos that had been validated as inert a priori, and eight trials reported on the success of subject blinding. Risk of bias was high or unclear, for all included studies. Imperfect placebos are ubiquitous in clinical trials of LP-SMT, and few trials have assessed for successful subject blinding or balanced expectations of treatment success between active and control group subjects. There is thus a strong potential for unmasking of control subjects, unequal non-specific effects between active and control groups, and non

  11. Analysis of Inverse Angle Method for Controlling Two Degree of Freedom Manipulator

    Directory of Open Access Journals (Sweden)

    Hendri Maja Saputra

    2012-07-01

    Full Text Available Driver mechanism with two degree of freedom (MP 2-DK is a robotic device that can be used for various applications such as turret drive system, gutling gun, launcher, radar antennas, and communications satellite antennas. The precision and the speed of a MP 2-DK are determined by its control system. The calculation inverse angle due to interference in six degree of freedom is necessary to control a MP 2 DK. This paper analyses three calculation methods of inverse angle which are iteration method using Jacobian matrix, reduction of matrix equations using positioning geometry, and an analytical derivation using a rotation matrix. The simulation results of the three methods showed that the first and the third methods could visually demonstrate three rotational disturbances, whereas the second method could only demonstrate the pitch and yaw (PY disturbances. The third method required less processing time than the first and the second methods. The best method based on this research was the method of rotation matrix.

  12. Comparison of three temperature control systems applications for a special homemade shortwave infrared spatial remote sensor

    Science.gov (United States)

    Xu, Zhipeng; Wei, Jun; Li, Jianwei; Zhou, Qianting

    2010-11-01

    An image spectrometer of a spatial remote sensing satellite requires shortwave band ranging from 2.1μm to 3μm which is one of the most important bands in remote sensing. We designed an infrared sub-system of the image spectrometer using a homemade 640x1 InGaAs shortwave infrared sensor working on FPA system which requires high uniformity and low level of dark current. The working temperature should be -15+/-0.2 Degree Celsius. This paper compares three different kinds of methods to control temperature of the sensor. First design uses a temperature control chip Max1978 from Maxim Company. Second design uses ADN8830 from ANALOG Company. Third design is based on FPGA device APA300. Experiment shows that MAX1978 has driving mosfet inside its chip which makes the stability is not appropriate for this homemade shortwave sensor. While the ADN8830 the supply power is limited to 5V, which also limits the driving power of the chip, experiments show that ADN8830 works very well when the voltage is below 5V, but the result is not acceptable when sensor demand more driving current. The FPGA design covers all the disadvantages above, but it introduced a new problem, the electrical circuit takes much more board resources than MAX1978 and ADN8830.

  13. "Tele-rounding" with a remotely controlled mobile robot in the neonatal intensive care unit.

    Science.gov (United States)

    Garingo, Arlene; Friedlich, Philippe; Chavez, Thomas; Tesoriero, Linda; Patil, Shilpa; Jackson, Paige; Seri, Istvan

    2016-03-01

    To investigate the feasibility of 'tele-rounding' in the neonatal intensive care. In this prospective study utilizing telemedicine technology in the NICU for daily patient bedside rounds ('tele-rounds'), twenty pairs of neonates were matched according to gestational age, diagnoses, and disease severity. One patient was cared for by the on-site NICU team lead by an on-site neonatologist. The other patient was cared for by the on-site team but led by an off-site neonatologist using a remote-controlled robot. Patient rounding data, clinical outcomes, length of stay, and hospital costs were compared between the two groups. Parents and staff were also surveyed about their satisfaction with telemedicine. Except for one parameter, no significant differences in care or outcomes were found between patients cared for by either neonatologist. The exception was the time the off-site neonatologist spent on the patient encounter compared to the on-site neonatologist (median [interquartile range]), (5 minutes [5, 6] vs. 8 minutes [7, 10.5], p = 0.002). This difference was due primarily to time needed to operate and maneuver the robot or occasionally to slower or dropped connection to the Internet. There were positive perceptions of telemedicine among both parents and NICU staff. As long as direct bedside care providers are available, remote-controlled, robotic telemedicine technology can be utilized by neonatologists to perform daily patient rounds in the neonatal intensive care unit. © The Author(s) 2015.

  14. Development of a remotely controlled testing platform with low-drag air-ventilated hull

    Science.gov (United States)

    Matveev, Konstantin I.; Perry, Nicholaus I.; Mattson, Alexander W.; Chaney, Christopher S.

    2015-03-01

    This paper addresses the development and testing of a remotely controlled boat platform with an innovative air-ventilated hull. The application of air cavities on the underside of ship hulls is a promising means for reducing hydrodynamic drag and pollutant emissions and increasing marine transportation efficiency. Despite this concept's potential, design optimization and high-performance operation of novel air-cavity ships remain a challenging problem. Hull construction and sensor instrumentation of the model-scale air-cavity boat is described in the paper. The modular structure of the hull allows for easy modifications, and an electric propulsion unit enables self-propelled operation. The boat is controlled remotely via a radio transmission system. Results of initial tests are reported, including thrust, speed, and airflow rate in several loading conditions. The constructed platform can be used for optimizing air-cavity systems and testing other innovative hull designs. This system can be also developed into a high-performance unmanned boat.

  15. Control of a small working robot on a large flexible manipulator for suppressing vibrations: Development of a robust control law for flexible robot and it's stability analysis

    Science.gov (United States)

    Soo, Han Lee

    1991-01-01

    Researchers developed a robust control law for slow motions for the accurate trajectory control of a flexible robot. The control law does not need larger velocity gains than position gains, which some researchers need to ensure the stability of a rigid robot. Initial experimentation for the Small Articulated Manipulator (SAM) shows that control laws that use smaller velocity gains are more robust to signal noise than the control laws that use larger velocity gains. Researchers analyzed the stability of the composite control law, the robust control for the slow motion, and the strain rate feedback for the fast control. The stability analysis was done by using a quadratic Liapunov function. Researchers found that the flexible motion of links could be controlled by relating the input force to the flexible signals which are sensed at the near tip of each link. The signals are contaminated by the time delayed input force. However, the effect of the time delayed input force can be reduced by giving a certain configuration to the SAM.

  16. Supervisory Control of a Humanoid Robot in Microgravity for Manipulation Tasks

    Science.gov (United States)

    Farrell, Logan C.; Strawser, Phil; Hambuchen, Kimberly; Baker, Will; Badger, Julia

    2017-01-01

    Teleoperation is the dominant form of dexterous robotic tasks in the field. However, there are many use cases in which direct teleoperation is not feasible such as disaster areas with poor communication as posed in the DARPA Robotics Challenge, or robot operations on spacecraft a large distance from Earth with long communication delays. Presented is a solution that combines the Affordance Template Framework for object interaction with TaskForce for supervisory control in order to accomplish high level task objectives with basic autonomous behavior from the robot. TaskForce, is a new commanding infrastructure that allows for optimal development of task execution, clear feedback to the user to aid in off-nominal situations, and the capability to add autonomous verification and corrective actions. This framework has allowed the robot to take corrective actions before requesting assistance from the user. This framework is demonstrated with Robonaut 2 removing a Cargo Transfer Bag from a simulated logistics resupply vehicle for spaceflight using a single operator command. This was executed with 80% success with no human involvement, and 95% success with limited human interaction. This technology sets the stage to do any number of high level tasks using a similar framework, allowing the robot to accomplish tasks with minimal to no human interaction.

  17. Controlling the thermoelectric effect by mechanical manipulation of the electron's quantum phase in atomic junctions.

    Science.gov (United States)

    Aiba, Akira; Demir, Firuz; Kaneko, Satoshi; Fujii, Shintaro; Nishino, Tomoaki; Tsukagoshi, Kazuhito; Saffarzadeh, Alireza; Kirczenow, George; Kiguchi, Manabu

    2017-08-11

    The thermoelectric voltage developed across an atomic metal junction (i.e., a nanostructure in which one or a few atoms connect two metal electrodes) in response to a temperature difference between the electrodes, results from the quantum interference of electrons that pass through the junction multiple times after being scattered by the surrounding defects. Here we report successfully tuning this quantum interference and thus controlling the magnitude and sign of the thermoelectric voltage by applying a mechanical force that deforms the junction. The observed switching of the thermoelectric voltage is reversible and can be cycled many times. Our ab initio and semi-empirical calculations elucidate the detailed mechanism by which the quantum interference is tuned. We show that the applied strain alters the quantum phases of electrons passing through the narrowest part of the junction and hence modifies the electronic quantum interference in the device. Tuning the quantum interference causes the energies of electronic transport resonances to shift, which affects the thermoelectric voltage. These experimental and theoretical studies reveal that Au atomic junctions can be made to exhibit both positive and negative thermoelectric voltages on demand, and demonstrate the importance and tunability of the quantum interference effect in the atomic-scale metal nanostructures.

  18. Aerodynamic control of NASP-type vehicles through Vortex manipulation. Volume 2: Static wind tunnel tests

    Science.gov (United States)

    Suarez, Carlos J.; Kramer, Brian R.; Smith, Brooke C.; Malcolm, Gerald N.

    1993-01-01

    Forebody Vortex Control (FVC) was explored in this research program for potential application to a NASP-type configuration. Wind tunnel tests were conducted to evaluate a number of jet blowing schemes. The configuration tested has a slender forebody and a 78 deg swept delta wing. Blowing jets were implemented on the leeward side of the forebody with small circular tubes tangential to the surface that could be directed aft, forward, or at angles in between. The effects of blowing are observed primarily in the yawing and rolling moments and are highly dependent on the jet configuration and the angle of attack. Results show that the baseline flow field, without blowing activated, is quite sensitive to the geometry differences of the various protruding jets, as well as being sensitive to the blowing, particularly in the angle of attack range where the forebody vortices are naturally asymmetric. The time lag of the flow field response to the initiation of blowing was also measured. The time response was very short, on the order of the time required for the flow disturbance to travel the distance from the nozzle to the specific airframe location of interest at the free stream velocity. Overall, results indicate that sizable yawing and rolling moments can be induced with modest blowing levels. However, direct application of this technique on a very slender forebody would require thorough wind tunnel testing to optimize the jet location and configuration.

  19. Visual and somatosensory information about object shape control manipulative fingertip forces.

    Science.gov (United States)

    Jenmalm, P; Johansson, R S

    1997-06-01

    We investigated the importance of visual versus somatosensory information for the adaptation of the fingertip forces to object shape when humans used the tips of the right index finger and thumb to lift a test object. The angle of the two flat grip surfaces in relation to the vertical plane was changed between trials from -40 to 30 degrees. At 0 degrees the two surfaces were parallel, and at positive and negative angles the object tapered upward and downward, respectively. Subjects automatically adapted the balance between the horizontal grip force and the vertical lift force to the object shape and thereby maintained a rather constant safety margin against frictional slips, despite the huge variation in finger force requirements. Subjects used visual cues to adapt force to object shape parametrically in anticipation of the force requirements imposed once the object was contacted. In the absence of somatosensory information from the digits, sighted subjects still adapted the force coordination to object shape, but without vision and somatosensory inputs the performance was severely impaired. With normal digital sensibility, subjects adapted the force coordination to object shape even without vision. Shape cues obtained by somatosensory mechanisms were expressed in the motor output about 0. 1 sec after contact. Before this point in time, memory of force coordination used in the previous trial controlled the force output. We conclude that both visual and somatosensory inputs can be used in conjunction with sensorimotor memories to adapt the force output to object shape automatically for grasp stability.

  20. Spinal Manipulative Therapy for Chronic Lower Back Pain in Older Veterans: A Prospective, Randomized, Placebo-Controlled Trial.

    Science.gov (United States)

    Dougherty, Paul E; Karuza, Jurgis; Dunn, Andrew S; Savino, Dorian; Katz, Paul

    2014-12-01

    Chronic lower back pain (CLBP) is problematic in older veterans. Spinal manipulative therapy (SMT) is commonly utilized for CLBP in older adults, yet there are few randomized placebo-controlled trials evaluating SMT. The purpose of the study was to compare the effectiveness of SMT to a sham intervention on pain (Visual Analogue Scale, SF-36 pain subscale), disability (Oswestry Disability Index), and physical function (SF-36 subscale, Timed Up and Go) by performing a randomized placebo-controlled trial at 2 Veteran Affairs Clinics. Older veterans (≥ 65 years of age) who were naive to chiropractic were recruited. A total of 136 were included in the study with 69 being randomly assigned to SMT and 67 to sham intervention. Patients were treated 2 times per week for 4 weeks assessing outcomes at baseline, 5, and 12 weeks postbaseline. Both groups demonstrated significant decrease in pain and disability at 5 and 12 weeks. At 12 weeks, there was no significant difference in pain and a statistically significant decline in disability scores in the SMT group when compared to the sham intervention group. There were no significant differences in adverse events between the groups. The SMT did not result in greater improvement in pain when compared to our sham intervention; however, SMT did demonstrate a slightly greater improvement in disability at 12 weeks. The fact that patients in both groups showed improvements suggests the presence of a nonspecific therapeutic effect.