WorldWideScience

Sample records for remote manipulators easy

  1. Dexterous Manipulation: Making Remote Manipulators Easy to Use

    International Nuclear Information System (INIS)

    HARRIGAN, RAYMOND W.; BENNETT, PHIL C.

    2001-01-01

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

  2. Remote control manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Sugawara, T

    1970-02-28

    A prior-art remote control manipulator comprises a horizontal suspension section, a master arm and a slave arm which are coupled to ends of the suspension section in a manner to pivotally move relative to the suspension section, and a connecting device which includes a tape and which joins both the arms. When the connecting device malfunctions, the slave arm can neither be extended nor contracted. Means to keep the tension of the tape is required which restricts the extension length of the slave arm. Further, the slave arm can be moved only in the axial direction. The invention described provides an improved remote control manipulator of the specified type. A moving device which moves the slave arm relative to the master arm without the intervention of the connecting device is mounted on a movable part of the slave arm, while pulleys which maintain the joining relationship of the connecting device are mounted on the movable part and fixed part of the slave arm. Owing to this construction, movement of the slave arm is assured despite troubles which may arise in the connecting device. In addition, no slack arises in the tape. By applying a similar construction to the horizontal suspension section, the suspension section can be stretched, and hence, the slave arm can be moved in a direction orthogonal to its axis.

  3. Adaptive Control Of Remote Manipulator

    Science.gov (United States)

    Seraji, Homayoun

    1989-01-01

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

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

    International Nuclear Information System (INIS)

    Whyley, S.R.

    1985-01-01

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

  5. Automatic camera tracking for remote manipulators

    International Nuclear Information System (INIS)

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

    1984-04-01

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

  6. Automatic camera tracking for remote manipulators

    International Nuclear Information System (INIS)

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

    1984-07-01

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

  7. Handling trolley for Argonne M8, Pye Mo 1815, Pye Heavy Duty, etc. remote manipulators

    International Nuclear Information System (INIS)

    Roussel, E.; Labiche, M.; Chevallier, E.

    1962-01-01

    The removal and installation of remote manipulators and periscopes in hot cells are delicate operations requiring a specific handling trolley. This note describes the technical specifications of such a trolley having the following advantages: occupies a minimal space when not in use, easy and efficient fastening and monitoring, smooth moving of the remote manipulators during removal or installation, trolley stability and immobility during operation, requires only two operators

  8. 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...

  9. In-vessel maintenance remote manipulator system

    International Nuclear Information System (INIS)

    Jimenez, E.

    1978-01-01

    The radiation environment within the Tokamak Fusion Test Reactor (TFTR) vacuum vessel necessitates the development of a Remote Manipulator System (RMS) to perform required periodic inspection and maintenance tasks. The RMS must be able to perform dexterous operations and handle loads that exceed human capabilities. The limited size of the access ports on the TFTR vacuum vessel and the performance profile, defined by the various handling requirements, present unique design constraints. The design approach and formulation of a RMS configuration which satisfies TFTR requirements is presented herein

  10. Kinesthetic coupling between operator and remote manipulator

    Science.gov (United States)

    Bejczy, A. K.; Salisbury, J. K., Jr.

    1980-01-01

    A universal force-reflecting hand controller has been developed which allows the establishment of a kinesthetic coupling between the operator and a remote manipulator. The six-degree-of-freedom controller was designed to generate forces and torques on its three positional and three rotational axes in order to permit the operator to accurately feel the forces encountered by the manipulator and be as transparent to operate as possible. The universal controller has been used in an application involving a six-degree-of-freedom mechanical arm equipped with a six-dimensional force-torque sensor at its base. In this application, the hand controller acts as a position control input device to the arm, while forces and torques sensed at the base of the mechanical hand back drive the hand controller. The positional control relation and the back driving of the controller according to inputs experienced by the force-torque sensor are established through complex mathematical transformations performed by a minicomputer. The hand controller is intended as a development tool for investigating force-reflecting master-slave manipulator control technology.

  11. Rapid prototyping of an adaptive light-source for mobile manipulators with EasyKit and EasyLab

    Science.gov (United States)

    Wojtczyk, Martin; Barner, Simon; Geisinger, Michael; Knoll, Alois

    2008-08-01

    While still not common in day-to-day business, mobile robot platforms form a growing market in robotics. Mobile platforms equipped with a manipulator for increased flexibility have been used successfully in biotech laboratories for sample management as shown on the well-known ESACT meetings. Navigation and object recognition is carried out by the utilization of a mounted machine vision camera. To cope with the different illumination conditions in a large laboratory, development of an adaptive light source was indispensable. We present our approach of rapid developing a computer controlled, adaptive LED light within one single business day, by utilizing the hardware toolbox EasyKit and our appropriate software counterpart EasyLab.

  12. Eye-in-Hand Manipulation for Remote Handling: Experimental Setup

    Science.gov (United States)

    Niu, Longchuan; Suominen, Olli; Aref, Mohammad M.; Mattila, Jouni; Ruiz, Emilio; Esque, Salvador

    2018-03-01

    A prototype for eye-in-hand manipulation in the context of remote handling in the International Thermonuclear Experimental Reactor (ITER)1 is presented in this paper. The setup consists of an industrial robot manipulator with a modified open control architecture and equipped with a pair of stereoscopic cameras, a force/torque sensor, and pneumatic tools. It is controlled through a haptic device in a mock-up environment. The industrial robot controller has been replaced by a single industrial PC running Xenomai that has a real-time connection to both the robot controller and another Linux PC running as the controller for the haptic device. The new remote handling control environment enables further development of advanced control schemes for autonomous and semi-autonomous manipulation tasks. This setup benefits from a stereovision system for accurate tracking of the target objects with irregular shapes. The overall environmental setup successfully demonstrates the required robustness and precision that remote handling tasks need.

  13. PHY∙FI: fast and easy online creation and manipulation of phylogeny color figures

    DEFF Research Database (Denmark)

    Fredslund, Jakob

    2006-01-01

    the phylogeny figure in some other general-purpose graphics program. PHY·FI is versatile, easy-to-use and fast, and supports comprehensive graphical control, several download image formats, and the possibility of dynamically collapsing groups of nodes into named subtrees (e.g. "Primates"). The user can create...... types of analysis, and hence they are available only for download and installing. Some online tools exist, too. Results This paper presents an online tool, PHY·FI, which encompasses all the qualities of existing online programs and adds functionality to hopefully eliminate the need for post-processing...... a color figure from any phylogeny, or other kind of tree, represented in the widely used parenthesized Newick format. Conclusion PHY·FI is fast and easy to use, yet still offers full color control, tree manipulation, and several image formats. It does not require any downloading and installing, and thus...

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

    International Nuclear Information System (INIS)

    Rininsland, H.; Boehme, G.

    1986-01-01

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

  15. Expert operator preferences in remote manipulator control systems

    International Nuclear Information System (INIS)

    Sundstrom, E.; Draper, J.V.; Fausz, A.; Woods, H.

    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

  16. Advantage of redundancy in the controllability of remote handling manipulator

    International Nuclear Information System (INIS)

    Muhammad, Ali; Mattila, Jouni; Vilenius, Matti; Siuko, Mikko; Semeraro, Luigi

    2011-01-01

    To carry out a variety of remote handling operations inside the ITER divertor a Water Hydraulic MANipulator (WHMAN) and its control system have been designed and developed at Tampere University of Technology. The manipulator is installed on top of Cassette Multifunctional Mover (CMM) to assist during the cassette removal and installation operations. While CMM is designed to carry heavy components such as cassettes through the service ducts relying on positioning accuracy and repeatability, WHMAN is designed to execute a mix of remote handling operations using position trajectories and master-slave telemanipulation. WHMAN is composed of eight joints: six rotational and two translational. Since a manipulator requires only six joints to acquire the desired position and orientation in operational-space, the two additional joints of WHMAN provide the redundant degrees of mobility. This paper presents how this redundancy of WHMAN can be an advantage to optimize the execution of remote handling tasks. The paper also discusses an effective way to practically exploit the redundancy. The results show that the additional degrees of freedom can be utilized to improve the dynamic behavior of the manipulator.

  17. Remote telerobotic replacement for master-slave manipulator

    International Nuclear Information System (INIS)

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

    1997-01-01

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

  18. Remote manipulator experience in target train maintenance at Fermilab

    International Nuclear Information System (INIS)

    Butala, S.W.

    1984-01-01

    When Fermilab was designed in the late 1960's and early 1970's, it was anticipated that Neutrino target train servicing could be costly in terms of personnel radiation exposure. This was based in part on the expectation that target intensities of at least 1E13 protons/pulse would be required to produce several neutrino interactions in a large bubble chamber detector. This was indeed later proven to be the case and historically the Neutrino beamline has been targeted with about one half of the protons available from the Main Ring. It was believed that much of the occupational radiation dose from the Neutrino Area could be spared by utilization of a remote manipulator system, which was eventually installed. It is the purpose of this report to examine the use of the Fermilab remote manipulator system and evaluate its cost effectiveness and success as an ALARA (As Low As Reasonably Achievable) tool. 16 references, 11 figures

  19. Application of identification techniques to remote manipulator system flight data

    Science.gov (United States)

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

    1983-01-01

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

  20. PHY·FI: fast and easy online creation and manipulation of phylogeny color figures

    Directory of Open Access Journals (Sweden)

    Fredslund Jakob

    2006-06-01

    Full Text Available Abstract Background The need to depict a phylogeny, or some other kind of abstract tree, is very frequently experienced by researchers from a broad range of biological and computational disciplines. Thousands of papers and talks include phylogeny figures, and often during everyday work, one would like to quickly get a graphical display of, e.g., the phylogenetic relationship between a set of sequences as calculated by an alignment program such as ClustalW or the phylogenetic package Phylip. A wealth of software tools capable of tree drawing exists; most are comprehensive packages that also perform various types of analysis, and hence they are available only for download and installing. Some online tools exist, too. Results This paper presents an online tool, PHY·FI, which encompasses all the qualities of existing online programs and adds functionality to hopefully eliminate the need for post-processing the phylogeny figure in some other general-purpose graphics program. PHY·FI is versatile, easy-to-use and fast, and supports comprehensive graphical control, several download image formats, and the possibility of dynamically collapsing groups of nodes into named subtrees (e.g. "Primates". The user can create a color figure from any phylogeny, or other kind of tree, represented in the widely used parenthesized Newick format. Conclusion PHY·FI is fast and easy to use, yet still offers full color control, tree manipulation, and several image formats. It does not require any downloading and installing, and thus any internet user regardless of computer skills, and computer platform, can benefit from it. PHY·FI is free for all and is available from this web address: http://cgi-www.daimi.au.dk/cgi-chili/phyfi/go

  1. Manipulators

    International Nuclear Information System (INIS)

    Wilcock, P.D.

    1984-01-01

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

  2. 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.

  3. Remote Decontamination Facility and Repair Station for hot-cell manipulators

    International Nuclear Information System (INIS)

    Ryz, M.A.

    1977-01-01

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

  4. Integration of remotely operated manipulator systems for the nuclear industry

    International Nuclear Information System (INIS)

    Blight, J.; Cornec, G.

    2003-01-01

    There is no getting away from remotely operated manipulator systems in significant part in dismantling operations, because of the actual radioactive emitting level of installations. However, some main contractors, who have been involved in dismantling projects in the past few years are reluctant to use remotely operated systems because: - equipment characteristics are not suitable for the environment and the work to be performed; - There are some design problems; - Main components do not withstand operation any longer, after some time; - There are deficiencies in the management of quality, for critical equipment problems that degrade the productivity and increase direct and indirect labour cost. As a summary therefore, equipment available on this dismantling market are reputedly unreliable and not 'industrial' (sturdy) enough. However, numerous operations in maintenance in primary loops of nuclear reactors, or in the Offshore sector, are carried out remotely, to the satisfaction of the operators and the investors. In the dismantling sector, a thorough analysis of the difficulties encountered indicates that their origin is mostly due to a lack of methodology - that needs to be addressed -, rather than a technical problem. In that context, CYBERNETIX proposes to be involved in phases upstream and downstream of the equipment supply's. Upstream: Participate in developing/validating the scenarios to be used to optimise the constraints of remote operations/equipment. Downstream: Participate actively in supporting the client on-site, ensuring that equipment are available and maintained by competent and motivated people, and thus, getting experience in order to improve the State-of-the-Art of robotic in that field. Then, the contracting authority and CYBERNETIX jointly define the limits and the content of the involvement of each party, and also define the most appropriate type of 'partnership' between the main contactor and the participating companies, and in order to

  5. Manipulator system for remote maintenance of fusion experimental reactor

    International Nuclear Information System (INIS)

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

    1991-01-01

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

  6. The effects of spatially displaced visual feedback on remote manipulator performance

    Science.gov (United States)

    Smith, Randy L.; Stuart, Mark A.

    1993-01-01

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

  7. Large remote manipulator operating and maintenance experience at IEM cell

    International Nuclear Information System (INIS)

    Hicks, D.F.; McGuinness, P.W.

    1985-01-01

    The Interim Examination and Maintenance (IEM) Cell at the Fast Flux Test Facility (FFTF) has two large Electro-Mechanical Manipulators (EMM's). These manipulators are used for cell operations (processing of reactor core components) as well as general cell maintenance. From our eleven years of operation and maintenance experience with these large EMM's, we have learned many lessons concerning manipulator design. This paper describes the IEM Cell EMM design features and discusses operating and maintenance experience at the IEM Cell

  8. 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)

  9. 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)

  10. Development of a Control System for PRIDE Remote Servo-manipulator

    International Nuclear Information System (INIS)

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

    2009-12-01

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

  11. 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.

  12. Remote Manipulation for DandD Exhibiting Teleautonomy and Telecollaboration

    International Nuclear Information System (INIS)

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

    2004-01-01

    The purpose of the work is to enhance remote operations of robotic systems for DandD 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 DandD, as well as 2,000 hr DAWP DandD 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

  13. Remote Manipulation for DandD Exhibiting Teleautonomy and Telecollaboration

    International Nuclear Information System (INIS)

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

    2002-01-01

    The purpose of the work is to enhance remote operations of robotic systems for DandD 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 and D, as well as 2,000 hr DAWP D and 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

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

    International Nuclear Information System (INIS)

    Yu, Seung Nam; Lee, Jong Kwang

    2012-01-01

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

  15. An easy-to-build remote laboratory with data transfer using the Internet School Experimental System

    International Nuclear Information System (INIS)

    Schauer, Frantisek; Ozvoldova, Miroslava; Lustig, Frantisek; Dvorak, JirI

    2008-01-01

    The present state of information communication technology makes it possible to devise and run computer-based e-laboratories accessible to any user with a connection to the Internet, equipped with very simple technical means and making full use of web services. Thus, the way is open for a new strategy of physics education with strongly global features, based on experiment and experimentation. We name this strategy integrated e-learning, and remote experiments across the Internet are the foundation for this strategy. We present both pedagogical and technical reasoning for the remote experiments and outline a simple system based on a server-client approach, and on web services and Java applets. We give here an outline of the prospective remote laboratory system with data transfer using the Internet School Experimental System (ISES) as hardware and ISES WEB Control kit as software. This approach enables the simple construction of remote experiments without building any hardware and virtually no programming, using a paste and copy approach with typical prebuilt blocks such as a camera view, controls, graphs, displays, etc. We have set up and operate at present seven experiments, running round the clock, with more than 12 000 connections since 2005. The experiments are widely used in practical teaching of both university and secondary level physics. The recording of the detailed steps the experimentor takes during the measurement enables detailed study of the psychological aspects of running the experiments. The system is ready for a network of universities to start covering the basic set of physics experiments. In conclusion we summarize the results achieved and experiences of using remote experiments built on the ISES hardware system

  16. An easy-to-build remote laboratory with data transfer using the Internet School Experimental System

    Science.gov (United States)

    Schauer, František; Lustig, František; Dvořák, Jiří; Ožvoldová, Miroslava

    2008-07-01

    The present state of information communication technology makes it possible to devise and run computer-based e-laboratories accessible to any user with a connection to the Internet, equipped with very simple technical means and making full use of web services. Thus, the way is open for a new strategy of physics education with strongly global features, based on experiment and experimentation. We name this strategy integrated e-learning, and remote experiments across the Internet are the foundation for this strategy. We present both pedagogical and technical reasoning for the remote experiments and outline a simple system based on a server-client approach, and on web services and Java applets. We give here an outline of the prospective remote laboratory system with data transfer using the Internet School Experimental System (ISES) as hardware and ISES WEB Control kit as software. This approach enables the simple construction of remote experiments without building any hardware and virtually no programming, using a paste and copy approach with typical prebuilt blocks such as a camera view, controls, graphs, displays, etc. We have set up and operate at present seven experiments, running round the clock, with more than 12 000 connections since 2005. The experiments are widely used in practical teaching of both university and secondary level physics. The recording of the detailed steps the experimentor takes during the measurement enables detailed study of the psychological aspects of running the experiments. The system is ready for a network of universities to start covering the basic set of physics experiments. In conclusion we summarize the results achieved and experiences of using remote experiments built on the ISES hardware system.

  17. An easy-to-build remote laboratory with data transfer using the Internet School Experimental System

    Energy Technology Data Exchange (ETDEWEB)

    Schauer, Frantisek; Ozvoldova, Miroslava [Trnava University, Faculty of Pedagogy, Department of Physics, Trnava (Slovakia); Lustig, Frantisek; Dvorak, JirI [Charles University, Faculty of Mathematics and Physics, Department of Didactics of Physics, Prague (Czech Republic)], E-mail: fschauer@ft.utb.cz

    2008-07-15

    The present state of information communication technology makes it possible to devise and run computer-based e-laboratories accessible to any user with a connection to the Internet, equipped with very simple technical means and making full use of web services. Thus, the way is open for a new strategy of physics education with strongly global features, based on experiment and experimentation. We name this strategy integrated e-learning, and remote experiments across the Internet are the foundation for this strategy. We present both pedagogical and technical reasoning for the remote experiments and outline a simple system based on a server-client approach, and on web services and Java applets. We give here an outline of the prospective remote laboratory system with data transfer using the Internet School Experimental System (ISES) as hardware and ISES WEB Control kit as software. This approach enables the simple construction of remote experiments without building any hardware and virtually no programming, using a paste and copy approach with typical prebuilt blocks such as a camera view, controls, graphs, displays, etc. We have set up and operate at present seven experiments, running round the clock, with more than 12 000 connections since 2005. The experiments are widely used in practical teaching of both university and secondary level physics. The recording of the detailed steps the experimentor takes during the measurement enables detailed study of the psychological aspects of running the experiments. The system is ready for a network of universities to start covering the basic set of physics experiments. In conclusion we summarize the results achieved and experiences of using remote experiments built on the ISES hardware system.

  18. Easy To Use Remote Sensing and GIS Analysis for Landslide Risk Assessment.

    Directory of Open Access Journals (Sweden)

    Hayder Dibs

    2017-12-01

    Full Text Available Many countries throughout the world suffered from the natural risks, they cause a large damage in property and loss in human lives, we cannot prevent the occurring of these hazards but, it is possible to reduce their affect in saving human lives and reducing the damage in properties. Several methodologies have been conducted to predict the suitable model for landslide assessment. The susceptibility maps of landslide hazard generated by combining the remote sensed data with the capability of GIS (geographic information system. We discussed different type of algorithms and factors for modeling the prediction of landslide risk assessment such as SVM (support vector machine, DT (decision tree, ANFIS (adaptive neural-fuzzy inference system, AHP (analytic hierarchy process, ANN (artificial neural network, probability frequency of landslides occurrence factors model and empirical model. The study evaluated various parameters that are responsible for landslide occurrence and the weighting for each parameter and its importance to probable of landslide activity. AHP method, Weights of evidence model, and back propagation method have been applied for weighting the factors.  We found that using ANN algorithm with more than ten factors will give high accuracy result especially if the validation performs by field surveys data.

  19. Application of Shuttle Remote Manipulator System technology to the replacement of fuel channels in the Pickering CANDU reactor

    International Nuclear Information System (INIS)

    Stratton, D.; Butt, C.

    1982-04-01

    Spar Aerospace Limited of Toronto was the prime contractor to the National Research Council of Canada for the design and development of the Shuttle Remote Manipulator (SRMS). Spar is presently under contract to Ontario Hydro to design and build a Remote Manipulation Control System to replace the fuel channels in the Pickering A Nuclear Generating Station. The equipment may be used to replace the fuel channels in six other early generation CANDU reactors

  20. Remote manipulation of posterior lamellar corneal grafts using a magnetic field.

    Science.gov (United States)

    Nahum, Yoav; Barliya, Tilda; Bahar, Irit; Livnat, Tami; Nisgav, Yael; Weinberger, Dov

    2013-06-01

    In posterior lamellar keratoplasty procedures such as Descemet stripping endothelial keratoplasty and Descemet membrane endothelial keratoplasty, the lamellar graft is manipulated directly or by injecting an air bubble. This preliminary study sought to evaluate the feasibility of guiding lamellar corneal grafts by generating a magnetic field. Rabbit and porcine Descemet stripping endothelial keratoplasty and Descemet membrane endothelial keratoplasty grafts were manually produced and immersed in a ferromagnetic solution containing nanomagnetic particles conjugated to streptavidin or in gadoteric acid. For the feasibility study, grafts were transferred to an artificial anterior chamber or plastic test tube and a magnetic field was generated with a handheld NdFeB disc magnet. The presence and the sustainability of graft motion were documented under various conditions. For the semiquantitative study, whole or partial grafts were transferred to a plastic test tube after immersion, and the amount of tissue retraction induced by the remote magnet was graded. The grafts were successfully manipulated in all directions by the magnet, from a distance of up to 7 mm. They remained ferromagnetic more than 24 hours after immersion in the ferromagnetic solutions. The degree of retraction was affected by graft size, immersion time, time from immersion, and immersion solution. Posterior lamellar corneal grafts may be made ferromagnetic and remotely manipulated by creation of a magnetic field. The ferromagnetic properties are adjustable. This technique holds promise in attaching and repositioning grafts during keratoplasty. Further research is needed to assess the possible effects of ferromagnetic solutions on corneal endothelial cells and on lamellar graft clarity.

  1. Operating gains achieved by a new generation of remotely controlled manipulators

    International Nuclear Information System (INIS)

    Djedidi, A.; Selliez-Vandernotte, C.; Malcolm, F.

    2014-01-01

    A high performance remotely controlled mechanical master slave arm with direct transmission via cable and transmission rods has been converted to a new generation manipulator with electrical master slave arm and motion module with integrated software. The redesigned powered manipulator with software control improves efficiency and ergonomics while increasing operating field space. The mechanical master arm has been replaced by an electrical robotic master arm using haptic technology. The movements initiated by the operator are transmitted in real time to the slave arm via the servo-motors inside the motion module. The mechanical link between master and slave is eliminated and some mechanical constraints have been replaced by software applications. The operator benefits from an improved working position and vibration filtering plus full range high performance force feedback with reduced effort requirement. (authors)

  2. Study and development of techniques for automatic control of remote manipulators

    Science.gov (United States)

    Shaket, E.; Leal, A.

    1976-01-01

    An overall conceptual design for an autonomous control system of remote manipulators which utilizes feedback was constructed. The system consists of a description of the high-level capabilities of a model from which design algorithms are constructed. The autonomous capability is achieved through automatic planning and locally controlled execution of the plans. The operator gives his commands in high level task-oriented terms. The system transforms these commands into a plan. It uses built-in procedural knowledge of the problem domain and an internal model of the current state of the world.

  3. 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..

  4. Manipulators

    International Nuclear Information System (INIS)

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

    2005-01-01

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

  5. Near-field acoustic microbead trapping as remote anchor for single particle manipulation

    Energy Technology Data Exchange (ETDEWEB)

    Hwang, Jae Youn [Department of Information and Communication Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu (Korea, Republic of); Cheon, Dong Young; Shin, Hyunjune; Kim, Hyun Bin; Lee, Jungwoo, E-mail: jwlee@kw.ac.kr [Department of Electronic Engineering, Kwangwoon University, Seoul (Korea, Republic of)

    2015-05-04

    We recently proposed an analytical model of a two-dimensional acoustic trapping of polystyrene beads in the ray acoustics regime, where a bead diameter is larger than the wavelength used. As its experimental validation, this paper demonstrates the transverse (or lateral) trapping of individual polystyrene beads in the near field of focused ultrasound. A 100 μm bead is immobilized on the central beam axis by a focused sound beam from a 30 MHz single element lithium niobate transducer, after being laterally displaced through hundreds of micrometers. Maximum displacement, a longest lateral distance at which a trapped bead can be directed towards the central axis, is thus measured over a discrete frequency range from 24 MHz to 36 MHz. The displacement data are found to be between 323.7 μm and 470.2 μm, depending on the transducer's driving frequency and input voltage amplitude. The experimental results are compared with their corresponding model values, and their relative errors lie between 0.9% and 3.9%. The results suggest that this remote maneuvering technique may be employed to manipulate individual cells through solid microbeads, provoking certain cellular reactions to localized mechanical disturbance without direct contact.

  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. 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.

  8. Near-field acoustic microbead trapping as remote anchor for single particle manipulation

    Science.gov (United States)

    Hwang, Jae Youn; Cheon, Dong Young; Shin, Hyunjune; Kim, Hyun Bin; Lee, Jungwoo

    2015-05-01

    We recently proposed an analytical model of a two-dimensional acoustic trapping of polystyrene beads in the ray acoustics regime, where a bead diameter is larger than the wavelength used. As its experimental validation, this paper demonstrates the transverse (or lateral) trapping of individual polystyrene beads in the near field of focused ultrasound. A 100 μm bead is immobilized on the central beam axis by a focused sound beam from a 30 MHz single element lithium niobate transducer, after being laterally displaced through hundreds of micrometers. Maximum displacement, a longest lateral distance at which a trapped bead can be directed towards the central axis, is thus measured over a discrete frequency range from 24 MHz to 36 MHz. The displacement data are found to be between 323.7 μm and 470.2 μm, depending on the transducer's driving frequency and input voltage amplitude. The experimental results are compared with their corresponding model values, and their relative errors lie between 0.9% and 3.9%. The results suggest that this remote maneuvering technique may be employed to manipulate individual cells through solid microbeads, provoking certain cellular reactions to localized mechanical disturbance without direct contact.

  9. 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.

  10. Digitise this! A quick and easy remote sensing method to monitor the daily extent of dredge plumes.

    Directory of Open Access Journals (Sweden)

    Richard D Evans

    Full Text Available Technological advancements in remote sensing and GIS have improved natural resource managers' abilities to monitor large-scale disturbances. In a time where many processes are heading towards automation, this study has regressed to simple techniques to bridge a gap found in the advancement of technology. The near-daily monitoring of dredge plume extent is common practice using Moderate Resolution Imaging Spectroradiometer (MODIS imagery and associated algorithms to predict the total suspended solids (TSS concentration in the surface waters originating from floods and dredge plumes. Unfortunately, these methods cannot determine the difference between dredge plume and benthic features in shallow, clear water. This case study at Barrow Island, Western Australia, uses hand digitising to demonstrate the ability of human interpretation to determine this difference with a level of confidence and compares the method to contemporary TSS methods. Hand digitising was quick, cheap and required very little training of staff to complete. Results of ANOSIM R statistics show remote sensing derived TSS provided similar spatial results if they were thresholded to at least 3 mg L(-1. However, remote sensing derived TSS consistently provided false-positive readings of shallow benthic features as Plume with a threshold up to TSS of 6 mg L(-1, and began providing false-negatives (excluding actual plume at a threshold as low as 4 mg L(-1. Semi-automated processes that estimate plume concentration and distinguish between plumes and shallow benthic features without the arbitrary nature of human interpretation would be preferred as a plume monitoring method. However, at this stage, the hand digitising method is very useful and is more accurate at determining plume boundaries over shallow benthic features and is accessible to all levels of management with basic training.

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

    International Nuclear Information System (INIS)

    Seeberger, E.K.

    2000-01-01

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

  12. Water hydraulic manipulator for fail safe and fault tolerant remote handling operations at ITER

    International Nuclear Information System (INIS)

    Nieminen, Peetu; Esque, Salvador; Muhammad, Ali; Mattila, Jouni; Vaeyrynen, Jukka; Siuko, Mikko; Vilenius, Matti

    2009-01-01

    Department of Intelligent Hydraulics and Automation (IHA) of Tampere University of Technology has been involved in the European Fusion program since 1994 within the ITER reactor maintenance activities. In this paper we discuss the design and development of a six degrees of freedom water hydraulic manipulator with a force feedback for teleoperation tasks. The manipulator is planned to be delivered to Divertor Test Platform 2 (DTP2) during year 2008. The paper also discusses the possibility to improve the fail safe and redundant operation of the manipulator. During the design of the water hydraulic manipulator, special provisions have been made in order to meet the safety requirements such as servo valve block for redundant operation and safety vane brakes for fail safe operation.

  13. Master--slave manipulators and remote maintenance at the Oak Ridge National Laboratory

    International Nuclear Information System (INIS)

    Jenness, R.G.; Wicker, C.D.

    1975-01-01

    The volume of master-slave manipulator maintenance at Oak Ridge National Laboratory has necessitated the establishment of a repair facility and the organization of a specially trained group of craftsmen. Emphasis on cell containment requires the use of manipulator boots and the development of precise procedures for accomplishing the maintenance of 283 installed units. To provide the most economical type of preventive maintenance, a very satisfactory computer-programmed maintenance system has been established at the Laboratory. (auth)

  14. Remote handling devices for use behind shielding walls. Master-slave manipulators with three pivots, dimensions

    International Nuclear Information System (INIS)

    1993-08-01

    The standardized general dimensions as recommended in this standard will facilitate the planning and construction of shielding rooms in which master-slave manipulators as specified in this standard are to be used, as well as the interchangeability of these instruments. It will also help to shorten the time of delivery in the initial supply of maser-slave manipulators for these rooms and in the supply of replacement parts. (orig.) [de

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

    International Nuclear Information System (INIS)

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

    2005-01-01

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

  16. A manipulator

    International Nuclear Information System (INIS)

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

    1984-01-01

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

  17. 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.

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

    Science.gov (United States)

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

    1978-01-01

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

  19. A kinematic analysis of the Space Station remote manipulator system (SSRMS)

    Science.gov (United States)

    Crane, Carl D., III; Duffy, Joseph; Carnahan, Tim

    1991-01-01

    An efficient reverse analysis of three 6-degree-of-freedom (dof) subchains of the 7-dof SSRMS is presented. The first subchain is formed by locking the seventh joint. The second subchain is formed by locking the second joint, while the third subchain is formed by locking the first joint (the grounded joint is counted as the first joint in the chain). There are a maximum of eight different arm configurations in each of the three subchains, and these were determined by employing a computer-efficient algorithm, which required the rooting of only at most quadratic polynomials. The algorithms were implemented, and the SSRMS was employed in an animated environment to perform and practice a number of useful tasks for Space Station servicing. The locking of the second joint has the advantage in that an operator can choose the orientation of the plane that contains the two longest links so as to avoid collisions with obstacles. However, it has the disadvantage that when the second joint angle equals 0 deg or 180 deg, the manipulator is in a singularity configuration. This plane can also be oriented by specifying the first joint angle, so that the plane can be oriented arbitrarily and, in this, the singularity is avoided.

  20. Development of a control system for a heavy object handling manipulator. Application to a remote maintenance system for ITER blanket module

    International Nuclear Information System (INIS)

    Yoshimi, Takashi; Tsuji, Kouichi; Miyagawa, Shinichi; Kubo, Tomomi; Kakudate, Satoshi; Tada, Eisuke

    2001-01-01

    This paper describes a control system for the heavy object handling manipulator. It has been developed for the blanket module remote maintenance system of ITER (International Thermonuclear Fusion Experimental Reactor). A rail-mounted vehicle-type manipulator is proposed for the precise handling of a blanket module which is about 4 tons in weight. Basically, this manipulator is controlled by teaching-playback technique. When grasping or releasing the module, the manipulator sags and the position of the end-effector changes about 50 [mm]. Applying only the usual teaching-playback control makes the smooth operation of setting/removing modules to/from the vacuum vessel wall difficult due to this position change. To solve this proper problem of heavy object handling manipulator, we have developed a system which uses motion patterns generated from two kinds of teaching points. These motion patterns for setting/removing heavy objects are generated by combining teaching points for positioning the manipulator with and without grasping the object. When these motion patterns are applied, the manipulator can transfer the object's weight smoothly at the setting/removing point. This developed system has been applied to the real-scale mock-up of the vehicle manipulator and through the actual module setting/removing experiments, we have verified its effectiveness and realized smooth maintenance operation. (author)

  1. 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.

  2. Description of European Space Agency (ESA) Remote Manipulator (RM) System Breadboard Currently Under Development for Demonstration of Critical Technology Foreseen to be Used in the Mars Sample Receiving Facility (MSRF)

    Science.gov (United States)

    Vrublevskis, J.; Duncan, S.; Berthoud, L.; Bowman, P.; Hills, R.; McCulloch, Y.; Pisla, D.; Vaida, C.; Gherman, B.; Hofbaur, M.; Dieber, B.; Neythalath, N.; Smith, C.; van Winnendael, M.; Duvet, L.

    2018-04-01

    In order to avoid the use of 'double walled' gloves, a haptic feedback Remote Manipulation (RM) system rather than a gloved isolator is needed inside a Double Walled Isolator (DWI) to handle a sample returned from Mars.

  3. Easy-to-use interface

    International Nuclear Information System (INIS)

    Blattner, D O; Blattner, M M; Tong, Y.

    1999-01-01

    Easy-to-use interfaces are a class of interfaces that fall between public access interfaces and graphical user interfaces in usability and cognitive difficulty. We describe characteristics of easy-to-use interfaces by the properties of four dimensions: selection, navigation, direct manipulation, and contextual metaphors. Another constraint we introduced was to include as little text as possible, and what text we have will be in at least four languages. Formative evaluations were conducted to identify and isolate these characteristics. Our application is a visual interface for a home automation system intended for a diverse set of users. The design will be expanded to accommodate the visually disabled in the near future

  4. Remote controlled in-pipe manipulators for dye-penetrant inspection and grinding of weld roots inside of pipes

    International Nuclear Information System (INIS)

    Seeberger, E.K.

    2000-01-01

    Technical plants which have to satisfy stringent safety criteria must be continuously kept in line with the state of art. This applies in particular to nuclear power plants. The quality of piping in nuclear power plants has been improved quite considerably in recent years. By virtue of the very high quality requirements fulfilled in the manufacture of medium-carrying and pressure-retaining piping, one of the focal aspects of in-service inspections is the medium wetted inside of the piping. A remote controlled pipe crawler has been developed to allow to perform dye penetrant testing of weld roots inside piping (ID ≥ 150 mm). The light crawler has been designed such that it can be inserted into the piping via valves (gate valves, check valves,...) with their internals removed. Once in the piping, all crawler movements are remotely controlled (horizontal and vertical pipes incl. the elbows). If indications are found these discontinuities are ground according to a qualified procedure using a special grinding head attached to the crawler with complete extraction of all grinding residues. The in-pipe grinding is a special qualified three (3) step performance that ensures no residual tensile stress (less than 50 N/mm 2 ) in the finish machined austenitic material surface. The in-pipe inspection system, qualified according to both the specifications of the German Nuclear Safety Standards Commission (KTA) and the American Society of Mechanical Engineers (ASME), has already been used successfully in nuclear power plants on many occasions. (author)

  5. The Immersive Virtual Reality Lab: Possibilities for Remote Experimental Manipulations of Autonomic Activity on a Large Scale

    Directory of Open Access Journals (Sweden)

    Joshua Juvrud

    2018-05-01

    Full Text Available There is a need for large-scale remote data collection in a controlled environment, and the in-home availability of virtual reality (VR and the commercial availability of eye tracking for VR present unique and exciting opportunities for researchers. We propose and provide a proof-of-concept assessment of a robust system for large-scale in-home testing using consumer products that combines psychophysiological measures and VR, here referred to as a Virtual Lab. For the first time, this method is validated by correlating autonomic responses, skin conductance response (SCR, and pupillary dilation, in response to a spider, a beetle, and a ball using commercially available VR. Participants demonstrated greater SCR and pupillary responses to the spider, and the effect was dependent on the proximity of the stimuli to the participant, with a stronger response when the spider was close to the virtual self. We replicated these effects across two experiments and in separate physical room contexts to mimic variability in home environment. Together, these findings demonstrate the utility of pupil dilation as a marker of autonomic arousal and the feasibility to assess this in commercially available VR hardware and support a robust Virtual Lab tool for massive remote testing.

  6. The Immersive Virtual Reality Lab: Possibilities for Remote Experimental Manipulations of Autonomic Activity on a Large Scale.

    Science.gov (United States)

    Juvrud, Joshua; Gredebäck, Gustaf; Åhs, Fredrik; Lerin, Nils; Nyström, Pär; Kastrati, Granit; Rosén, Jörgen

    2018-01-01

    There is a need for large-scale remote data collection in a controlled environment, and the in-home availability of virtual reality (VR) and the commercial availability of eye tracking for VR present unique and exciting opportunities for researchers. We propose and provide a proof-of-concept assessment of a robust system for large-scale in-home testing using consumer products that combines psychophysiological measures and VR, here referred to as a Virtual Lab. For the first time, this method is validated by correlating autonomic responses, skin conductance response (SCR), and pupillary dilation, in response to a spider, a beetle, and a ball using commercially available VR. Participants demonstrated greater SCR and pupillary responses to the spider, and the effect was dependent on the proximity of the stimuli to the participant, with a stronger response when the spider was close to the virtual self. We replicated these effects across two experiments and in separate physical room contexts to mimic variability in home environment. Together, these findings demonstrate the utility of pupil dilation as a marker of autonomic arousal and the feasibility to assess this in commercially available VR hardware and support a robust Virtual Lab tool for massive remote testing.

  7. Master-slave manipulator

    International Nuclear Information System (INIS)

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

    1981-01-01

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

  8. EASI graphics - Version II

    International Nuclear Information System (INIS)

    Allensworth, J.A.

    1984-04-01

    EASI (Estimate of Adversary Sequence Interruption) is an analytical technique for measuring the effectiveness of physical protection systems. EASI Graphics is a computer graphics extension of EASI which provides a capability for performing sensitivity and trade-off analyses of the parameters of a physical protection system. This document reports on the implementation of the Version II of EASI Graphics and illustrates its application with some examples. 5 references, 15 figures, 6 tables

  9. Powered manipulator control arm

    International Nuclear Information System (INIS)

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

    1975-01-01

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

  10. Manipulator comparative testing program

    International Nuclear Information System (INIS)

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

    1986-01-01

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

  11. An easy mold

    International Nuclear Information System (INIS)

    Kim, Nam Hun; Choe, Jong Sun

    1988-04-01

    This book deals with an easy mold, which introduces what is a mold kinds and classification of mold. It gives descriptions of easy theories such as basic knowledge on shearing work, clearance, power for punching and shear angle, basic knowledge for bending such as transform by bending, the minimal bending radius, spring back, the length of material, flexural strength for bending, fundamental knowledge for drawing work with transform of drawing and limitation of drawing.

  12. 1001 easy French phrases

    CERN Document Server

    McCoy, Heather

    2010-01-01

    The perfect companion for tourists and business travelers in France and other places where the French language is spoken, this book offers fast, effective communication. More than 1,000 basic words, phrases, and sentences cover everything from asking directions and renting a car to ordering dinner and finding a bank.Designed as a quick reference tool and an easy study guide, this inexpensive and easy-to-use book offers completely up-to-date terms for modern telecommunications, idioms, and slang. The contents are arranged for quick access to phrases related to greetings, transportation, shoppin

  13. French made nice & easy

    CERN Document Server

    REA, The Editors of

    2012-01-01

    Whether travelling to a foreign country or to your favorite international restaurant, this Nice & Easy guide gives you just enough of the language to get around and be understood. Much of the material in this book was developed for government personnel who are often assigned to a foreign country on a moment's notice and need a quick introduction to the language.

  14. Remote docking apparatus

    International Nuclear Information System (INIS)

    Dent, T.H.; Sumpman, W.C.; Wilhelm, J.J.

    1981-01-01

    The remote docking apparatus comprises a support plate with locking devices mounted thereon. The locking devices are capable of being inserted into tubular members for suspending the support plate therefrom. A vertical member is attached to the support plate with an attachment mechanism attached to the vertical member. A remote access manipulator is capable of being attached to the attachment mechanism so that the vertical member can position the remote access manipulator so that the remote access manipulator can be initially attached to the tubular members in a well defined manner

  15. English made easy

    CERN Document Server

    Crichton, Jonathan

    2013-01-01

    This is a fun and user–friendly way to learn English English Made Easy is a breakthrough in English language learning—imaginatively exploiting how pictures and text can work together to create understanding and help learners learn more productively. It gives learners easy access to the vocabulary, grammar and functions of English as it is actually used in a comprehensive range of social situations. Self–guided students and classroom learners alike will be delighted by the way they are helped to progress easily from one unit to the next, using a combination of pictures and text to discover for themselves how English works. The pictorial method used in this book is based on a thorough understanding of language structure and how language is successfully learned.English Made Easy, Volume 1 consists of a total of 20 units arranged in groups of five. The first four units presents language and provide learners the opportunities to practice as they learn. The first page of each unit has a list of all the word...

  16. English made easy

    CERN Document Server

    Crichton, Jonathan

    2013-01-01

    This is a fun and user–friendly way to learn EnglishEnglish Made Easy is a breakthrough in English language learning—imaginatively exploiting how pictures and text can work together to create understanding and help learners learn more productively. It gives learners easy access to the vocabulary, grammar and functions of English as it is actually used in a comprehensive range of social situations. Self–guided students and classroom learners alike will be delighted by the way they are helped to progress easily from one unit to the next, using a combination of pictures and text to discover for themselves how English works. The pictorial method used in this book is based on a thorough understanding of language structure and how language is successfully learned.English Made Easy, Volume 2 consists of a total of 20 units arranged in groups of five. The first four units presents language and provide learners the opportunities to practice as they learn. The first page of each unit has a list of all the words...

  17. Relativity made relatively easy

    CERN Document Server

    Steane, Andrew M

    2012-01-01

    Relativity Made Relatively Easy presents an extensive study of Special Relativity and a gentle (but exact) introduction to General Relativity for undergraduate students of physics. Assuming almost no prior knowledge, it allows the student to handle all the Relativity needed for a university course, with explanations as simple, thorough, and engaging as possible.The aim is to make manageable what would otherwise be regarded as hard; to make derivations as simple as possible and physical ideas as transparent as possible. Lorentz invariants and four-vectors are introduced early on, but tensor not

  18. Easy instrumental analysis

    International Nuclear Information System (INIS)

    Ko, Myeong Su; Kim, Tae Hwa; Park, Gyu Hyeon; Yang, Jong Beom; Oh, Chang Hwan; Lee, Kyoung Hye

    2010-04-01

    This textbook describes instrument analysis in easy way with twelve chapters. The contents of the book are pH measurement on principle, pH meter, pH measurement, examples of the experiments, centrifugation, Absorptiometry, Fluorescent method, Atomic absorption analysis, Gas-chromatography, Gas chromatography-mass spectrometry, High performance liquid chromatography liquid chromatograph-mass spectrometry, Electrophoresis on practical case and analysis of the result and examples, PCR on principle, device, application and examples and Enzyme-linked immunosorbent assay with indirect ELISA, sandwich ELISA and ELISA reader.

  19. Nothing Great Is Easy

    OpenAIRE

    Stansbie, Lisa

    2014-01-01

    A solo exhibition of 13 pieces of art work.\\ud \\ud Nothing Great is Easy is an exhibition of sculpture, film, drawing and photography that proposes reconstructed narratives using the sport of swimming and in particular the collective interaction and identity of the channel swimmer. The work utilises the processes, rituals/rules, language and the apparatus of sport.\\ud \\ud “Nothing great is easy” are the words on the memorial to Captain Matthew Webb who was the first man to swim the English ch...

  20. Easy instrumental analysis

    Energy Technology Data Exchange (ETDEWEB)

    Ko, Myeong Su; Kim, Tae Hwa; Park, Gyu Hyeon; Yang, Jong Beom; Oh, Chang Hwan; Lee, Kyoung Hye

    2010-04-15

    This textbook describes instrument analysis in easy way with twelve chapters. The contents of the book are pH measurement on principle, pH meter, pH measurement, examples of the experiments, centrifugation, Absorptiometry, Fluorescent method, Atomic absorption analysis, Gas-chromatography, Gas chromatography-mass spectrometry, High performance liquid chromatography liquid chromatograph-mass spectrometry, Electrophoresis on practical case and analysis of the result and examples, PCR on principle, device, application and examples and Enzyme-linked immunosorbent assay with indirect ELISA, sandwich ELISA and ELISA reader.

  1. Stainless steel decontamination manipulators

    International Nuclear Information System (INIS)

    Sullivan, R.J.

    1986-01-01

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

  2. Pretty Easy Pervasive Positioning

    DEFF Research Database (Denmark)

    Hansen, Rene; Wind, Rico; Jensen, Christian Søndergaard

    2009-01-01

    With the increasing availability of positioning based on GPS, Wi-Fi, and cellular technologies and the proliferation of mobile devices with GPS, Wi-Fi and cellular connectivity, ubiquitous positioning is becoming a reality. While offerings by companies such as Google, Skyhook, and Spotigo render...... positioning possible in outdoor settings, including urban environments with limited GPS coverage, they remain unable to offer accurate indoor positioning. We will demonstrate a software infrastructure that makes it easy for anybody to build support for accurate Wi-Fi based positioning in buildings. All...... that is needed is a building with Wi-Fi coverage, access to the building, a floor plan of the building, and a Wi-Fi enabled device. Specifically, we will explain the software infrastructure and the steps that must be completed to obtain support for positioning. And we will demonstrate the positioning obtained...

  3. Easy plane baby Skyrmions

    Science.gov (United States)

    Jäykkä, Juha; Speight, Martin

    2010-12-01

    The baby Skyrme model is studied with a novel choice of potential, V=(1)/(2)ϕ32. This “easy plane” potential vanishes at the equator of the target two-sphere. Hence, in contrast to previously studied cases, the boundary value of the field breaks the residual SO(2) internal symmetry of the model. Consequently, even the unit charge Skyrmion has only discrete symmetry and consists of a bound state of two half lumps. A model of long-range inter-Skyrmion forces is developed wherein a unit Skyrmion is pictured as a single scalar dipole inducing a massless scalar field tangential to the vacuum manifold. This model has the interesting feature that the two-Skyrmion interaction energy depends only on the average orientation of the dipoles relative to the line joining them. Its qualitative predictions are confirmed by numerical simulations. Global energy minimizers of charges B=1,…,14,18,32 are found numerically. Up to charge B=6, the minimizers have 2B half lumps positioned at the vertices of a regular 2B-gon. For charges B≥7, rectangular or distorted rectangular arrays of 2B half lumps are preferred, as close to square as possible.

  4. Evaluation of the revised electrolytic reduction reactor from a remote operability aspect

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Hyo Jik; Yoon, K. H.; Kim, K. H. (and others)

    2008-01-15

    This report presents an evaluation of the remote operability of the revised electrolytic reduction (ER) reactor installed in the ACP at KAERI. All operations have to be implemented in a fully remote manner since the ACPF is a hotcell for handling highly radioactive materials such as spent nuclear fuels. In particular, the ER process is a key process of the Advanced spent fuel Conditioning Process (ACP) and it needs a lot of other auxiliary equipment to perform it. Also, since the ER equipment is too big and complicated, and contrarily the ACPF is not big enough, and one common rail is allotted for a bridge transported servo manipulator, an in-cell crane and a gate crane, a remote handling of the ER reactor is accompanied by a difficulty for a remote operation. For an easy understanding, short overview of the ER process, the remote handling equipment, the structural configuration of the ACPF and the detail drawings of the ER equipment are presented. Through 4 month-remote operational tests, detailed operational procedures are presented along with pictures. The remote handling equipment and tools required in each operation are addressed in detail. Also, the procedure to implement each remote operation, and a task difficulty are evaluated from a remote operability aspect. All the remote tasks are distinguished according to whether a remote operation can be performed or not. Finally, partial improvement or an idea to solve the suggested problems is presented. This report will assist in modifying or scaling up the ER reactor.

  5. CLIMAN - a mobile manipulator concept

    International Nuclear Information System (INIS)

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

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

  6. The TFTR maintenance manipulator

    International Nuclear Information System (INIS)

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

    1989-01-01

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

  7. Manipulatives Work!

    Science.gov (United States)

    Moch, Peggy L.

    2001-01-01

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

  8. Managing collaboration in the nanoManipulator

    DEFF Research Database (Denmark)

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

    2004-01-01

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

  9. Protozoa manipulation by ultrasound

    Directory of Open Access Journals (Sweden)

    Yancy Milena Porras Rodríguez

    2004-01-01

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

  10. Currency Manipulation

    OpenAIRE

    Weithing Zhang; Thomas Mertens; Tarek Hassan

    2014-01-01

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

  11. Hydraulic manipulator

    International Nuclear Information System (INIS)

    Sinha, A.K.; Srikrishnamurty, G.

    1990-01-01

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

  12. Manipulator system man-machine interface evaluation program. [technology assessment

    Science.gov (United States)

    Malone, T. B.; Kirkpatrick, M.; Shields, N. L.

    1974-01-01

    Application and requirements for remote manipulator systems for future space missions were investigated. A manipulator evaluation program was established to study the effects of various systems parameters on operator performance of tasks necessary for remotely manned missions. The program and laboratory facilities are described. Evaluation criteria and philosophy are discussed.

  13. Remote handling procedures in JET

    International Nuclear Information System (INIS)

    Raimondi, T.; Huguet, M.

    1976-01-01

    Remote maintenance will be needed in the second phase of operation due to the structural activation produced by deuterium-tritium discharges. Priority will be given to tasks which require frequent intervention, but efforts will be made also to tackle larger operations such as replacement of an octant. Owing to the variety and unpredictability of the operations which may be required, general purpose telemanipulator and TV systems will be used, mounted on versatile articulated supports capable of reaching the various parts of the machine. An experimental programme is planned to test the envisaged equipment and develop procedures for carrying out the various tasks as they are more clearly identified. Design of peripheral equipment for easy accessibility, choice of simple connection methods, development of auxiliary tools, as well as careful programming of the operations, will be essential for successful remote maintenance. The effort put into these areas will, however, also result in considerable time saving during the assembly and maintenance in non-active conditions. Preliminary feasibility tests of some difficult operations have already been done with a force-reflecting servo-manipulator and two TV sets for front and side viewing. Leak identification and precision welding for vacuum tightness were demonstrated

  14. Remote Systems Design & Deployment

    Energy Technology Data Exchange (ETDEWEB)

    Bailey, Sharon A.; Baker, Carl P.; Valdez, Patrick LJ

    2009-08-28

    The Pacific Northwest National Laboratory (PNNL) was tasked by Washington River Protection Solutions, LLC (WRPS) to provide information and lessons learned relating to the design, development and deployment of remote systems, particularly remote arm/manipulator systems. This report reflects PNNL’s experience with remote systems and lays out the most important activities that need to be completed to successfully design, build, deploy and operate remote systems in radioactive and chemically contaminated environments. It also contains lessons learned from PNNL’s work experiences, and the work of others in the national laboratory complex.

  15. Long-reach manipulators for decommissioning

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  16. User Interface Technology to Reduce Mental Transformations for Tangible Remote Dismantling Simulator

    Energy Technology Data Exchange (ETDEWEB)

    Hyun, Dongjun; Kim, Ikjune; Lee, Jonghwan; Kim, Geun-Ho; Jeong, Kwan-Seong; Choi, Byung-Seon; Moon, Jeikwon; Choi, Jong-Won [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2015-10-15

    High-level radiation of the major components restricts access by human workers, and makes an accident or outage during the dismantling process more difficult to deal with. Since unexpected situations causes waste of budget and an aggravation of safety, the preliminary verification of the dismantling processes and equipment by the tangible remote dismantling simulator is very important. The design optimization of the dismantling processes and equipment is one of the most important objectives of the tangible remote dismantling simulator, as well. This paper proposes a user interface technology to reduce mental transformations for the tangible remote dismantling simulator. At the dismantling process simulation using the tangible remote dismantling simulator, the most difficult work is the remote operation handling the high degrees-of-freedom (DOF) manipulator due to complex mental transformations. The proposed user interface technology reduces mental transformations with constraints using the point projection and direction projection. The test result of the cutting process over the closure head of the RPV demonstrates that the proposed mental transformation reduction technology is operated successfully in the tangible remote dismantling simulator, and lets the operator be easy to control the high DOF manipulator even in the most difficult operation by reducing DOFs to be controlled manually.

  17. User Interface Technology to Reduce Mental Transformations for Tangible Remote Dismantling Simulator

    International Nuclear Information System (INIS)

    Hyun, Dongjun; Kim, Ikjune; Lee, Jonghwan; Kim, Geun-Ho; Jeong, Kwan-Seong; Choi, Byung-Seon; Moon, Jeikwon; Choi, Jong-Won

    2015-01-01

    High-level radiation of the major components restricts access by human workers, and makes an accident or outage during the dismantling process more difficult to deal with. Since unexpected situations causes waste of budget and an aggravation of safety, the preliminary verification of the dismantling processes and equipment by the tangible remote dismantling simulator is very important. The design optimization of the dismantling processes and equipment is one of the most important objectives of the tangible remote dismantling simulator, as well. This paper proposes a user interface technology to reduce mental transformations for the tangible remote dismantling simulator. At the dismantling process simulation using the tangible remote dismantling simulator, the most difficult work is the remote operation handling the high degrees-of-freedom (DOF) manipulator due to complex mental transformations. The proposed user interface technology reduces mental transformations with constraints using the point projection and direction projection. The test result of the cutting process over the closure head of the RPV demonstrates that the proposed mental transformation reduction technology is operated successfully in the tangible remote dismantling simulator, and lets the operator be easy to control the high DOF manipulator even in the most difficult operation by reducing DOFs to be controlled manually

  18. Easy and flexible mixture distributions

    DEFF Research Database (Denmark)

    Fosgerau, Mogens; Mabit, Stefan L.

    2013-01-01

    We propose a method to generate flexible mixture distributions that are useful for estimating models such as the mixed logit model using simulation. The method is easy to implement, yet it can approximate essentially any mixture distribution. We test it with good results in a simulation study...

  19. Collision Detection for Underwater ROV Manipulator Systems

    Directory of Open Access Journals (Sweden)

    Satja Sivčev

    2018-04-01

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

  20. Remote maintenance development

    International Nuclear Information System (INIS)

    Zook, C.R.

    1979-01-01

    The concept of remote maintenance as it pertains to nuclear fuel fabrication facilities is quite unique. The future may require completely remote facilities where maintenance will be performed by hybrid manipulators/robots. These units will be capable of being preprogrammed for automatic operation or manually operated with the operator becoming a part of the closed loop control system. These robots will mesh television, computer control, and direct force feedback manual control in a usable new concept of robotics

  1. The activation system Easy 2007

    International Nuclear Information System (INIS)

    Forrest, R.A.; Kopecky, J.

    2007-01-01

    Full text of publication follows: Safety and waste management of materials for ITER, IFMIF and future power plants require detailed knowledge of the activation caused by irradiation with neutrons, or in the case of IFMIF, deuterons. The European Activation System (EASY) has been developed for such calculations and a new version (EASY-2007) was released earlier this year. This contains a large amount of nuclear data in the European Activation File (EAF-2007) covering neutron-, deuteron- and proton-induced cross sections (about 200,000 reactions have data extending up to 60 MeV), decay data (2,231 nuclides) and subsidiary data on e.g. biological hazards. These data are input to the FISPACT inventory code used to calculate the activation. Recent work has concentrated on the validation of EASY-2007 using integral and differential measurements; these studies are summarised showing examples of reactions agreeing with the experimental results and cases where the library data require further improvement. Integral data above 20 MeV are especially important in improving the library for IFMIF calculations. Using a previous version of EASY a study of the activation of all the elements enabled the identification of the reactions important in producing activation below 20 MeV. The list of 1,340 neutron-reactions producing the dominant radio-nuclides enables further studies to be focused on the important data. This study made extensive use of importance diagrams. This work has been extended to cover the energy region up to 60 MeV, and the new important radionuclides and reactions in this energy range are reported. Although the data above 20 MeV are important for IFMIF and are of interest because of their novelty, the traditional energy region below 20 MeV remains of great importance for most fusion applications. The testing of such large data libraries for reactions with no experimental data is necessary and results from the use of the recently developed method of Statistical

  2. 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

  3. Counterweight system for master-slave manipulator

    International Nuclear Information System (INIS)

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

    1981-01-01

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

  4. Words Do Come Easy (Sometimes)

    DEFF Research Database (Denmark)

    Starrfelt, Randi; Petersen, Anders; Vangkilde, Signe Allerup

    multiple stimuli are presented simultaneously: Are words treated as units or wholes in visual short term memory? Using methods based on a Theory of Visual Attention (TVA), we measured perceptual threshold, visual processing speed and visual short term memory capacity for words and letters, in two simple...... a different pattern: Letters are perceived more easily than words, and this is reflected both in perceptual processing speed and short term memory capacity. So even if single words do come easy, they seem to enjoy no advantage in visual short term memory....

  5. How easy the invention is

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Yeon Jung

    2002-05-15

    This book deals with the inventions invented by kids such as a utility helmet, a useful drawing board, automatic safe device, telephone for the blind, a peaceful washboard, roly poly milk bottle, seat belt with height control, gas hose to prevent thief, portable magic soap, useful bus handle, convent desk, a paper cup attached a spoon, a useful washboard, dressing room using moveable small cymbals, fluorescent light which is easy to put in a new one, rods for night, curtain for cars, spray shampoo, and a good calendar.

  6. How easy the invention is

    International Nuclear Information System (INIS)

    Wang, Yeon Jung

    2002-05-01

    This book deals with the inventions invented by kids such as a utility helmet, a useful drawing board, automatic safe device, telephone for the blind, a peaceful washboard, roly poly milk bottle, seat belt with height control, gas hose to prevent thief, portable magic soap, useful bus handle, convent desk, a paper cup attached a spoon, a useful washboard, dressing room using moveable small cymbals, fluorescent light which is easy to put in a new one, rods for night, curtain for cars, spray shampoo, and a good calendar.

  7. Strict rules for easy transition

    International Nuclear Information System (INIS)

    Roggen, M.

    2003-01-01

    The energy companies soon start tests to assess whether their information systems are ready to enable easy transition of retail clients from one energy supplier to another starting early next year. Having learnt a great deal from its experience with the liberalisation of the market for medium-sized business clients, power trade organisation EnergieNed has decided to run a support program named Spoed. (Dutch for Speed) to support the final stage of the liberalisation process. A Reference model has been prepared, on the basis of which energy companies can now test the mutual exchange of switch data [nl

  8. Multidimensional coherent spectroscopy made easy

    Energy Technology Data Exchange (ETDEWEB)

    Gundogdu, Kenan; Stone, Katherine W.; Turner, Daniel B. [Department of Chemistry, Massachusetts Institute of Technology, 77 Mass Ave. 6-026 Cambridge, MA 02139 (United States); Nelson, Keith A. [Department of Chemistry, Massachusetts Institute of Technology, 77 Mass Ave. 6-026 Cambridge, MA 02139 (United States)], E-mail: kanelson@mit.edu

    2007-11-15

    We have demonstrated a highly efficient fully coherent 2D spectrometer based on 2D pulse shaping and Fourier beam shaping. The versatility of the design allows one to measure different 2D spectral surfaces consecutively. Easy alignment, inherent phase stability, rotating wave frame detection, and arbitrary waveform generation in all of the beams are important features of this design. We have demonstrated the functionality of the 2D spectrometer by measuring a 2D spectral surface of a GaAs quantum well.

  9. Multidimensional coherent spectroscopy made easy

    International Nuclear Information System (INIS)

    Gundogdu, Kenan; Stone, Katherine W.; Turner, Daniel B.; Nelson, Keith A.

    2007-01-01

    We have demonstrated a highly efficient fully coherent 2D spectrometer based on 2D pulse shaping and Fourier beam shaping. The versatility of the design allows one to measure different 2D spectral surfaces consecutively. Easy alignment, inherent phase stability, rotating wave frame detection, and arbitrary waveform generation in all of the beams are important features of this design. We have demonstrated the functionality of the 2D spectrometer by measuring a 2D spectral surface of a GaAs quantum well

  10. Path planning of master-slave manipulator using graphic simulator

    International Nuclear Information System (INIS)

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

    2002-01-01

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

  11. Development of the heavy manipulator vehicle system

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  12. Master-slave type manipulator

    International Nuclear Information System (INIS)

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

    1979-01-01

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

  13. Easy Bruising: Common as You Age

    Science.gov (United States)

    Healthy Lifestyle Healthy aging If you're experiencing easy bruising, you might have questions about what's causing the ... 04, 2017 Original article: http://www.mayoclinic.org/healthy-lifestyle/healthy-aging/in-depth/easy-bruising/art-20045762 . ...

  14. Reconfigurable mobile manipulation for accident response

    International Nuclear Information System (INIS)

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

    2000-01-01

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

  15. Managing collaboration in the nanoManipulator

    DEFF Research Database (Denmark)

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

    2003-01-01

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

  16. Manipulator systems for nuclear reactor decommissioning which can take end effectors

    International Nuclear Information System (INIS)

    Lampersberger, E.; Hell, W.; Vrba, H.

    1995-01-01

    The development of a remote-handling system on the basis of the new master-slave manipulator will decisively influence the possibilities of remote-controlled manipulation in nuclear technology under the premises of -high availability - universal range of application - a standard normal for industry - maintenance friendlyness. (orig.) [de

  17. Currency Manipulation versus Current Account Manipulation

    OpenAIRE

    Junning Cai

    2005-01-01

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

  18. Remote handling machines

    International Nuclear Information System (INIS)

    Sato, Shinri

    1985-01-01

    In nuclear power facilities, the management of radioactive wastes is made with its technology plus the automatic techniques. Under the radiation field, the maintenance or aid of such systems is important. To cope with this situation, MF-2 system, MF-3 system and a manipulator system as remote handling machines are described. MF-2 system consists of an MF-2 carrier truck, a control unit and a command trailer. It is capable of handling heavy-weight objects. The system is not by hydraulic but by electrical means. MF-3 system consists of a four-crawler truck and a manipulator. The truck is versatile in its posture by means of the four independent crawlers. The manipulator system is bilateral in operation, so that the delicate handling is made possible. (Mori, K.)

  19. Manipulators in deep ocean environments, needs versus technology

    International Nuclear Information System (INIS)

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

    1984-01-01

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

  20. Remote RemoteRemoteRemote sensing potential for sensing ...

    African Journals Online (AJOL)

    Remote RemoteRemoteRemote sensing potential for sensing potential for sensing potential for sensing potential for sensing potential for sensing potential for sensing potential for sensing potential for sensing potential for sensing potential for sensing p. A Ngie, F Ahmed, K Abutaleb ...

  1. Design requirements and performance requirements for reactor fuel recycle manipulator systems

    International Nuclear Information System (INIS)

    Grundmann, J.G.

    1975-01-01

    The development of a new generation of remote handling devices for remote production work in support of reactor fuel recycle systems is discussed. These devices require greater mobility, speed and visual capability than remote handling systems used in research activities. An upgraded manipulator system proposed for a High-Temperature Gas-Cooled Reactor fuel refabrication facility is described. Design and performance criteria for the manipulators, cranes, and TV cameras in the proposed system are enumerated

  2. Getting Manipulative about Math.

    Science.gov (United States)

    Scheer, Janet K.; And Others

    1984-01-01

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

  3. Manipulators in teleoperation

    International Nuclear Information System (INIS)

    Hamel, W.R.

    1985-01-01

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

  4. Manipulator Comparative Testing Program: Final report

    International Nuclear Information System (INIS)

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

    1987-02-01

    The manipulator systems tested included the Meidensha BILARM 83A, the Central Research Laboratories Model M-2, and the GCA PaR Systems Model 6000. Six manipulator and control mode combinations were evaluated: (1) the BILARM in master/slave mode without force reflection, (2) the BILARM in master/slave mode with force reflection, (3) the Model M-2 in master/slave mode without force reflection, (4) the Model M-2 in master/slave mode with force reflection, (5) the BILARM with switchbox controls, and (6) the PaR 6000 with switchbox controls. The experiments examined differences between master/slave systems with and without force reflection and differences between master/slave systems and switchbox-controlled systems. A fourth experiment examined the relative contributions of the remote viewing system and the manipulator system to the performance of remote handling tasks. Results of the experiments showed that operators using the Model M-2 in master/slave mode had significantly faster times to completion than operators using the BILARM in master/slave mode, with about the same error rate per trial. Operators were slower using the BILARM with force reflection than without it, and they committed more errors. There was no statistically significant difference between force-reflection and nonforce-reflection conditions for the M-2 manipulator for any of the performance criteria. Tasks and procedures used in this testing were not sensitive to differences within any single system. No inferences about the effect of force reflection on remote task performance should be made from these data. The two manipulator systems in switchbox mode had significantly slower times to completion than any system in master/slave mode, with approximately the same error rate per trial. There were no significant differences between the BILARM in switchbox mode and the PaR arm

  5. Improvement of the M/S manipulator maintenance at OSL

    International Nuclear Information System (INIS)

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

    2010-01-01

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

  6. Adaptable imaging package for remote vehicles

    Directory of Open Access Journals (Sweden)

    Jean-Luc Liardon

    2017-10-01

    Full Text Available An easy-to-customize, low-cost solution for remote imagery is described. The system, denoted ImPROV (Imaging Package for Remote Vehicles, supports multiple cameras, live streaming, long-range encrypted communication using mobile networks, positioning and time-stamped imagery, etc. The adaptability of the system is demonstrated by its deployment on different remotely operated or autonomous vehicles, which include model aircraft, drones, balloon, kite and a submarine.

  7. In Praise of Manipulation

    NARCIS (Netherlands)

    Dowding, Keith; Van Hees, Martin

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

  8. 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...

  9. Cell manipulation in microfluidics

    International Nuclear Information System (INIS)

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

    2013-01-01

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

  10. Decommissioning of hot cells using a hydraulically powered servo manipulator

    International Nuclear Information System (INIS)

    Asquith, J.D.; Loughborough, D.

    1993-01-01

    This paper describes the preparations and initial trials involved in remotely dismantling the containment boxes within two concrete shielded hot cells at Harwell Laboratory using a hydraulically powered servo manipulator, ARTISAN. The manipulator deploys a variety of tools for cutting operations. The modular design has enabled it to be specifically configured for this application by adjusting the link lengths using spacers between the joints. In addition to the remote handling requirements, a new posting and ventilation system for the facility is outlined. Trials with ARTISAN in an in-active mock-up have now been successfully completed, and the manipulator is installed in the active facility. The considerations and approach adopted in this project are typical of many situations where remote techniques are required for decommissioning activities. (author)

  11. Manipulation, salience, and nudges.

    Science.gov (United States)

    Noggle, Robert

    2018-03-01

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

  12. Remote Research

    CERN Document Server

    Tulathimutte, Tony

    2011-01-01

    Remote studies allow you to recruit subjects quickly, cheaply, and immediately, and give you the opportunity to observe users as they behave naturally in their own environment. In Remote Research, Nate Bolt and Tony Tulathimutte teach you how to design and conduct remote research studies, top to bottom, with little more than a phone and a laptop.

  13. Manipulators for production and research

    International Nuclear Information System (INIS)

    Munro, Ian

    1987-01-01

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

  14. Simulation of robot manipulators

    International Nuclear Information System (INIS)

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

    1995-01-01

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

  15. The direct manipulation shell

    International Nuclear Information System (INIS)

    Allen, M.E.; Christiansen, M.

    1992-01-01

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

  16. Electromechanical manipulator for the Hot-Cell Verification Facility

    International Nuclear Information System (INIS)

    Frandsen, G.B.; Brownstein, M.

    1982-01-01

    An electromechanical manipulator was deSigned and built to perform prototypic prequalification testing of FMEF equipment in the HCVF. Significant performance improvements were achieved; for example, 1360 kg (3000 lb) hoist capability and a 180 kg (400 lb) tool capacity anywhere within the manipulator reach and moving at full speed. New remote maintenance features were incorporated in the design including the ability to remove all active components on the bridge, which precludes the need to remove the bridge structure. 8 figures

  17. Adaptive strategies of remote systems operators exposed to perturbed camera-viewing conditions

    Science.gov (United States)

    Stuart, Mark A.; Manahan, Meera K.; Bierschwale, John M.; Sampaio, Carlos E.; Legendre, A. J.

    1991-01-01

    This report describes a preliminary investigation of the use of perturbed visual feedback during the performance of simulated space-based remote manipulation tasks. The primary objective of this NASA evaluation was to determine to what extent operators exhibit adaptive strategies which allow them to perform these specific types of remote manipulation tasks more efficiently while exposed to perturbed visual feedback. A secondary objective of this evaluation was to establish a set of preliminary guidelines for enhancing remote manipulation performance and reducing the adverse effects. These objectives were accomplished by studying the remote manipulator performance of test subjects exposed to various perturbed camera-viewing conditions while performing a simulated space-based remote manipulation task. Statistical analysis of performance and subjective data revealed that remote manipulation performance was adversely affected by the use of perturbed visual feedback and performance tended to improve with successive trials in most perturbed viewing conditions.

  18. Geometric control of manipulators

    International Nuclear Information System (INIS)

    Thiruarooran, C.

    1996-01-01

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

  19. MATHEMATICAL MODEL MANIPULATOR ROBOTS

    Directory of Open Access Journals (Sweden)

    O. N. Krakhmalev

    2015-12-01

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

  20. Compliant Aerial Manipulators

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  1. Remote Sensing

    CERN Document Server

    Khorram, Siamak; Koch, Frank H; van der Wiele, Cynthia F

    2012-01-01

    Remote Sensing provides information on how remote sensing relates to the natural resources inventory, management, and monitoring, as well as environmental concerns. It explains the role of this new technology in current global challenges. "Remote Sensing" will discuss remotely sensed data application payloads and platforms, along with the methodologies involving image processing techniques as applied to remotely sensed data. This title provides information on image classification techniques and image registration, data integration, and data fusion techniques. How this technology applies to natural resources and environmental concerns will also be discussed.

  2. Manipulating Strings in Python

    Directory of Open Access Journals (Sweden)

    William J. Turkel

    2012-07-01

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

  3. Sound beam manipulation based on temperature gradients

    Energy Technology Data Exchange (ETDEWEB)

    Qian, Feng [Key Laboratory of Modern Acoustics, Institute of Acoustics and School of Physics, Collaborative Innovation Center of Advanced Microstructures, Nanjing University, Nanjing 210093 (China); School of Physics & Electronic Engineering, Changshu Institute of Technology, Changshu 215500 (China); Quan, Li; Liu, Xiaozhou, E-mail: xzliu@nju.edu.cn; Gong, Xiufen [Key Laboratory of Modern Acoustics, Institute of Acoustics and School of Physics, Collaborative Innovation Center of Advanced Microstructures, Nanjing University, Nanjing 210093 (China)

    2015-10-28

    Previous research with temperature gradients has shown the feasibility of controlling airborne sound propagation. Here, we present a temperature gradients based airborne sound manipulation schemes: a cylindrical acoustic omnidirectional absorber (AOA). The proposed AOA has high absorption performance which can almost completely absorb the incident wave. Geometric acoustics is used to obtain the refractive index distributions with different radii, which is then utilized to deduce the desired temperature gradients. Since resonant units are not applied in the scheme, its working bandwidth is expected to be broadband. The scheme is temperature-tuned and easy to realize, which is of potential interest to fields such as noise control or acoustic cloaking.

  4. Development and commissioning of a links type inspection manipulator

    International Nuclear Information System (INIS)

    Whitcomb, H.M.; Ford, G.T.

    1988-01-01

    In order to access a number of tortuous inspection routes in the Heysham II/Torness reactors, the Central Electricity Generating Board (CEGB) Remote Inspection Group (RIG) have developed a 'links' type manipulator in conjunction with Babcock Power Ltd. This manipulator operates from the reactor pile cap and allows placement of a television camera within the pressure vessel up to 4m laterally from a standpipe of only 140mm in diameter. The design features of this novel manipulator are described together with the solutions developed to overcome particular difficulties experienced during commissioning. (author)

  5. Interpreting Histograms. As Easy as It Seems?

    Science.gov (United States)

    Lem, Stephanie; Onghena, Patrick; Verschaffel, Lieven; Van Dooren, Wim

    2014-01-01

    Histograms are widely used, but recent studies have shown that they are not as easy to interpret as it might seem. In this article, we report on three studies on the interpretation of histograms in which we investigated, namely, (1) whether the misinterpretation by university students can be considered to be the result of heuristic reasoning, (2)…

  6. 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.

  7. Remote handling in ZEPHYR

    International Nuclear Information System (INIS)

    Andelfinger, C.; Lackner, E.; Ulrich, M.; Weber, G.; Schilling, H.B.

    1982-04-01

    A conceptual design of the ZEPHYR building is described. The listed radiation data show that remote handling devices will be necessary in most areas of the building. For difficult repair and maintenance works it is intended to transfer complete units from the experimental hall to a hot cell which provides better working conditions. The necessary crane systems and other transport means are summarized as well as suitable commercially available manipulators and observation devices. The conept of automatic devices for cutting and welding and other operations inside the vacuum vessel and the belonging position control system is sketched. Guidelines for the design of passive components are set up in order to facilitate remote operation. (orig.)

  8. Development and design optimization of water hydraulic manipulator for ITER

    International Nuclear Information System (INIS)

    Kekaelaeinen, Teemu; Mattila, Jouni; Virvalo, Tapio

    2009-01-01

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

  9. Robotics and remote systems applications

    International Nuclear Information System (INIS)

    Rabold, D.E.

    1996-01-01

    This article is a review of numerous remote inspection techniques in use at the Savannah River (and other) facilities. These include: (1) reactor tank inspection robot, (2) californium waste removal robot, (3) fuel rod lubrication robot, (4) cesium source manipulation robot, (5) tank 13 survey and decontamination robots, (6) hot gang valve corridor decontamination and junction box removal robots, (7) lead removal from deionizer vessels robot, (8) HB line cleanup robot, (9) remote operation of a front end loader at WIPP, (10) remote overhead video extendible robot, (11) semi-intelligent mobile observing navigator, (12) remote camera systems in the SRS canyons, (13) cameras and borescope for the DWPF, (14) Hanford waste tank camera system, (15) in-tank precipitation camera system, (16) F-area retention basin pipe crawler, (17) waste tank wall crawler and annulus camera, (18) duct inspection, and (19) deionizer resin sampling

  10. Remote maintenance in nuclear fuel reprocessing

    International Nuclear Information System (INIS)

    Herndon, J.N.

    1985-01-01

    Remote maintenance techniques applied in large-scale nuclear fuel reprocessing plants are reviewed with particular attention to the three major maintenance philosophy groupings: contact, remote crane canyon, and remote/contact. Examples are given, and the relative success of each type is discussed. Probable future directions for large-scale reprocessing plant maintenance are described along with advanced manipulation systems for application in the plants. The remote maintenance development program within the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory is also described. 19 refs., 19 figs

  11. Atomic and molecular manipulation

    CERN Document Server

    Mayne, Andrew J

    2011-01-01

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

  12. Balanced articulated manipulator

    International Nuclear Information System (INIS)

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

    1976-01-01

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

  13. Rigid hoist articulated grapple system development for enhanced remote maintenance

    International Nuclear Information System (INIS)

    Witham, C.; White, P.; Garin, J.

    1979-01-01

    Remote maintenance and repair within nuclear environments have become more demanding of remote manipulation equipment in the last few years. A deficiency exists in the array of tools available for dexterous operations of loads in the 180-kg range. The development of a manipulation system with enhanced operator controls is discussed. This system is a six-degree-of-freedom manipulator with bilateral servo control. It is to be attached to a mobile support boom in order to operate throughout the nuclear cell. The manipulator is intended to work in conjunction with light duty servomanipulators, overhead crane systems, and through-the-wall mechanical master slaves

  14. Data manipulation with R

    CERN Document Server

    Abedin, Jaynal

    2014-01-01

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

  15. Robotic-Movement Payload Lifter and Manipulator

    Science.gov (United States)

    Doggett, William R. (Inventor); King, Bruce D. (Inventor); Collins, Timothy J. (Inventor); Dorsey, John T. (Inventor)

    2011-01-01

    A payload lifter/manipulator module includes a rotatable joint supporting spreader arms angularly spaced with respect to one another. A rigid arm is fixedly coupled to the joint and extends out therefrom to a tip. A tension arm has a first end and a second end with the first end being fixedly coupled to the tip of the rigid arm. The tension arm incorporates pivots along the length thereof. Each pivot can be engaged by or disengaged from the outboard end of a spreader arm based on a position of the spreader arm. A hoist, positioned remotely with respect to the module and coupled to the second end of the tension arm, controls the position of the spreader arms to thereby control the position of the rigid arm's tip. Payload lifter/manipulator assemblies can be constructed with one or more of the modules.

  16. The European Activation System. EASY-2001 overview

    International Nuclear Information System (INIS)

    Forrest, R.A.

    2001-03-01

    This document gives an overview of the European Activation System (EASY) as released in 2001. EASY-2001 consists of a wide range of codes, data and documentation all aimed at satisfying the objective of calculating the response of materials irradiated in a neutron flux. It is designed to investigate fusion devices that will act as intense sources of high energy (14 MeV) neutrons and cause significant activation of the surrounding materials. However, the very general nature of the calculational method and the data libraries means that it is applicable (with some reservations) to all situations (e.g. fission reactors or neutron sources) where materials are exposed to neutrons below 20 MeV

  17. Fixed point algebras for easy quantum groups

    DEFF Research Database (Denmark)

    Gabriel, Olivier; Weber, Moritz

    2016-01-01

    Compact matrix quantum groups act naturally on Cuntz algebras. The first author isolated certain conditions under which the fixed point algebras under this action are Kirchberg algebras. Hence they are completely determined by their K-groups. Building on prior work by the second author,we prove...... that free easy quantum groups satisfy these conditions and we compute the K-groups of their fixed point algebras in a general form. We then turn to examples such as the quantum permutation group S+ n,the free orthogonal quantum group O+ n and the quantum reflection groups Hs+ n. Our fixed point......-algebra construction provides concrete examples of free actions of free orthogonal easy quantum groups,which are related to Hopf-Galois extensions....

  18. Dynamic Facial Expression of Emotion Made Easy

    OpenAIRE

    Broekens, Joost; Qu, Chao; Brinkman, Willem-Paul

    2012-01-01

    Facial emotion expression for virtual characters is used in a wide variety of areas. Often, the primary reason to use emotion expression is not to study emotion expression generation per se, but to use emotion expression in an application or research project. What is then needed is an easy to use and flexible, but also validated mechanism to do so. In this report we present such a mechanism. It enables developers to build virtual characters with dynamic affective facial expressions. The mecha...

  19. Planar graphical models which are easy

    Energy Technology Data Exchange (ETDEWEB)

    Chertkov, Michael [Los Alamos National Laboratory; Chernyak, Vladimir [WAYNE STATE UNIV

    2009-01-01

    We describe a rich family of binary variables statistical mechanics models on planar graphs which are equivalent to Gaussian Grassmann Graphical models (free fermions). Calculation of partition function (weighted counting) in the models is easy (of polynomial complexity) as reduced to evaluation of determinants of matrixes linear in the number of variables. In particular, this family of models covers Holographic Algorithms of Valiant and extends on the Gauge Transformations discussed in our previous works.

  20. Boiler inspection manipulator for Torness Power Station

    International Nuclear Information System (INIS)

    Carrey, R.T.A.; Yule, I.Y.; Sibson, S.; Playle, M.J.

    1996-01-01

    The Advanced Gas-cooled Reactors at Torness and Heysham 2 are provided with dedicated access for remote inspection equipment. These in-service inspection (ISI) accesses comprise 12 penetrations above the core for inspection of the above core area and boilers, 12 below core penetrations for inspection of the lower boiler area and access through any of the 8 gas circulator penetrations for inspection of the sub-diagrid area. This paper describes a manipulator which will access the reactor from above the core via any of the 8 peripheral penetrations. (UK)

  1. MANIPULATING CONSUMERS THROUGH ADVERTISING

    Directory of Open Access Journals (Sweden)

    Nicoleta -Andreea Neacşu

    2012-12-01

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

  2. Manipulating the Gradient

    Science.gov (United States)

    Gaze, Eric C.

    2005-01-01

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

  3. Microrobots to Manipulate Cells

    DEFF Research Database (Denmark)

    Glückstad, Jesper

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

  4. Automated visual attention manipulation

    NARCIS (Netherlands)

    Bosse, T.; Lambalgen, R. van; Maanen, P.P. van; Treur, J.

    2009-01-01

    In this paper a system for visual attention manipulation is introduced and formally described. This system is part of the design of a software agent that supports naval crew in her task to compile a tactical picture of the situation in the field. A case study is described in hich the system is used

  5. Data manipulation with R

    CERN Document Server

    Abedin, Jaynal

    2015-01-01

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

  6. Manipulating Combinatorial Structures.

    Science.gov (United States)

    Labelle, Gilbert

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

  7. Remote equipment technology. Final report for GFY 1880

    International Nuclear Information System (INIS)

    Wadekamper, D.C.

    1980-09-01

    An interactive graphics terminal and a desk-top computer were utilized to perform a Computer Aided Remote Maintenance simulation of a hypothetical equipment item. The equipment item included an electrical connection, hydraulic fitting, and simple bolt pattern which were maintained by remote manipulators during the simulation. These remote maintenance operations demonstrated that the Computer Aided Remote Maintenance simulation technology could be extended to complex equipment items. As a result, these equipment items can be evaluated from the standpoint of remote operation and maintenance prior to purchase or installation in a remote processing or cell arrangement

  8. Development of telerobotic manipulators for reactor dismantling work

    International Nuclear Information System (INIS)

    Shinohara, Yoshikuni; Usui, Hozumi; Fujii, Yoshio

    1991-01-01

    This paper describes the amphibious electrical manipulators JARM-10, JART-25, JART-100 and JARM-25 which were developed in the program of reactor decommissioning technology development carried out by the Japan Atomic Energy Research Institute. They are multi-functional telerobotic light-duty (10 and 25 daN) and heavy-duty (100 daN) Manipulators which can be used in hostile environments in reactor dismantling work such as high radiation, underwater work and electrical noise. Each manipulator can be operated in either a bilateral master-slave, a teach-and-playback or a programmed control mode. By combining these modes appropriately, it is possible to perform complex tasks of remote handling. The usefulness of the telerobotic systems for dismantling nuclear reactors has been demonstrated by successful application of the JARM-25 for remote underwater dismantlement of highly radioactive reactor internals of complex form of an experimental nuclear power reactor. (author)

  9. Advance of the new MA 23 force reflecting manipulator system

    International Nuclear Information System (INIS)

    Vertut, Jean; Coiffet, Philippe; Petit, Michel

    1976-01-01

    This new bilateral servo manipulator system is under development since 1974, in close cooperation between different french organizations with the leadership of the Commissariat a l'Energie Atomique. This Group is facing in the same Technology different applications covering nuclear remote manipulation, undersea remote work, second generation industrial robots and manipulators for handicaped persons. Brief description of the different arms ranging from 5kg to 20kg mass capacity are given with corresponding tested performances. They all use original electric DC actuators with extremely low friction and zero backlash, with only cables and tapes. System works in different modes: the direct master slave force reflecting mode, an advanced tape recording programmer, minicomputer control, and the combined modes. Work is concentrated on full dynamic control and force control by minicomputer

  10. Broadband reflected wavefronts manipulation using structured phase gradient metasurfaces

    Directory of Open Access Journals (Sweden)

    Xiao-Peng Wang

    2016-06-01

    Full Text Available Acoustic metasurface (AMS is a good candidate to manipulate acoustic waves due to special acoustic performs that cannot be realized by traditional materials. In this paper, we design the AMS by using circular-holed cubic arrays. The advantages of our AMS are easy assemble, subwavelength thickness, and low energy loss for manipulating acoustic waves. According to the generalized Snell’s law, acoustic waves can be manipulated arbitrarily by using AMS with different phase gradients. By selecting suitable hole diameter of circular-holed cube (CHC, some interesting phenomena are demonstrated by our simulations based on finite element method, such as the conversion of incoming waves into surface waves, anomalous reflections (including negative reflection, acoustic focusing lens, and acoustic carpet cloak. Our results can provide a simple approach to design AMSes and use them in wavefront manipulation and manufacturing of acoustic devices.

  11. Remote operation of microwave systems for solids content analysis and chemical dissolution in highly radioactive environments

    International Nuclear Information System (INIS)

    Sturcken, E.F.; Floyd, T.S.; Manchester, D.P.

    1986-10-01

    Microwave systems provide quick and easy determination of solids content of samples in high-level radioactive cells. In addition, dissolution of samples is much faster when employing microwave techniques. These are great advantages because work in cells,using master-slave manipulators through leaded glass walls, is normally slower by an order of magnitude than direct contact methods. This paper describes the modifiction of a moisture/solids analyzer microwave system and a drying/digestion microwave system for remote operation in radiation environments. The moisture/solids analyzer has operated satisfactorily for over a year in a gamma radiation field of 1000 roentgens per hour and the drying/digestion system is ready for installation in a cell

  12. Remote handling in reprocessing plants

    International Nuclear Information System (INIS)

    Streiff, G.

    1984-01-01

    Remote control will be the rule for maintenance in hot cells of future spent fuel reprocessing plants because of the radioactivity level. New handling equipments will be developed and intervention principles defined. Existing materials, recommendations for use and new manipulators are found in the PMDS' documentation. It is also a help in the choice and use of intervention means and a guide for the user [fr

  13. Control system design concepts for improving bilateral characteristics of master-slave manipulators

    International Nuclear Information System (INIS)

    Hewitt, J.E.; Siva, K.V.

    1986-01-01

    The paper concerns control system design concepts for improving bilateral characteristics of master-slave manipulators. In particular, the article concentrates on the identification of the remote manipulative process itself from studying direct manipulation with hand tools. Bilateral servo loop systems in operator controlled manipular systems are discussed, as well as Bond Graph modelling techniques. The performance of different kinds of bilateral servos are compared. (U.K.)

  14. On-chip particle trapping and manipulation

    Science.gov (United States)

    Leake, Kaelyn Danielle

    The ability to control and manipulate the world around us is human nature. Humans and our ancestors have used tools for millions of years. Only in recent years have we been able to control objects at such small levels. In order to understand the world around us it is frequently necessary to interact with the biological world. Optical trapping and manipulation offer a non-invasive way to move, sort and interact with particles and cells to see how they react to the world around them. Optical tweezers are ideal in their abilities but they require large, non-portable, and expensive setups limiting how and where we can use them. A cheap portable platform is required in order to have optical manipulation reach its full potential. On-chip technology offers a great solution to this challenge. We focused on the Liquid-Core Anti-Resonant Reflecting Optical Waveguide (liquid-core ARROW) for our work. The ARROW is an ideal platform, which has anti-resonant layers which allow light to be guided in liquids, allowing for particles to easily be manipulated. It is manufactured using standard silicon manufacturing techniques making it easy to produce. The planner design makes it easy to integrate with other technologies. Initially I worked to improve the ARROW chip by reducing the intersection losses and by reducing the fluorescence and background on the ARROW chip. The ARROW chip has already been used to trap and push particles along its channel but here I introduce several new methods of particle trapping and manipulation on the ARROW chip. Traditional two beam traps use two counter propagating beams. A trapping scheme that uses two orthogonal beams which counter to first instinct allow for trapping at their intersection is introduced. This scheme is thoroughly predicted and analyzed using realistic conditions. Simulations of this method were done using a program which looks at both the fluidics and optical sources to model complex situations. These simulations were also used to

  15. An easy guide to factor analysis

    CERN Document Server

    Kline, Paul

    2014-01-01

    Factor analysis is a statistical technique widely used in psychology and the social sciences. With the advent of powerful computers, factor analysis and other multivariate methods are now available to many more people. An Easy Guide to Factor Analysis presents and explains factor analysis as clearly and simply as possible. The author, Paul Kline, carefully defines all statistical terms and demonstrates step-by-step how to work out a simple example of principal components analysis and rotation. He further explains other methods of factor analysis, including confirmatory and path analysis, a

  16. Competitive Clientelism, Easy Financing and Weak Capitalists

    DEFF Research Database (Denmark)

    Whitfield, Lindsay

    productive capitalists; and (3) easy access to financing for the state and the ruling coalition from foreign aid, mining and cocoa bean exports. As a result, ruling elites’ policy actions did not prioritize the development of new productive sectors (or upgrading of old ones), but were geared towards......Ghana has exhibited rather strong economic growth since the 1980s, but little transformation of the productive structure of its economy. The paper argues that ruling elites’ policy choices are shaped by their political survival strategies. In turn, these strategies are shaped by (1...... in significant productive sector investments....

  17. 'German Angst' vs 'Danish Easy Going'?

    DEFF Research Database (Denmark)

    Fersch, Barbara

    2012-01-01

    national lines. Whereas insecurity and its related fear and anxiety played a huge role in the German interviews (‘German Angst’), the Danish freelancers attached less importance to the topic of insecurity and showed almost no sign of related anxiety (‘Danish Easy-going’). Some reasons for this can be found...... in the different social security backgrounds and welfare state programmes of the two countries, but these differences cannot explain the very different ways of talking about and dealing with the topic. Therefore, I suggest that the differences can be understood in the context of trust as a multi...

  18. PHP Solutions Dynamic Web Design Made Easy

    CERN Document Server

    Powers, David

    2010-01-01

    This is the second edition of David Power's highly-respected PHP Solutions: Dynamic Web Design Made Easy. This new edition has been updated by David to incorporate changes to PHP since the first edition and to offer the latest techniques - a classic guide modernized for 21st century PHP techniques, innovations, and best practices. You want to make your websites more dynamic by adding a feedback form, creating a private area where members can upload images that are automatically resized, or perhaps storing all your content in a database. The problem is, you're not a programmer and the thought o

  19. 6 Sigma DFSS technique with easy practice

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2003-12-15

    This book describes 6 Sigma DFSS technique which is easy to use. These are the titles of the contents : new demand, the reason that DFSS needs, when is DFSS used?, DMAIC and DMADV and the bastion for achievement of 6 sigma, new trouble, chief, Chang's new store, plan on kalguksu development propel, customers are holding the key, CTQ refinement, process capability evaluation, setting goal, finding of conception of optimum design, finding of design element, the last gateway, and it's time for a DFSS!.

  20. The evolution of teleoperated manipulators at ORNL

    International Nuclear Information System (INIS)

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

    1996-01-01

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

  1. Remote maintenance system for nuclear facilities

    International Nuclear Information System (INIS)

    Maeda, Masafumi

    1993-01-01

    In the facilities related to atomic energy, from the viewpoint of the reduction of radiation exposure of workers and the heightening of the rate of operation of the facilities, the development of remote maintenance system is regarded as important. Meidensha Electric Manufacturing Co., Ltd. developed the bilateral control type manipulator, BILARM-83, in 1979, and has developed high performance manipulator systems. As the design of the plant that realizes the remote operation maintenance of process machinery and equipment during plant operation, the remote maintenance system by canyon cell techniques, which was adopted in Savannah River plant, USA, and has been operated for nearly 50 years, has been known. The concept of the full remote maintenance system by large scale cell techniques was shown and has been developed by Power Reactor and Nuclear Fuel Development Corp. In order to realize the remote maintenance of such large scale cells, Meidensha is developing the both arm type bilateral servo manipulator, the single arm type power manipulator, the transport system for moving them, the power and signal system and so on. Those systems were adopted for the glass solidification facilities. (K.I.)

  2. A universal microscope manipulator

    Directory of Open Access Journals (Sweden)

    Peter S. Boyadzhiev

    2012-03-01

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

  3. Microradiographic microsphere manipulator

    International Nuclear Information System (INIS)

    Singleton, R.M.

    1980-01-01

    A method and apparatus are provided for radiographic characterization of small hollow spherical members (microspheres), constructed of either optically transparent or opaque materials. The apparatus involves a microsphere manipulator which holds a batch of microspheres between two parallel thin plastic films for contact microradiographic characterization or projection microradiography thereof. One plastic film is translated to relative to and parallel to the other to roll the microspheres through any desired angle to allow different views of the microspheres

  4. Manipulation of quantum evolution

    Science.gov (United States)

    Cabera, David Jose Fernandez; Mielnik, Bogdan

    1994-01-01

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

  5. Manipulating atoms with photons

    International Nuclear Information System (INIS)

    Cohen-Tannoudji, C.N.

    1998-01-01

    The article is a translation of the lecture delivered on the occasion of the 1997 Nobel Prize awarding ceremony. The physical mechanisms which allow manipulating of neutral atoms with laser photons are described. A remark is also made concerning several possible applications of ultra-cool atoms and streams of future research. The article is completed by Prof. Cohen-Tannoudji's autobiography. (Z.J.)

  6. Pose Space Surface Manipulation

    Directory of Open Access Journals (Sweden)

    Yusuke Yoshiyasu

    2012-01-01

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

  7. Failure of a yoke body pin of a remote handling device

    International Nuclear Information System (INIS)

    Kasiviswanathan, K.V.; Muralidharan, N.G.; Raj, B.

    1984-01-01

    This note analyses the cause of failure observed in a yoke body pin of a remote handling device (Master Slave Manipulator) used for handling highly radioactive materials, remotely in shielded enclosures. The yoke body constitutes an important part of the manipulator wrist assembly and was made out of AISI 420 grade steel as a single piece investment casting. (orig./IHOE) [de

  8. Using Manipulatives in Math Instruction.

    Science.gov (United States)

    Marzola, Eileen S.

    1987-01-01

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

  9. Visualization of virtual slave manipulator using the master input device

    International Nuclear Information System (INIS)

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

    2003-01-01

    To handle the high level radioactive materials such a spent fuel, the Master-Slave Manipulators (MSM) are widely used as a remote handling device in nuclear facilities such as the hot cell with sealed and shielded space. In this paper, the Digital Mockup which simulates the remote operation of the Advanced Conditioning Process(ACP) is developed. Also, the workspace and the motion of the slave manipulator, as well as, the remote operation task should be analyzed. The process equipment of ACP and Maintenance/Handling Device are drawn in 3D CAD models using IGRIP. Modeling device of manipulator is assigned with various mobiles attributes such as a relative position, kinematics constraints, and a range of mobility. The 3D graphic simulator using the external input device of space ball displays the movement of manipulator. To connect the external input device to the graphic simulator, the interface program of external input device with 6 DOF is deigned using the Low Level Tele-operation Interface (LLTI). The experimental result shows that the developed simulation system gives much-improved human interface characteristics and shows satisfactory response characteristics in terms of synchronization speed. This should be useful for the development of work's education system in the virtual environment

  10. Latest developments, by Taylor Hitec Ltd, in power manipulators and deployed robots for the nuclear industry and elsewhere

    International Nuclear Information System (INIS)

    Lowe, D.B.

    1985-01-01

    Taylor Hitec recently achieved a major advancement in remote manipulator engineering with the successful commissioning of the 'Advanced Manipulator' - a high precision tool for remote working, commanded by powerful computerised control developed in partnership with CEGB Marchwood. In the progression of the technology involved a second manipulator has been designed, with significant changes in mechanisms and is now in manufacture. A radically different implement has been conceived and pursued through to the prototype stage in the form of a 'vertebrate' limb for deploying remote inspection apparatus. The designs and capabilities of these three devices are presented here in essence and consideration is given to wider applications. (author)

  11. Remotely controlled working equipment and mobile systems for damage assessment

    International Nuclear Information System (INIS)

    Koehler, G.W.; Salaske, M.

    1975-01-01

    All functions of the MF3 vehicle with its variable geometry chassis were verified in accordance with specifications. Fixed price bids have now been submitted by industries on the action control system and the EMSM II manipulators. Tests of the EMSM I manipulator with supplements especially the remotely controlled application of tools, have been started. (orig.) [de

  12. Instantaneous characterization of vegetable oils via TAG and FFA profiles by easy ambient sonic-spray ionization mass spectrometry.

    Science.gov (United States)

    Simas, Rosineide C; Catharino, Rodrigo R; Cunha, Ildenize B S; Cabral, Elaine C; Barrera-Arellano, Daniel; Eberlin, Marcos N; Alberici, Rosana M

    2010-04-01

    A fast and reliable method is presented for the analysis of vegetable oils. Easy ambient sonic-spray ionization mass spectrometry (EASI-MS) is shown to efficiently desorb and ionize the main oil constituents from an inert surface under ambient conditions and to provide comprehensive triacylglyceride (TAG) and free fatty acid (FFA) profiles detected mainly as either [TAG + Na](+) or [FFA-H](-) ions. EASI(+/-)-MS analysis is simple, easily implemented, requires just a tiny droplet of the oil and is performed without any pre-separation or chemical manipulation. It also causes no fragmentation of TAG ions hence diacylglyceride (DAG) and monoacylglyceride (MAG) profiles and contents can also be measured. The EASI(+/-)-MS profiles of TAG and FFA permit authentication and quality control and can be used, for instance, to access levels of adulteration, acidity, oxidation or hydrolysis of vegetable oils in general.

  13. An easy method for plant polysome profiling

    DEFF Research Database (Denmark)

    Lecampion, Cécile; Floris, Maina Huguette Joséphine; Fantino, Jean Raphaël

    2016-01-01

    are then pooled to prepare three different mRNA populations: the polysomes, mRNAs bound to several ribosomes; the monosomes, mRNAs bound to one ribosome; and mRNAs that are not bound to ribosomes. mRNAs are then extracted. This protocol has been validated for different plants and tissues including Arabidopsis......Translation of mRNA to protein is a fundamental and highly regulated biological process. Polysome profiling is considered as a gold standard for the analysis of translational regulation. The method described here is an easy and economical way for fractionating polysomes from various plant tissues....... A sucrose gradient is made without the need for a gradient maker by sequentially freezing each layer. Cytosolic extracts are then prepared in a buffer containing cycloheximide and chloramphenicol to immobilize the cytosolic and chloroplastic ribosomes to mRNA and are loaded onto the sucrose gradient. After...

  14. Parallel programming with Easy Java Simulations

    Science.gov (United States)

    Esquembre, F.; Christian, W.; Belloni, M.

    2018-01-01

    Nearly all of today's processors are multicore, and ideally programming and algorithm development utilizing the entire processor should be introduced early in the computational physics curriculum. Parallel programming is often not introduced because it requires a new programming environment and uses constructs that are unfamiliar to many teachers. We describe how we decrease the barrier to parallel programming by using a java-based programming environment to treat problems in the usual undergraduate curriculum. We use the easy java simulations programming and authoring tool to create the program's graphical user interface together with objects based on those developed by Kaminsky [Building Parallel Programs (Course Technology, Boston, 2010)] to handle common parallel programming tasks. Shared-memory parallel implementations of physics problems, such as time evolution of the Schrödinger equation, are available as source code and as ready-to-run programs from the AAPT-ComPADRE digital library.

  15. Burkholderia thailandensis: Genetic Manipulation.

    Science.gov (United States)

    Garcia, Erin C

    2017-05-16

    Burkholderia thailandensis is a Gram-negative bacterium endemic to Southeast Asian and northern Australian soils. It is non-pathogenic; therefore, it is commonly used as a model organism for the related human pathogens Burkholderia mallei and Burkholderia pseudomallei. B. thailandensis is relatively easily genetically manipulated and a variety of robust genetic tools can be used in this organism. This unit describes protocols for conjugation, natural transformation, mini-Tn7 insertion, and allelic exchange in B. thailandensis. © 2017 by John Wiley & Sons, Inc. Copyright © 2017 John Wiley & Sons, Inc.

  16. Spatial manipulation with microfluidics

    Directory of Open Access Journals (Sweden)

    Benjamin eLin

    2015-04-01

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

  17. In-cell maintenance by manipulator arm with 3D workspace information recreated by laser rangefinder

    International Nuclear Information System (INIS)

    Kitamura, Akihiro; Nakai, Koji; Namekawa, Takashi; Watahiki, Masatoshi

    2011-01-01

    Highlights: → We developed a remote control system for maintenance of in-cell type fuel fabrication equipment. → The system display recreated three-dimensional information of the workspace from data obtained by laser rangefinder and conventional cameras. It has allowed us to operate a manipulator arm remotely with several control modes. → We implemented remote handling experiments using mock up equipment. Performance was compared for remote operation conducted using several different display and operation modes. → It was observed that integration of 3D information from the laser rangefinder reduced operation time and reinforced visual information during remote operation. - Abstract: We developed a remote control system for maintenance of in-cell type fuel fabrication equipment. The system display recreated three-dimensional information of the workspace from data obtained by laser rangefinder and conventional cameras. It has allowed us to operate a manipulator arm remotely with several control modes. In order to evaluate the effectiveness and usefulness of developed system, we implemented remote handling experiments using mock up equipment. Performance was compared for remote operation conducted using several different display and operation modes. We confirmed that the system is able to maintain in-cell fuel fabrication equipment in each display and operation mode. Times required to complete the remote operations were collected and compared in each mode. It was observed that integration of 3D information from the laser rangefinder reduced operation time and reinforced visual information during remote operation.

  18. ORION-the Omega Remote Interactive On-line System

    CERN Document Server

    Russell, R D; Levratt, B; Lipps, H; Sparrman, P

    1974-01-01

    ORION is a system which permits the manipulation of files, records and characters, remote job submittal and retrieval of output files including the direct loading of remote on-line computers. The system uses the computer hardware of the OMEGA project at CERN and is designed to assist researchers in development and debugging of their programs. (10 refs).

  19. ORION - the OMEGA Remote Interactive On-line System

    CERN Document Server

    Russell, R D; Krieger, M

    1973-01-01

    ORION is a system which permits the manipulation of files, records and characters, remote job submittal and retrieval of output files including the direct loading of remote on-line computers. The system uses the computer hardware of the OMEGA project at CERN, and is designed to assist researchers in development and debugging of their programs.

  20. Development of spent fuel remote handling technology

    Energy Technology Data Exchange (ETDEWEB)

    Park, B. S.; Yoon, J. S.; Hong, H. D. (and others)

    2007-02-15

    In this research, the remote handling technology was developed for the ACP application. The ACP gives a possible solution to reduce the rapidly cumulative amount of spent fuels generated from the nuclear power plants in Korea. The remote technologies developed in this work are a slitting device, a voloxidizer, a modified telescopic servo manipulator and a digital mock-up. A slitting device was developed to declad the spent fuel rod-cuts and collect the spent fuel UO{sub 2} pellets. A voloxidizer was developed to convert the spent fuel UO{sub 2} pellets obtained from the slitting process in to U{sub 3}O{sub 8} powder. Experiments were performed to test the capabilities and remote operation of the developed slitting device and voloxidizer by using simulated rod-cuts and fuel in the ACP hot cell. A telescopic servo manipulator was redesigned and manufactured improving the structure of the prototype. This servo manipulator was installed in the ACP hot cell, and the target module for maintenance of the process equipment was selected. The optimal procedures for remote operation were made through the maintenance tests by using the servo manipulator. The ACP digital mockup in a virtual environment was established to secure a reliability and safety of remote operation and maintenance. The simulation for the remote operation and maintenance was implemented and the operability was analyzed. A digital mockup about the preliminary conceptual design of an enginnering-scale ACP was established, and an analysis about a scale of facility and remote handling was accomplished. The real-time diagnostic technique was developed to detect the possible fault accidents of the slitting device. An assessment of radiation effect for various sensors was also conducted in the radiation environment.

  1. Remote viewing.

    Science.gov (United States)

    Scott, C

    1988-04-15

    Remote viewing is the supposed faculty which enables a percipient, sited in a closed room, to describe the perceptions of a remote agent visiting an unknown target site. To provide convincing demonstration of such a faculty poses a range of experimental and practical problems, especially if feedback to the percipient is allowed after each trial. The precautions needed are elaborate and troublesome; many potential loopholes have to be plugged and there will be strong temptations to relax standards, requiring exceptional discipline and dedication by the experimenters. Most reports of remote viewing experiments are rather superficial and do not permit assessment of the experimental procedures with confidence; in many cases there is clear evidence of particular loopholes left unclosed. Any serious appraisal of the evidence would have to go beyond the reports. Meanwhile the published evidence is far from compelling, and certainly insufficient to justify overthrow of well-established scientific principles.

  2. MANOLA - demonstration of the manipulator and transport vehicle system; MANOLA. Vorstellung des Manipulator- und Transportwagensystems

    Energy Technology Data Exchange (ETDEWEB)

    Kern, P.; Gentes, S. [Karlsruher Institut fuer Technologie (KIT), Karlsruhe (Germany). Inst. fuer Technologie und Management im Baubetrieb, Technologie und Management des Rueckbaus kerntechnischer Anlagen

    2011-07-01

    The deconstruction of nuclear facilities has triggered the construction of remote handling systems. For the decontamination of surfaces the use of automatic robotics has significantly decreased the dose rate of the personnel and increased the efficiency. The authors describe the carrier system for the project MANOLA (manipulator controlled laser ablation technology) that can not only move in vertical and horizontal direction but also circumnavigate obstacles. This has reduced the cycle time and increased the efficiency. The weight of the transport vehicle is also reduced compared to the previous system AMANDA.

  3. Summary report on development of bilateral servo manipulator (BSM) for nuclear fuel cycle facilities in the Japan Nuclear Cycle Development Institute

    International Nuclear Information System (INIS)

    Miki, Yasuo; Koizumi, Tsutomu; Aoshima, Atsushi; Kawanobe, Kazunori; Kobayashi, Yuichi

    2000-03-01

    In order to improve availability of nuclear fuel cycle facilities such as fuel reprocessing plants, reduce occupational radiation exposure, the Japan Nuclear Cycle Development Institute (JNC) has been developing an advanced remote manipulative system for fully remote maintenance and repair tasks in large volume repair cells. Fully remote maintenance and repair task is performed primarily by the utilization of overhead bridge cranes, mechanical master-slave manipulators and electro-mechanical power manipulators. This system requires also that plant process and remote processing equipment should be designed to provide modular or unit replacement based on the potential mode of system failures. Repair of equipment is performed following removal of the failed component from process line and transfer to the repair cell. Equipment repair in the cell is commonly carried out by the use of remote manipulators. However, the realization of fully remote maintenance facility requires so remote manipulative systems as to provide excellent controllability, durability and remote maintenance capability, development of a bilateral servo-manipulator was initiated in 1982. Two of BSM were installed in the Tokai Vitrification Facility (TVF) cell and their remote maintenance feasibility was evaluated. Following installation in the TVF, developing efforts toward achieving advanced remote maintenance capability for the Recycle Equipment Test Facility (RETF) have been made. This report summarizes mainly mechanical and control system design for improvement, particularly upgrading controllability. (Itami, H.)

  4. Acoustic Devices for Particle and Cell Manipulation and Sensing

    Directory of Open Access Journals (Sweden)

    Yongqiang Qiu

    2014-08-01

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

  5. Rotational manipulation of single cells and organisms using acoustic waves.

    Science.gov (United States)

    Ahmed, Daniel; Ozcelik, Adem; Bojanala, Nagagireesh; Nama, Nitesh; Upadhyay, Awani; Chen, Yuchao; Hanna-Rose, Wendy; Huang, Tony Jun

    2016-03-23

    The precise rotational manipulation of single cells or organisms is invaluable to many applications in biology, chemistry, physics and medicine. In this article, we describe an acoustic-based, on-chip manipulation method that can rotate single microparticles, cells and organisms. To achieve this, we trapped microbubbles within predefined sidewall microcavities inside a microchannel. In an acoustic field, trapped microbubbles were driven into oscillatory motion generating steady microvortices which were utilized to precisely rotate colloids, cells and entire organisms (that is, C. elegans). We have tested the capabilities of our method by analysing reproductive system pathologies and nervous system morphology in C. elegans. Using our device, we revealed the underlying abnormal cell fusion causing defective vulval morphology in mutant worms. Our acoustofluidic rotational manipulation (ARM) technique is an easy-to-use, compact, and biocompatible method, permitting rotation regardless of optical, magnetic or electrical properties of the sample under investigation.

  6. Hydraulic manipulator research at ORNL

    International Nuclear Information System (INIS)

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

    1997-01-01

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

  7. Hydraulic manipulator research at ORNL

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-03-01

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

  8. Actuator Module of Robot Manipulator for Nuclear Power Plants Inspection, Maintenance and Decommission

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Sung Uk; Jung, Kyung Min; Seo, Young Chil; Choi, Byung Seon; Moon, Jei Kwon [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2014-10-15

    For nuclear facility decommissioning, there are many different electrical manipulators to remotely dismantle a nuclear facility. Various manipulators will be necessary for inspection, maintenance and decommission. Only one manipulator cannot response to many required tasks. Therefore, several manipulators are necessary, depending on the payload capacity, their number of axes and their dexterity. Each manipulator was developed for a specific task. The actuators used at manipulator are varied and many companies sell actuators depending on power, torque and speed. However, the commercial product is not standardized. Therefore, the development of the manipulator is time consuming and expensive. The essential item of the manipulators is the actuator module. If actuator module is standardized, it is easier to develop manipulator. In this paper, we developed two electrical actuator modules to standardize the actuator module and easily develop a manipulator using the proposed actuator modules. The electrical actuator module has a motor, gear and rotary sensor, and is also waterproof. The electrically driven manipulator being used in the proposed actuator modules will be shown. Two modularized electrical actuator modules were developed for inspection, maintenance and decommission. Using the two developed actuator modules, the manipulator inspecting the welding area of reactor vessel is easily developed. Various modularized electrical actuator modules will be developed in terms of size and power.

  9. Helical waves in easy-plane antiferromagnets

    Science.gov (United States)

    Semenov, Yuriy G.; Li, Xi-Lai; Xu, Xinyi; Kim, Ki Wook

    2017-12-01

    Effective spin torques can generate the Néel vector oscillations in antiferromagnets (AFMs). Here, it is theoretically shown that these torques applied at one end of a normal AFM strip can excite a helical type of spin wave in the strip whose properties are drastically different from characteristic spin waves. An analysis based on both a Néel vector dynamical equation and the micromagnetic simulation identifies the direction of magnetic anisotropy and the damping factor as the two key parameters determining the dynamics. Helical wave propagation requires the hard axis of the easy-plane AFM to be aligned with the traveling direction, while the damping limits its spatial extent. If the damping is neglected, the calculation leads to a uniform periodic domain wall structure. On the other hand, finite damping decelerates the helical wave rotation around the hard axis, ultimately causing stoppage of its propagation along the strip. With the group velocity staying close to spin-wave velocity at the wave front, the wavelength becomes correspondingly longer away from the excitation point. In a sufficiently short strip, a steady-state oscillation can be established whose frequency is controlled by the waveguide length as well as the excitation energy or torque.

  10. An Evolving Worldview: Making Open Source Easy

    Science.gov (United States)

    Rice, Z.

    2017-12-01

    NASA Worldview is an interactive interface for browsing full-resolution, global satellite imagery. Worldview supports an open data policy so that academia, private industries and the general public can use NASA's satellite data to address Earth science related issues. Worldview was open sourced in 2014. By shifting to an open source approach, the Worldview application has evolved to better serve end-users. Project developers are able to have discussions with end-users and community developers to understand issues and develop new features. Community developers are able to track upcoming features, collaborate on them and make their own contributions. Developers who discover issues are able to address those issues and submit a fix. This reduces the time it takes for a project developer to reproduce an issue or develop a new feature. Getting new developers to contribute to the project has been one of the most important and difficult aspects of open sourcing Worldview. After witnessing potential outside contributors struggle, a focus has been made on making the installation of Worldview simple to reduce the initial learning curve and make contributing code easy. One way we have addressed this is through a simplified setup process. Our setup documentation includes a set of prerequisites and a set of straightforward commands to clone, configure, install and run. This presentation will emphasize our focus to simplify and standardize Worldview's open source code so that more people are able to contribute. The more people who contribute, the better the application will become over time.

  11. An Easy Method for Plant Polysome Profiling.

    Science.gov (United States)

    Lecampion, Cécile; Floris, Maïna; Fantino, Jean Raphaël; Robaglia, Christophe; Laloi, Christophe

    2016-08-28

    Translation of mRNA to protein is a fundamental and highly regulated biological process. Polysome profiling is considered as a gold standard for the analysis of translational regulation. The method described here is an easy and economical way for fractionating polysomes from various plant tissues. A sucrose gradient is made without the need for a gradient maker by sequentially freezing each layer. Cytosolic extracts are then prepared in a buffer containing cycloheximide and chloramphenicol to immobilize the cytosolic and chloroplastic ribosomes to mRNA and are loaded onto the sucrose gradient. After centrifugation, six fractions are directly collected from the bottom to the top of the gradient, without piercing the ultracentrifugation tube. During collection, the absorbance at 260 nm is read continuously to generate a polysome profile that gives a snapshot of global translational activity. Fractions are then pooled to prepare three different mRNA populations: the polysomes, mRNAs bound to several ribosomes; the monosomes, mRNAs bound to one ribosome; and mRNAs that are not bound to ribosomes. mRNAs are then extracted. This protocol has been validated for different plants and tissues including Arabidopsis thaliana seedlings and adult plants, Nicotiana benthamiana, Solanum lycopersicum, and Oryza sativa leaves.

  12. [Language Manipulation, Surrogacy, Altruism].

    Science.gov (United States)

    Serrano Ruiz-Calderón, José Miguel

    2017-01-01

    The Newspeak propitiates a change of the sense of the words and next to the double thinking forms the picture of totalitarianism described by Orwell in 1984. The purpose of the Newspeak is to make all other forms of thought impossible. In bioethics the Newspeak is applied, not because Bioethics is a new science but by the manipulative intention. The twentieth-century political language has, according to Orwell, the intention to remove the ″mental image ″ of what really happens. This is clear in the terms ″surrogacy ″. On the one hand, the mother is deprived of her child. On the other, there is no legal subrogation. As has been said the technique reduces a woman to the condition of a vessel. The excuse of gratuity does not change the exploitative relationship, since gratuitousness in the provision of women is not the altruism of all those involved in surrogacy.

  13. Media and manipulation

    Directory of Open Access Journals (Sweden)

    Kovačević Braco

    2013-01-01

    Full Text Available The role and importance of the media are huge, both in everyday life and in cultural, spiritual and political life of modern man. Their power in the sense of political shaping of people and shaping of public opinion is very distinctive. In the process of propaganda to influence public opinion, they use various manipulative procedures in order to accomplish certain interests and objectives. Through the media, politics realizes its economic, ideological, political and even military activities. The war in the former Yugoslavia and former Bosnia and Herzegovina was also waged through the media. This media war still is spreading the hate speech, thus still causing conflicts and disintegration processes in the Balkans.

  14. Interactive protein manipulation

    Energy Technology Data Exchange (ETDEWEB)

    SNCrivelli@lbl.gov

    2003-07-01

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

  15. Interactive protein manipulation

    International Nuclear Information System (INIS)

    2003-01-01

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

  16. Remote handling systems for the Pride application

    International Nuclear Information System (INIS)

    Kim, K.; Lee, J.; Lee, H.; Kim, S.; Kim, H.

    2010-10-01

    In this paper is described the development of remote handling systems for use in the pyro processing technology development. Remote handling systems mainly include a BDSM (Bridge transported Dual arm Servo-Manipulator) and a simulator, all of which will be applied to the Pride (Pyro process integrated inactive demonstration facility) that is under construction at KAERI. BDMS that will traverse the length of the ceiling is designed to have two pairs of master-slave manipulators of which each pair of master-slave manipulators has a kinematic similarity and a force reflection. A simulator is also designed to provide an efficient means for simulating and verifying the conceptual design, developments, arrangements, and rehearsal of the pyro processing equipment and relevant devices from the viewpoint of remote operation and maintenance. In our research is presented activities and progress made in developing remote handling systems to be used for the remote operation and maintenance of the pyro processing equipment and relevant devices in the Pride. (Author)

  17. Characteristics of manipulative in mathematics laboratory

    Science.gov (United States)

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

    2017-12-01

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

  18. Adaptive control of robotic manipulators

    Science.gov (United States)

    Seraji, H.

    1987-01-01

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

  19. KNMI Data Centre: Easy access for all

    Science.gov (United States)

    van de Vegte, John; Som de Cerff, Wim; Plieger, Maarten; de Vreede, Ernst; Sluiter, Raymond; Willem Noteboom, Jan; van der Neut, Ian; Verhoef, Hans; van Versendaal, Robert; van Binnendijk, Martin; Kalle, Henk; Knopper, Arthur; Spit, Jasper; Mastop, Joeri; Klos, Olaf; Calis, Gijs; Ha, Siu-Siu; van Moosel, Wim; Klein Ikkink, Henk-Jan; Tosun, Tuncay

    2013-04-01

    KNMI is the Dutch institute for weather, climate research and seismology. It disseminates weather information to the public at large, the government, aviation and the shipping industry in the interest of safety, the economy and a sustainable environment. To gain insight into long-term developments KNMI conducts research on climate change. Making the knowledge, data and information on hand at KNMI accessible is one core activity. A huge part of the KNMI information is from numerical models, insitu sensor networks and remote sensing satellites. This digital collection is mostly internal only available and is a collection of non searchable , non standardized file formats, lacking documentation and has no references to scientific publications. With the KNMI Data Centre (KDC) project these issues are tackled. In the project a user driven development approach with SCRUM was chosen to get maximum user involvement in a relative short development timeframe. Building on open standards and proven open source technology (which includes in-house developed software like ADAGUC WMS and Portal) resulted in a first release in December 2012 This presentation will focus on the aspects of KDC relating to its technical challenges, the development strategy and the initial usage results of the data centre.

  20. Advanced remotely maintainable force-reflecting servomanipulator concept

    International Nuclear Information System (INIS)

    Kuban, D.P.; Martin, H.L.

    1984-01-01

    A remotely maintainable force-reflecting servomanipulator concept is being developed at the Oak Ridge National Laboratory as part of the Consolidated Fuel Reprocessing Program. This new manipulator addresses requirements of advanced nuclear fuel reprocessing with emphasis on force reflection, remote maintainability, reliability, radiation tolerance, and corrosion resistance. The advanced servomanipulator is uniquely subdivided into remotely replaceable modules which will permit in situ manipulator repair by spare module replacement. Manipulator modularization and increased reliability are accomplished through a force transmission system that uses gears and torque tubes. Digital control algorithms and mechanical precision are used to offset the increased backlash, friction, and inertia resulting from the gear drives. This results in the first remotely maintainable force-reflecting servomanipulator in the world. 10 references, 4 figures, 1 table

  1. EZID: Long term identifiers made easy (Invited)

    Science.gov (United States)

    Starr, J.

    2013-12-01

    Scholarly research is producing ever increasing amounts of digital research data, and this data should be managed throughout the research life cycle both as part of good scientific practice, but also to comply with funder mandates, such as the 2013 OSTP Public Access Memo (http://www.whitehouse.gov/sites/default/files/microsites/ostp/ostp_public_access_memo_2013.pdf). By assigning unique and persistent identifiers to data objects, data managers can gain control and flexibility over what can be a daunting task. This is due to the fact that the objects can be moved to new locations without disruption to links, as long as the identifier target is maintained. EZID is a tool that makes assigning and maintaining unique, persistent identifiers easy. It was designed and built by California Digital Library (CDL) and has both a user interface and a RESTful API. EZID currently offers services for two globally unique, persistent identifier schemes: Digital Object Identifiers (DOIs) and Archival Resource Keys (ARKs). DOIs are identifiers originating from the publishing world and are in widespread use for journal articles. CDL is able to offer DOIs because of being a founding member of DataCite (http://www.datacite.org/), an international consortium established to provide easier access to scientific research data on the Internet. ARKs are identifiers originating from the library, archive and museum community. Like DOIs, they become persistent when the objects and identifier forwarding information is maintained. DOIs and ARKs have a key role in data management and, therefore, in data management plans. DOIs are the recommended identifier for use in data citation, and ARKs provide the maximum flexibility needed for data documentation and management throughout the early phases of a project. The two identifier schemes are able to be used together, and EZID is made to work with both. EZID clients, coming from education, research, government, and the private sector, are utilizing the

  2. Computer control of ET-RR-1 hot cell manipulators

    International Nuclear Information System (INIS)

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

    1990-01-01

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

  3. Image manipulation as research misconduct.

    Science.gov (United States)

    Parrish, Debra; Noonan, Bridget

    2009-06-01

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

  4. The Manipulative Discourse of Gandalf

    Directory of Open Access Journals (Sweden)

    Farid Mohammadi

    2014-07-01

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

  5. Characterizing volumetric discontinuities present in NPP heat exchangers with EASY: an eddy current data analysis system

    International Nuclear Information System (INIS)

    Alencar, Donizete A.; Silva Junior, Silverio F.

    2011-01-01

    Eddy current is a very important NDT inspection method widely used to perform integrity evaluation of tubes installed in heat exchangers. For nuclear power plants, a classical example is the remote inspection of steam generators and condensers, as well as other ordinary auxiliary equipment. Data evaluation can be performed by means of precise phase and amplitude measurements of complex impedance signals, represented as Lissajous figures plotted on the screen of the inspection systems. This paper presents the software EASY, a computer assisted analysis system developed at CDTN to help the characterization of volumetric discontinuities present in heat exchangers tubes. Data to be analyzed are obtained from commercial eddy current equipment data file, such as ECT MAD8D. Main advantage of that system is its portability and easy use, since it can be executed in ordinary PC, under Microsoft Windows operating system. (author)

  6. Characterizing volumetric discontinuities present in NPP heat exchangers with EASY: an eddy current data analysis system

    Energy Technology Data Exchange (ETDEWEB)

    Alencar, Donizete A.; Silva Junior, Silverio F., E-mail: daa@cdtn.b, E-mail: silvasf@cdtn.b [Centro de Desenvolvimento da Tecnologia Nuclear (CDTN/CNEN-MG), Belo Horizonte, MG (Brazil)

    2011-07-01

    Eddy current is a very important NDT inspection method widely used to perform integrity evaluation of tubes installed in heat exchangers. For nuclear power plants, a classical example is the remote inspection of steam generators and condensers, as well as other ordinary auxiliary equipment. Data evaluation can be performed by means of precise phase and amplitude measurements of complex impedance signals, represented as Lissajous figures plotted on the screen of the inspection systems. This paper presents the software EASY, a computer assisted analysis system developed at CDTN to help the characterization of volumetric discontinuities present in heat exchangers tubes. Data to be analyzed are obtained from commercial eddy current equipment data file, such as ECT MAD8D. Main advantage of that system is its portability and easy use, since it can be executed in ordinary PC, under Microsoft Windows operating system. (author)

  7. Automatic and manual operation modes of the TFTR maintenance manipulator

    International Nuclear Information System (INIS)

    Boehme, G.; Gumb, L.; Lotz, E.; Mueller, G.; Selig, M.

    1987-01-01

    The remote in-vessel operations scheduled to maintain the TFTR at Princeton, NJ, USA, comprise inspection, calibration, cleaning and protective tile replacement. The environmental conditions inside the torus vessel are ultra high vacuum, moderate γ-radiation and 150 0 C temperature of the vessel structure. The Princeton Plasma Physics Laboratory (PPPL) and KfK are jointly developing a maintenance manipulator (MM) which can perform these tasks. (orig./HP)

  8. Remote handling facility and equipment used for space truss assembly

    International Nuclear Information System (INIS)

    Burgess, T.W.

    1987-01-01

    The ACCESS truss remote handling experiments were performed at Oak Ridge National Laboratory's (ORNL's) Remote Operation and Maintenance Demonstration (ROMD) facility. The ROMD facility has been developed by the US Department of Energy's (DOE's) Consolidated Fuel Reprocessing Program to develop and demonstrate remote maintenance techniques for advanced nuclear fuel reprocessing equipment and other programs of national interest. The facility is a large-volume, high-bay area that encloses a complete, technologically advanced remote maintenance system that first began operation in FY 1982. The maintenance system consists of a full complement of teleoperated manipulators, manipulator transport systems, and overhead hoists that provide the capability of performing a large variety of remote handling tasks. This system has been used to demonstrate remote manipulation techniques for the DOE, the Power Reactor and Nuclear Fuel Development Corporation (PNC) of Japan, and the US Navy in addition to the National Aeronautics and Space Administration. ACCESS truss remote assembly was performed in the ROMD facility using the Central Research Laboratory's (CRL) model M-2 servomanipulator. The model M-2 is a dual-arm, bilateral force-reflecting, master/slave servomanipulator which was jointly developed by CRL and ORNL and represents the state of the art in teleoperated manipulators commercially available in the United States today. The model M-2 servomanipulator incorporates a distributed, microprocessor-based digital control system and was the first successful implementation of an entirely digitally controlled servomanipulator. The system has been in operation since FY 1983. 3 refs., 2 figs

  9. 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....

  10. Tree manipulation experiment

    Science.gov (United States)

    Nishina, K.; Takenaka, C.; Ishizuka, S.; Hashimoto, S.; Yagai, Y.

    2012-12-01

    Some forest operations such as thinning and harvesting management could cause changes in N cycling and N2O emission from soils, since thinning and harvesting managements are accompanied with changes in aboveground environments such as an increase of slash falling and solar radiation on the forest floor. However, a considerable uncertainty exists in effects of thinning and harvesting on N2O fluxes regarding changes in belowground environments by cutting trees. To focus on the effect of changes in belowground environments on the N2O emissions from soils, we conducted a tree manipulation experiment in Japanese cedar (Cryptomeria japonica) stand without soil compaction and slash falling near the chambers and measured N2O flux at 50 cm and 150 cm distances from the tree trunk (stump) before and after cutting. We targeted 5 trees for the manipulation and established the measurement chambers to the 4 directions around each targeted tree relative to upper slope (upper, left, right, lower positions). We evaluated the effect of logging on the emission by using hierarchical Bayesian model. HB model can evaluate the variability in observed data and their uncertainties in the estimation with various probability distributions. Moreover, the HB model can easily accommodate the non-linear relationship among the N2O emissions and the environmental factors, and explicitly take non-independent data (nested structure of data) for the estimation into account by using random effects in the model. Our results showed tree cutting stimulated N2O emission from soils, and also that the increase of N2O flux depended on the distance from the trunk (stump): the increase of N2O flux at 50 cm from the trunk (stump) was greater than that of 150 cm from the trunk. The posterior simulation of the HB model indicated that the stimulation of N2O emission by tree cut- ting could reach up to 200 cm in our experimental plot. By tree cutting, the estimated N2O emission at 0-40 cm from the trunk doubled

  11. A review of magnetic resonance imaging compatible manipulators in surgery.

    Science.gov (United States)

    Elhawary, H; Zivanovic, A; Davies, B; Lampérth, M

    2006-04-01

    Developments in magnetic resonance imaging (MRI), coupled with parallel progress in the field of computer-assisted surgery, mean that an ideal environment has been created for the development of MRI-compatible robotic systems and manipulators, capable of enhancing many types of surgical procedure. However, MRI does impose severe restrictions on mechatronic devices to be used in or around the scanners. In this article a review of the developments in the field of MRI-compatible surgical manipulators over the last decade is presented. The manipulators developed make use of different methods of actuation, but they can be reduced to four main groups: actuation transmitted through hydraulics, pneumatic actuators, ultrasonic motors based on the piezoceramic principle and remote manual actuation. Progress has been made concerning material selection, position sensing, and different actuation techniques, and design strategies have been implemented to overcome the multiple restrictions imposed by the MRI environment. Most systems lack the clinical validation needed to continue on to commercial products.

  12. Stereoscopically Observing Manipulative Actions.

    Science.gov (United States)

    Ferri, S; Pauwels, K; Rizzolatti, G; Orban, G A

    2016-08-01

    The purpose of this study was to investigate the contribution of stereopsis to the processing of observed manipulative actions. To this end, we first combined the factors "stimulus type" (action, static control, and dynamic control), "stereopsis" (present, absent) and "viewpoint" (frontal, lateral) into a single design. Four sites in premotor, retro-insular (2) and parietal cortex operated specifically when actions were viewed stereoscopically and frontally. A second experiment clarified that the stereo-action-specific regions were driven by actions moving out of the frontoparallel plane, an effect amplified by frontal viewing in premotor cortex. Analysis of single voxels and their discriminatory power showed that the representation of action in the stereo-action-specific areas was more accurate when stereopsis was active. Further analyses showed that the 4 stereo-action-specific sites form a closed network converging onto the premotor node, which connects to parietal and occipitotemporal regions outside the network. Several of the specific sites are known to process vestibular signals, suggesting that the network combines observed actions in peripersonal space with gravitational signals. These findings have wider implications for the function of premotor cortex and the role of stereopsis in human behavior. © The Author 2016. Published by Oxford University Press.

  13. ADVERTISING AND LANGUAGE MANIPULATION

    Directory of Open Access Journals (Sweden)

    Cristina-Maria PRELIPCEANU

    2013-11-01

    Full Text Available Research has revealed that much of what happens in our minds as a result of language use is still hidden from our conscious awareness. Advertisers know this phenomenon better. They use the manipulation of language to suggest something about their products without directly claiming it to be true. Although the advertisers use colours, symbols, and imagery in advertisements, “the most direct way to study ads is through an analysis of the language employed” as all the other aspects are meant to reinforce the language message. Ads are designed to have an effect on consumers while being laughed at, belittle and all but ignored. Some modern advertisements appear to be almost dissuading consumers from the product – but this is just a modern technique. This paper is going to analyze a series of language techniques used by advertisers to arrest our attention, to arouse our interest, to stimulate desire for a product and ultimately to motivate us to buy it. Once we become familiar with the language strategies used in advertising messages we will be more able to make our own buying decisions.

  14. Stud manipulating device

    International Nuclear Information System (INIS)

    Bunyan, T.W.

    1980-01-01

    A device for inserting and removing studs from bores in a workpiece, for example a nuclear reactor vessel, comprises manipulating devices for operating on individual studs, each capable of tensioning a stud slackening a working nut on the stud, and subsequently removing the stud from the bore. A ring has dogs which can engage working nut recesses to interlock with the nut against relative rotation. Motors coupled to the ring rotate the working nut. A top nut is coupled to the motors to rotate the nut and screw it onto the stud. The top nut with other device parts can be raised and lowered on a tube by a hydraulic actuator. A hydraulic load cell between the top nut and a stool on the workpiece is pressurised to tension the stud by means of the top nut and thus facilitate rotation of the working nut when tightening or slackening. A dog clutch mechanism engages a stud end fitting against relative axial and rotational movement. The mechanism is raised and lowered on a guide member by an actuator. The mechanism has a tubular member and the drive coupling for the motors to the top nut includes a tubular member. Tubular members carry teeth which are engaged when the top nut is raised and the clutch mechanism is lowered, to provide a coupling between the motors and the mechanism for rotating the stud. (U.K.)

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

    International Nuclear Information System (INIS)

    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

  16. Manipulation Robustness of Collaborative Filtering

    OpenAIRE

    Benjamin Van Roy; Xiang Yan

    2010-01-01

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

  17. Crane system with remote actuation mechanism for use in argon compartment in ACPF hot cell

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Jong Kwang, E-mail: leejk@kaeri.re.kr; Park, Byung-Suk; Yu, Seung-Nam; Kim, Kiho; Cho, Il-je

    2016-10-15

    Highlights: • Novel crane system with a remote actuation mechanism for feasible maintenance under limited space conditions is proposed. • Linear drive systems are implemented for accurate positioning. • Modular design concepts for easy maintenance are introduced. • The motion controller and the off-the-shelf camera controller are integrated to provide more efficient operation. - Abstract: The Advanced spent fuel Conditioning Process Facility (ACPF) at the Korea Atomic Energy Research Institute (KAERI) has recently been successfully renovated. One of the highlights of this renovation project was the installation of a small argon compartment within the atmospheric hot cell of the facility. Even though a crane system was considered necessary for the remote handling of the processing equipment inside the argon compartment, no suitable commercial cranes were available. This was because a limited amount of space had been reserved for the installation of the crane. Moreover, a master-slave manipulator (MSM), the only available means of maintenance of the crane, was unable to reach it in the limited workspace. To address the difficulties in the design of this crane, in this study, a remote actuation mechanism is devised where the mechanical and electrical parts of the crane system are separated, positioned far away from each other, and connected through power transmission shafts. This approach has two main advantages. First, the electrical parts can be placed inside the workspace of the MSM, hence allowing for remote maintenance. Second, the space occupied by the electrical parts and their cables, which are separate from the crane in the proposed design, can be considered and exploited in designing the mechanical parts of the crane. This enables the construction of a short, special crane in order to maximize the workspace. Furthermore, the mechanical parts for the MSM located outside the workspace are designed to possess a high safety margin to ensure durability

  18. Behavior-Based Assists for Telerobotic Manipulation

    International Nuclear Information System (INIS)

    Noakes, Mark W.; Hamel, Dr. William R.

    2008-01-01

    Teleoperated manipulation has been a critical tool in hazardous operations where the presence of humans has been precluded since the early days of nuclear material handling. Performance levels and limitations were understood and accepted. However, in the current era of decontamination and decommissioning (D and D) of facilities owned by the U.S. Department of Energy, there has been criticism that traditional remote systems are too expensive, too slow, and too difficult to use by cost-driven demolition companies. Previous research in telerobotics has attempted to alleviate some of these issues; however, it has been difficult to get capabilities generated in the research lab into the field. One major difficulty is the severely unstructured environments found in real D and D type environments. Behavior-based robotics (BBR) is based on concepts specifically designed to permit autonomous robots to function in unstructured environments. BBR schemes use sensor data to interact with the world directly rather than to generate models that are manipulated. Because the robot is immersed in its environment and since sensors are mounted on the robot, sensing and motion are inherently calibrated with respect to the robot. This paper presents a behavior-based approach and architecture for executing telerobotic D and D type tooling tasks

  19. Enhancement of electromechanical manipulator performance by external sensory feedback

    International Nuclear Information System (INIS)

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

    1990-01-01

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

  20. Direct Manipulation in Virtual Reality

    Science.gov (United States)

    Bryson, Steve

    2003-01-01

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

  1. Trends in remote handling device development

    International Nuclear Information System (INIS)

    Raimondi, T.

    1991-01-01

    A brief review is given of studies on layouts and methods for handling some major components requiring remote maintenance in future fusion reactors: Neutral sources and beam lines, the blanket, divertor plates, armour tiles and vacuum pumps. Comparison is made to problems encountered in JET, methods and equipment used and development work done there. Areas requiring development and research are outlined. These include topics which are the subject of papers presented here, such as dynamic studies and control of transporters, improvements to the man-machine interface and hot cell equipment. A variety of other topics where effort is needed are also mentioned: Environmental tolerance of components and equipment, TV viewing and compensation of viewing difficulties with aids such as computer graphics and image processing, safety assessment, computer aids for remote manipulation, remote cutting and welding techniques, routine in-vessel inspection methods and selection of connectors and flanges for remote handling. (orig.)

  2. Manipulating early pig embryos.

    Science.gov (United States)

    Niemann, H; Reichelt, B

    1993-01-01

    On the basis of established surgical procedures for embryo recovery and transfer, the early pig embryo can be subjected to various manipulations aimed at a long-term preservation of genetic material, the generation of identical multiplets, the early determination of sex or the alteration of the genetic make-up. Most of these procedures are still at an experimental stage and despite recent considerable progress are far from practical application. Normal piglets have been obtained after cryopreservation of pig blastocysts hatched in vitro, whereas all attempts to freeze embryos with intact zona pellucida have been unsuccessful. Pig embryos at the morula and blastocyst stage can be bisected microsurgically and the resulting demi-embryos possess a high developmental potential in vitro, whereas their development in vivo is impaired. Pregnancy rates are similar (80%) but litter size is reduced compared with intact embryos and twinning rate is approximately 2%. Pig blastomeres isolated from embryos up to the 16-cell stage can be grown in culture and result in normal blastocysts. Normal piglets have been born upon transfer of blastocysts derived from isolated eight-cell blastomeres, clearly underlining the totipotency of this developmental stage. Upon nuclear transfer the developmental capacity of reconstituted pig embryos is low and culture. Sex determination can be achieved either by separation of X and Y chromosome bearing spermatozoa by flow cytometry or by analysing the expression of the HY antigen in pig embryos from the eight-cell to morula stage. Microinjection of foreign DNA has been successfully used to alter growth and development of transgenic pigs, and to produce foreign proteins in the mammary gland or in the bloodstream, indicating that pigs can be used as donors for valuable human pharmaceutical proteins. Another promising area of gene transfer is the increase of disease resistance in transgenic lines of pigs. Approximately 30% of pig spermatozoa bind

  3. Kinematic sensitivity of robot manipulators

    Science.gov (United States)

    Vuskovic, Marko I.

    1989-01-01

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

  4. Modeling manipulation in medical education.

    Science.gov (United States)

    Dailey, Jason I

    2010-05-01

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

  5. Remote handling prospects. Computer aided remote handling

    International Nuclear Information System (INIS)

    Vertut, J.

    1984-01-01

    Mechanical manipulators, electrical control manipulators and computer aided manipulators were successively developed. The aim of computer aided manipulators is the realization of complex or tricky job in adverse environment but man is required for non routine work or for situation in evolution. French effort is developed in the frame of the project automation and advanced robotics and new problems have to be solved particularly at the interface man/machine [fr

  6. System Integration for Real-Time Mobile Manipulation

    Directory of Open Access Journals (Sweden)

    Reza Oftadeh

    2014-03-01

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

  7. SAMSIN: the next-generation servo-manipulator

    International Nuclear Information System (INIS)

    Adams, R.H.; Jennrich, C.E.; Korpi, K.W.

    1985-01-01

    The Central Research Laboratories (CRL) Division of Sargent Industries is now developing SAMSIN, a next-generation servo-manipulator. SAMSIN is an acronym for Servo-Actuated Manipulator Systems with Intelligent Networks. This paper discusses the objectives of this development and describes the key features of the servo-manipulator system. There are three main objectives in the SAMSIN development: adaptability, reliability, and maintainability. SAMSIN utilizes standard Sargent/CRL sealed master and slave manipulator arms as well as newly developed compact versions. The mechanical arms have more than 20 yr of successful performance in industrial applications such as hot cells, high vacuums, fuel pools, and explosives handling. The servo-actuator package is in a protective enclosure, which may be sealed in various ways from the remote environment. The force limiting characteristics of the servo-actuators extend motion tendon life. Protective bootings increase the reliability of the arms in an environment that is high in airborne contamination. These bootings also simplify the decontamination of the system. The modularity in construction permits quick removal and replacement of slave arms, wrist joints, tong fingers, and actuator packages for maintenance. SAMSIN utilizes readily available off-the-shelf actuator and control system components. Each manipulator motion uses the same actuator and control system components

  8. Manipulator for plasma-assisted machining of components made of materials with low machinability

    International Nuclear Information System (INIS)

    Lyaoshchukov, M.M.; Agadzhanyan, R.A.

    1984-01-01

    The All-Union Scientific-Research and Technological Institute of Pump Engineering developed, and the ''Uralgidromash'' Production Association has adopted, a manipulator with remote control for the plasma-assisted machining (PAM) of components made of materials with low machinability. The manipulator is distinguished by its universal design and can be used for machining both external and internal surfaces of the bodies of revolution and also end faces and various curvilinear surfaces

  9. Development of a ROV titanium manipulator for light work class ROV vehicles

    OpenAIRE

    Garay, Gaizka X.; Sosa, Dario

    2016-01-01

    This paper shows the development of a high technical equipment to be used as tooling of submersible ROV (Remote Operated Vehicles) for offshore operations, particularly the design and fabrication by Additive Manufacturing (AM) of a Titanium Manipulator for ROVs. From the initial concept and design until a new formed company “TITANROB”, this document shortly describes the fabrication of hydraulic titanium manipulators for mid size ROV vehicles, the TitanRob series M501, G500 ...

  10. Design concepts and advanced manipulator development for nuclear fuel cycle facilities

    International Nuclear Information System (INIS)

    Feldman, M.J.

    1985-01-01

    In the Fuel Recycle Division, Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory, a comprehensive remote systems development program has existed for the past seven years. The new remote technology under development is expected to significantly improve remote operations by extending the range of tasks accomplished by remote means and increasing the efficiency of remote work undertaken. The application of advanced manipulation is viewed as an essential part of a series of design directions whose sum describes a somewhat unique blend of old and new technology. A design direction based upon the Teletec concept is explained and recent progress in the development of an advanced servomanipulator-based maintenance concept is summarized to show that a new generation of remote systems is feasible through advanced technology. 14 refs., 14 figs

  11. Developing remote techniques for liquid metal reactors

    International Nuclear Information System (INIS)

    Fenemore, Peter

    1987-01-01

    Three devices have been designed in Britain to meet the need for special remote equipment and techniques required to inspect the reactor vessel and internals of liquid metal reactors. The ''Links Manipulator Under-Sodium Viewing System'' - a device to be used for the surveillance of reactor internals, which are submerged in sodium. An ''Automatic Guided Vehicle'' - a free roving vehicle to be used to survey the externals of the reactor vessel. The ''Snake Manipulator'' - an articulated arm used to gain access to restricted areas. (author)

  12. EasyDIAg: A tool for easy determination of interrater agreement.

    Science.gov (United States)

    Holle, Henning; Rein, Robert

    2015-09-01

    Reliable measurements are fundamental for the empirical sciences. In observational research, measurements often consist of observers categorizing behavior into nominal-scaled units. Since the categorization is the outcome of a complex judgment process, it is important to evaluate the extent to which these judgments are reproducible, by having multiple observers independently rate the same behavior. A challenge in determining interrater agreement for timed-event sequential data is to develop clear objective criteria to determine whether two raters' judgments relate to the same event (the linking problem). Furthermore, many studies presently report only raw agreement indices, without considering the degree to which agreement can occur by chance alone. Here, we present a novel, free, and open-source toolbox (EasyDIAg) designed to assist researchers with the linking problem, while also providing chance-corrected estimates of interrater agreement. Additional tools are included to facilitate the development of coding schemes and rater training.

  13. EasyPipes - Final/annual report; EasyPipes - Rapport final/annuel

    Energy Technology Data Exchange (ETDEWEB)

    Gallinelli, P.; Thomann, P.; Weber, W. [University of Geneva, Geneva (Switzerland); Hollmuller, P. [University of Lisbon, Lisbon (Portugal)

    2009-06-15

    This report describes follow-up activities in the field of design of buried air-to-ground heat exchangers for ventilated low-energy buildings. Such heat exchangers preheat the inlet air in winter and cool it in summer, contributing to significantly reduce the energy consumption and improve indoor thermal comfort. They have been extensively studied at the University of Geneva, Switzerland by P. Hollmuller, B. Lachal et al. since 2001. The corresponding reports can be found in the ETDE data base. The present and latest report of the series deals with implemented improvements of the computer simulation program for the dimensioning of such heat exchangers. A previous, experimentally and analytically validated version, based on TRNSYS formalism, was not enough user-friendly for architects and engineers in the practice. A new interface called EasyPipes, based on the windows input and output formalism and including graphical features, has been developed. Details are reported on.

  14. STRATEGI PEMASARAN PAKET WISATA DI BALI EASY HOLIDAY DENPASAR BALI

    Directory of Open Access Journals (Sweden)

    Erick Kevin Perangin-Angin

    2017-07-01

    Full Text Available This Journal aimed to know the strengths and weaknesses of the internal environment and opportunities as well as threats from the external environment and create strategies and marketing programs that can be applied in the Bali Easy Holiday. The technique data collection using observation, interview, questionnaire, the study of literature and documentation study. Sampling techniques using a purposive sampling. Data analysis techniques using qualitative descriptive analysis and Likert scale analysis. The results of this research are obtaining indicators of strengths and weaknesses of internal environment and the opportunities and threats of weaknesses in Bali Easy Holiday. Bali Easy Holiday gains 16 indicators of strengths and 4 indicators of weaknesses in Bali Easy Holiday. Bali Easy Holiday gains 9 indicators of opportunities 5 indicators of threats in Bali Easy Holiday. Marketing strategies can be applied to Bali Easy Holiday, namely : the creation of strategy and product development, market development strategies, promotion strategy, a strategy of improved human resources, the strategy of market penetration strategies, improvement of the quality of products and services and pricing strategies. This research has some advice for Bali Easy Holiday is to increase the intensity of promotion, provide ease reservations and payments to consumers, renew tour packages, provide affordable rates to customers and formed a marketing division.

  15. Computational simulator of robotic manipulators

    International Nuclear Information System (INIS)

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

    1995-01-01

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

  16. Can earnings manipulation create value?

    OpenAIRE

    Anton Miglo

    2008-01-01

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

  17. Manipulator Performance Evaluation Using Fitts' Taping Task

    Energy Technology Data Exchange (ETDEWEB)

    Draper, J.V.; Jared, B.C.; Noakes, M.W.

    1999-04-25

    Metaphorically, a teleoperator with master controllers projects the user's arms and hands into a re- mote area, Therefore, human users interact with teleoperators at a more fundamental level than they do with most human-machine systems. Instead of inputting decisions about how the system should func- tion, teleoperator users input the movements they might make if they were truly in the remote area and the remote machine must recreate their trajectories and impedance. This intense human-machine inter- action requires displays and controls more carefully attuned to human motor capabilities than is neces- sary with most systems. It is important for teleoperated manipulators to be able to recreate human trajectories and impedance in real time. One method for assessing manipulator performance is to observe how well a system be- haves while a human user completes human dexterity tasks with it. Fitts' tapping task has been, used many times in the past for this purpose. This report describes such a performance assessment. The International Submarine Engineering (ISE) Autonomous/Teleoperated Operations Manipulator (ATOM) servomanipulator system was evalu- ated using a generic positioning accuracy task. The task is a simple one but has the merits of (1) pro- ducing a performance function estimate rather than a point estimate and (2) being widely used in the past for human and servomanipulator dexterity tests. Results of testing using this task may, therefore, allow comparison with other manipulators, and is generically representative of a broad class of tasks. Results of the testing indicate that the ATOM manipulator is capable of performing the task. Force reflection had a negative impact on task efficiency in these data. This was most likely caused by the high resistance to movement the master controller exhibited with the force reflection engaged. Measurements of exerted forces were not made, so it is not possible to say whether the force reflection helped

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

    Science.gov (United States)

    Evans, David W

    2010-06-01

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

  19. Experimental characterization of a binary actuated parallel manipulator

    Science.gov (United States)

    Giuseppe, Carbone

    2016-05-01

    This paper describes the BAPAMAN (Binary Actuated Parallel MANipulator) series of parallel manipulators that has been conceived at Laboratory of Robotics and Mechatronics (LARM). Basic common characteristics of BAPAMAN series are described. In particular, it is outlined the use of a reduced number of active degrees of freedom, the use of design solutions with flexural joints and Shape Memory Alloy (SMA) actuators for achieving miniaturization, cost reduction and easy operation features. Given the peculiarities of BAPAMAN architecture, specific experimental tests have been proposed and carried out with the aim to validate the proposed design and to evaluate the practical operation performance and the characteristics of a built prototype, in particular, in terms of operation and workspace characteristics.

  20. Proceedings of FED remote maintenance equipment workshop

    International Nuclear Information System (INIS)

    Sager, P.; Garin, J.; Hager, E.R.; Spampinato, P.T.; Tobias, D.; Young, N.

    1981-11-01

    A workshop was convened in two sessions in January and March 1981, on the remote maintenance equipment for the Fusion Engineering Device (FED). The objectives of the first session were to familiarize the participants with the status of the design of the FED and to develop a remote maintenance equipment list for the FED. The objective of the second session was to have the participants present design concepts for the equipment which had been identified in the first session. The equipment list was developed for general purpose and special purpose equipment. The general purpose equipment was categorized as manipulators and other, while the special purpose equipment was subdivided according to the reactor subsystem it serviced: electrical, magnetic, and nuclear. Both mobile and fixed base manipulators were identified. Handling machines were identified as the major requirement for special purpose equipment

  1. Grid Generation Techniques Utilizing the Volume Grid Manipulator

    Science.gov (United States)

    Alter, Stephen J.

    1998-01-01

    This paper presents grid generation techniques available in the Volume Grid Manipulation (VGM) code. The VGM code is designed to manipulate existing line, surface and volume grids to improve the quality of the data. It embodies an easy to read rich language of commands that enables such alterations as topology changes, grid adaption and smoothing. Additionally, the VGM code can be used to construct simplified straight lines, splines, and conic sections which are common curves used in the generation and manipulation of points, lines, surfaces and volumes (i.e., grid data). These simple geometric curves are essential in the construction of domain discretizations for computational fluid dynamic simulations. By comparison to previously established methods of generating these curves interactively, the VGM code provides control of slope continuity and grid point-to-point stretchings as well as quick changes in the controlling parameters. The VGM code offers the capability to couple the generation of these geometries with an extensive manipulation methodology in a scripting language. The scripting language allows parametric studies of a vehicle geometry to be efficiently performed to evaluate favorable trends in the design process. As examples of the powerful capabilities of the VGM code, a wake flow field domain will be appended to an existing X33 Venturestar volume grid; negative volumes resulting from grid expansions to enable flow field capture on a simple geometry, will be corrected; and geometrical changes to a vehicle component of the X33 Venturestar will be shown.

  2. Why high-capacity manipulators and lead glass windows

    International Nuclear Information System (INIS)

    Grisham, D.L.; Lambert, J.E.

    1981-01-01

    The Monitor remote-handling system was developed to maintain the main experimental beam line at the Clinton P. Anderson Meson Physics Facility (LAMPF) of the Los Alamos National Laboratory. The technology and operating experience developed at LAMPF can be applied to other areas where handling of radioactive, hazardous, or toxic materials is required. These could include radiological incidents similar to Three Mile Island and toxic material spills, such as chlorine tank car derailments, where no provision for remote-handling exists. The technology can also be applied to routine radioactive remote-handling operations now conducted in conventional hot cells. These operations are normally done using mechanical master-slave manipulators with viewing through lead glass windows. The conventional facility can be replaced by a plain shielded box with an equivalent of the front end of Monitor inside. Master-slave manipulators of the future should be of 10-kg capacity with a force-reflection threshold of 0.2, minimum size, and provision for total sealing

  3. The operational challenge of remote maintenance

    International Nuclear Information System (INIS)

    Forsythe, L.

    2015-01-01

    Full text of publication follows. With the declining supply of fossil fuels that are used in power stations today, and the ongoing concern over climate change, nuclear fusion is one of the most promising options for generating large amounts of carbon-free energy in the future. Fuel supplies for fusion will be available for millions of years, with 1 kg of fusion fuel providing the same amount of energy as 10 thousand tonnes of fossil fuel. Unlike conventional fission reactors, the radioactive waste produced from fusion is short-lived, and will be safe to dispose of conventionally within 100 years. Although fusion has the huge advantage of being a carbon free energy source, there are complexities when it comes to maintaining the machine. Due to the nature of the fusion reaction, the components within the area of the reactor vacuum vessel become radioactive, which requires maintenance and modifications to be conducted remotely to protect human operators. Remote maintenance is the use of manipulators to carry out tasks in challenging or hostile environments, which would otherwise cause harm to humans. Remote handling slave manipulators do the work of a human by mimicking the movements from a master robotic manipulator that is controlled by a human operator. This means that remote handling can be used in many other areas other too, such as space; fission power plants; sub-sea; and nuclear material handling or in adverse environments such as: low or high temperature; chemically contaminated; combustible and low oxygen environments. Remote maintenance requires specialist engineers to take into consideration many aspects normally taken for granted when carrying out a task manually. Constraints such as the space around us; viewing and lighting; the human body's dexterity and flexibility; the weight and centre of gravity of tools and components, and how we securely grip and handle them; and access to fixings and fastenings. All these are factors that require careful

  4. High precision redundant robotic manipulator

    International Nuclear Information System (INIS)

    Young, K.K.D.

    1998-01-01

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

  5. Development of nuclear power plant automated remote patrol system

    International Nuclear Information System (INIS)

    Nakayama, R.; Kubo, K.; Sato, K.; Taguchi, J.

    1984-01-01

    An Automated Remote Patrol System was developed for a remote inspection, observation and monitoring of nuclear power plant's components. This automated remote patrol system consists of; a vehicle moving along a monorail; three rails mounted in a monorail for data transmission and for power supply; an image fiber connected to a TV camera; an arm type mechanism (manipulator) for moving image fiber; a computer for control and data processing and operator's console. Special features of this Automated Remote Patrol System are as follows: The inspection vehicle runs along horizontal and vertical (up/down) monorails. The arm type mechanism (manipulator) on the vehicle is used to move image fiber. Slide type electric collectors are used for data transmission and power supply. Time-division multiplexing is adapted for data transmission. Voice communication is used for controlling mechanisms. Pattern recognition is used for data processing. The experience that has been obtained from a series of various tests is summarized. (author)

  6. Smart Cards and remote entrusting

    Science.gov (United States)

    Aussel, Jean-Daniel; D'Annoville, Jerome; Castillo, Laurent; Durand, Stephane; Fabre, Thierry; Lu, Karen; Ali, Asad

    Smart cards are widely used to provide security in end-to-end communication involving servers and a variety of terminals, including mobile handsets or payment terminals. Sometime, end-to-end server to smart card security is not applicable, and smart cards must communicate directly with an application executing on a terminal, like a personal computer, without communicating with a server. In this case, the smart card must somehow trust the terminal application before performing some secure operation it was designed for. This paper presents a novel method to remotely trust a terminal application from the smart card. For terminals such as personal computers, this method is based on an advanced secure device connected through the USB and consisting of a smart card bundled with flash memory. This device, or USB dongle, can be used in the context of remote untrusting to secure portable applications conveyed in the dongle flash memory. White-box cryptography is used to set the secure channel and a mechanism based on thumbprint is described to provide external authentication when session keys need to be renewed. Although not as secure as end-to-end server to smart card security, remote entrusting with smart cards is easy to deploy for mass-market applications and can provide a reasonable level of security.

  7. Remote possibilities

    International Nuclear Information System (INIS)

    Fernandes, J.

    1995-01-01

    The impact that wireless communications has had for gas and oil producers was discussed. Wireless communication, which has been replacing the traditional formats of radio and telephone data networks, has proved to be cheaper, smaller, and faster than creating privately owned communication networks. With highly developed supervisory control and data acquisition systems - combined with cellular or satellite technology - information from drill sites can be online at the corporate headquarters instantaneously. Eighty percent of Canada's land mass is beyond reach of traditional wireline and wireless services. Research into advanced communications, including telecommunication and mobile applications, yielded lucrative results for service providers such as BCTel, SaskTel, Bell Mobility and AGT. The latest data transmission technology is the cellular digital packet data (CDPD) which will operate over existing cellular networks. However, unlike circuit-switched cellular, CDPD technology provides an airlink where data is secure. It will be available to the marketplace over the course of the coming year. Among other advantages, CDPD will allow producers to remotely monitor production information and downtime alarms from wells and compressor stations. It will also provide fleet operators with the means to monitor operating vital signs on rolling stock

  8. Remote handling in nuclear fusion research

    International Nuclear Information System (INIS)

    Removille, J.

    1989-01-01

    When the Joint European Torus (JET) commences operation in 1992, the neutron flux will increase by 2 or 3 orders of magnitude activating the components of the machine to such an extent as to prohibit the access of personnel into the machine hall to carry out maintenance tasks. This paper lists operations which will have to be carried out remotely either because they are essential to the routine running of the machine or in emergencies. Remotely operated equipment which has been developed to perform these tasks is described. It is based on a system of conveyors which carry manipulators and tools to their point of operation. The principal conveyors are: a telescopic articulated mast carried on a bridge over the machine enabling tasks around and above the torus to be performed; conveyors running on rails which can reach otherwise inaccessible regions beneath the machine; an articulated arm which can position a manipulator within the torus; and a radio controlled support vehicle running on caterpillar tracks carrying a camera and tools for connecting cables to other conveyors. The main features of the control room from which the conveyors, manipulators, tools and cameras are remotely operated is also described. (UK)

  9. Autonomous Industrial Mobile Manipulation (AIMM)

    DEFF Research Database (Denmark)

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

    2012-01-01

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

  10. Remote mixed oxide fabrication facility development. Volume 2. State-of-the-art review of remote maintenance system technology

    International Nuclear Information System (INIS)

    Horgos, R.M.; Masch, M.L.

    1979-06-01

    This report provides a state-of-the-art review of remote systems technology, which includes manipulators, process connectors, vision systems and specialized process systems. A proposed mixed oxide fuel fabrication facility was reviewed and evaluated for identification of major remote maintenance and repair tasks. The technological areas were evaluated on the basis of their suitability or applicability for remote maintenance and repair of a proposed fully remote operating mixed oxide fuel fabrication facility. A technological base exists from which the design criteria for a reliable, remote operating facility can be established. Commercially available systems and components, along with those remote technologies now in development, will require modifications to adapt them to specific plant designs and requirements

  11. Testbed for remote telepresence research

    Science.gov (United States)

    Adnan, Sarmad; Cheatham, John B., Jr.

    1992-11-01

    Teleoperated robots offer solutions to problems associated with operations in remote and unknown environments, such as space. Teleoperated robots can perform tasks related to inspection, maintenance, and retrieval. A video camera can be used to provide some assistance in teleoperations, but for fine manipulation and control, a telepresence system that gives the operator a sense of actually being at the remote location is more desirable. A telepresence system comprised of a head-tracking stereo camera system, a kinematically redundant arm, and an omnidirectional mobile robot has been developed at the mechanical engineering department at Rice University. This paper describes the design and implementation of this system, its control hardware, and software. The mobile omnidirectional robot has three independent degrees of freedom that permit independent control of translation and rotation, thereby simulating a free flying robot in a plane. The kinematically redundant robot arm has eight degrees of freedom that assist in obstacle and singularity avoidance. The on-board control computers permit control of the robot from the dual hand controllers via a radio modem system. A head-mounted display system provides the user with a stereo view from a pair of cameras attached to the mobile robotics system. The head tracking camera system moves stereo cameras mounted on a three degree of freedom platform to coordinate with the operator's head movements. This telepresence system provides a framework for research in remote telepresence, and teleoperations for space.

  12. TPX remote maintenance and shielding

    International Nuclear Information System (INIS)

    Rennich, M.J.; Nelson, B.E.

    1994-01-01

    The Tokamak Physics Experiment machine design incorporates comprehensive planning for efficient and safe component maintenance. Three programmatic decisions have been made to insure the successful implementation of this objective. First, the tokamak incorporates radiation shielding to reduce activation of components and limit the dose rate to personnel working on the outside of the machine. This allows most of the ex-vessel equipment to be maintained through conventional ''hands-on'' procedures. Second, to the maximum extent possible, low activation materials will be used inside the shielding volume. This resulted in the selection of Titanium (Ti-6Al-4V) for the vacuum vessel and PFC structures. The third decision stipulated that the primary in-vessel components will be replaced or repaired via remote maintenance tools specifically provided for the task. The component designers have been given the responsibility of incorporating maintenance design and for proving the maintainability of the design concepts in full-scale mockup tests prior to the initiation of final fabrication. Remote maintenance of the TPX machine is facilitated by general purpose tools provided by a special purpose design team. Major tools will include an in-vessel transporter, a vessel transfer system and a large component transfer container. In addition, tools such as manipulators and remotely operable impact wrenches will be made available to the component designers by this group. Maintenance systems will also provide the necessary controls for this equipment

  13. Remote Operation and Maintenance Demonstration Facility at ORNL

    International Nuclear Information System (INIS)

    Harvey, H.W.; Floyd, S.D; Kuban, D.P.; Singletary, B.H.; Stradley, J.G.

    1978-01-01

    The Remote Operation and Maintenance Facility is a versatile facility arranged to mock-up various hot-cell configurations. Modular units of simulated shielding and viewing windows were built to provide flexibility in arrangement. The facility is fully equipped with hoists, manipulators, television, and the other basic equipment and services necessary to provide capability for both remote operation and maintenance of several selected functional process equipment groups. 6 figures

  14. Remote operation and maintenance demonstration facility at ORNL

    International Nuclear Information System (INIS)

    Harvey, H.W.; Floyd, S.D.; Kuban, D.P.; Singletary, B.H.; Stradley, J.G.

    1978-01-01

    The Remote Operation and Maintenance Facility is a versatile facility arranged to mock up various hot cell configurations. Modular units of simulated shielding and viewing windows were built to provide flexibility in arrangement. The facility is fully equipped with hoists, manipulators, television, and other basic equipment and services necessary to provide capability for both remote operation and maintenance of several selected functional process equipment groups

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

    Science.gov (United States)

    Brown, Abigail

    2013-01-01

    The problem of the manipulation of data that arises when there is both opportunity and incentive to mislead is better accepted and studied - though by no means solved - in financial accounting than in medicine. This article analyzes pharmaceutical company manipulation of medical research as part of a broader problem of corporate manipulation of data in the creation of accounting profits. The article explores how our understanding of accounting fraud and misinformation helps us understand the risk of similar information manipulation in the medical sciences. This understanding provides a framework for considering how best to improve the quality of medical research and analysis in light of the current system of medical information production. I offer three possible responses: (1) use of the Dodd-Frank whistleblower provisions to encourage reporting of medical research fraud; (2) a two-step academic journal review process for clinical trials; and (3) publicly subsidized trial-failure insurance. These would improve the release of negative information about drugs, thereby increasing the reliability of positive information. © 2013 American Society of Law, Medicine & Ethics, Inc.

  16. Learning Area and Perimeter with Virtual Manipulatives

    Science.gov (United States)

    Bouck, Emily; Flanagan, Sara; Bouck, Mary

    2015-01-01

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

  17. A six degrees of freedom mems manipulator

    NARCIS (Netherlands)

    de Jong, B.R.

    2006-01-01

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

  18. Manipulator vehicles and loading shovels

    International Nuclear Information System (INIS)

    Brudermueller, G.; Krueger, W.

    1992-01-01

    Kerntechnische Hilfsdienst GmbH (KHG) is an institution jointly founded by electricity utilities, fuel cycle industries, and national research centers to provide specialist equipment for removing the consequences of accidents inside plants and recognizing damage in the immediate vicinity of such plants, maintain such equipment in an operational condition, and provide personnel instructed in work of this kind. The specialized technical equipment developed includes carriages, carrier vehicles for manipulators, grabs, TV cameras or measuring gear. In addition to manipulator vehicles, especially loading shovels are used. Radio-controlled vehicles are used where cable operation is either not reliable enough or has failed. (orig.) [de

  19. Calibrating EASY-Care independence scale to improve accuracy

    Science.gov (United States)

    Jotheeswaran, A. T.; Dias, Amit; Philp, Ian; Patel, Vikram; Prince, Martin

    2016-01-01

    Background there is currently limited support for the reliability and validity of the EASY-Care independence scale, with little work carried out in low- or middle-income countries. Therefore, we assessed the internal construct validity and hierarchical and classical scaling properties among frail dependent older people in the community. Objective we assessed the internal construct validity and hierarchical and classical scaling properties among frail dependent older people in the community. Methods three primary care physicians administered EASY-Care comprehensive geriatric assessment for 150 frail and/or dependent older people in the primary care setting. A Mokken model was applied to investigate hierarchical scaling properties of EASY-Care independence scale, and internal consistency (Cronbach's alpha) of the scale was also examined. Results we found that EASY-Care independence scale is highly internally consistent and is a strong hierarchical scale, hence providing strong evidence for unidimensionality. However, two items in the scale (unable to use telephone and manage finances) had much lower item Loevinger H coefficients than others. Exclusion of these two items improved the overall internal consistency of the scale. Conclusions the strong performance of the EASY-Care independence scale among community-dwelling frail older people is encouraging. This study confirms that EASY-Care independence scale is highly internally consistent and a strong hierarchical scale. PMID:27496925

  20. Global manipulation of digital images can lead to variation in cytological diagnosis.

    Science.gov (United States)

    Prasad, H; Wanjari, Sangeeta; Parwani, Rajkumar

    2011-03-31

    With the adoption of a completely electronic workflow by several journals and the advent of telepathology, digital imaging has become an integral part of every scientific research. However, manipulating digital images is very easy, and it can lead to misinterpretations. To analyse the impact of manipulating digital images on their diagnosis. Digital images were obtained from Papanicolaou-stained smears of dysplastic and normal oral epithelium. They were manipulated using GNU Image Manipulation Program (GIMP) to alter their brightness and contrast and color levels. A Power Point presentation composed of slides of these manipulated images along with the unaltered originals arranged randomly was created. The presentation was shown to five observers individually who rated the images as normal, mild, moderate or severe dysplasia. Weighted κ statistics was used to measure and assess the levels of agreement between observers. Levels of agreement between manipulated images and original images varied greatly among observers. Variation in diagnosis was in the form of overdiagnosis or under-diagnosis, usually by one grade. Global manipulations of digital images of cytological slides can significantly affect their interpretation. Such manipulations should therefore be kept to a minimum, and avoided wherever possible.

  1. Global manipulation of digital images can lead to variation in cytological diagnosis

    Directory of Open Access Journals (Sweden)

    H Prasad

    2011-01-01

    Full Text Available Background: With the adoption of a completely electronic workflow by several journals and the advent of telepathology, digital imaging has become an integral part of every scientific research. However, manipulating digital images is very easy, and it can lead to misinterpretations. Aim: To analyse the impact of manipulating digital images on their diagnosis. Design: Digital images were obtained from Papanicolaou-stained smears of dysplastic and normal oral epithelium. They were manipulated using GNU Image Manipulation Program (GIMP to alter their brightness and contrast and color levels. A Power Point presentation composed of slides of these manipulated images along with the unaltered originals arranged randomly was created. The presentation was shown to five observers individually who rated the images as normal, mild, moderate or severe dysplasia. Weighted k statistics was used to measure and assess the levels of agreement between observers. Results: Levels of agreement between manipulated images and original images varied greatly among observers. Variation in diagnosis was in the form of overdiagnosis or under-diagnosis, usually by one grade. Conclusion: Global manipulations of digital images of cytological slides can significantly affect their interpretation. Such manipulations should therefore be kept to a minimum, and avoided wherever possible.

  2. Manipulating Liquids With Acoustic Radiation Pressure Phased Arrays

    Science.gov (United States)

    Oeftering, Richard C.

    1999-01-01

    High-intensity ultrasound waves can produce the effects of "Acoustic Radiation Pressure" (ARP) and "acoustic streaming." These effects can be used to propel liquid flows and to apply forces that can be used to move or manipulate floating objects or liquid surfaces. NASA's interest in ARP includes the remote-control agitation of liquids and the manipulation of bubbles and drops in liquid experiments and propellant systems. A high level of flexibility is attained by using a high-power acoustic phased array to generate, steer, and focus a beam of acoustic waves. This is called an Acoustic Radiation Pressure Phased Array, or ARPPA. In this approach, many acoustic transducer elements emit wavelets that converge into a single beam of sound waves. Electronically coordinating the timing, or "phase shift," of the acoustic waves makes it possible to form a beam with a predefined direction and focus. Therefore, a user can direct the ARP force at almost any desired point within a liquid volume. ARPPA lets experimenters manipulate objects anywhere in a test volume. This flexibility allow it to be used for multiple purposes, such as to agitate liquids, deploy and manipulate drops or bubbles, and even suppress sloshing in spacecraft propellant tanks.

  3. Concept Design of the Payload Handling Manipulator System. [space shuttle orbiters

    Science.gov (United States)

    1975-01-01

    The design, requirements, and interface definition of a remote manipulator system developed to handle orbiter payloads are presented. End effector design, control system concepts, and man-machine engineering are considered along with crew station requirements and closed circuit television system performance requirements.

  4. 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 ...

  5. Guiding device for a manipulator mast for internal inspection of a reactor pressure vessel

    International Nuclear Information System (INIS)

    Seifert, W.; Schlueter, H.

    1977-01-01

    A remote-controlled supporting device centering a manipulator mast is described which is mounted and operated above a reactor pressure vessel under water in such a way that rotations and vertical movements necessary for the internal inspection of the pressure vessel remain possible. (RW) [de

  6. Review of inspection of Torness reactor internals using remote techniques

    International Nuclear Information System (INIS)

    Dynan, J.

    1993-01-01

    Inspection of reactor internals is increasingly being achieved by deployment of cameras into areas of sometimes high radiation fields using manipulators. The manipulators have been developed over a number of years and from a variety of sources and those provided at Torness can maybe be seen to be the state of the art development of such machines for AGRS. Torness and Heysham 2 reactors were specifically designed for inspection using remote techniques and special facilities have been provided for this purpose. This paper is written by an operator and not a manipulator specialist and is intended to show what the operator needs versus what the designer gave him. (author)

  7. Immersive vision assisted remote teleoperation using head mounted displays

    International Nuclear Information System (INIS)

    Vakkapatla, Veerendrababu; Singh, Ashutosh Pratap; Rakesh, V.; Rajagopalan, C.; Murugan, S.; Sai Baba, M.

    2016-01-01

    Handling and inspection of irradiated material is inevitable in nuclear industry. Hot cells are shielded radiation containment chambers equipped with master slave manipulators that facilitates remote handling. The existing methods using viewing windows and cameras for viewing the contents of hot cell to manipulate the radioactive elements have problems such as optical distortion, limited distance teleoperation, limited field of view that lead to inefficient operation. This paper presents a method of achieving immersive teleoperation to operate the master slave manipulator in hot cells by exploiting the advanced tracking and display capabilities of head mounted display devices. (author)

  8. Leadership Manipulation and Ethics in Storytelling

    OpenAIRE

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

    2013-01-01

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

  9. 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.

  10. Joining teleoperation with robotics for advanced manipulation in hostile environments

    International Nuclear Information System (INIS)

    Martin, H.L.; Hamel, W.R.

    1984-01-01

    Manipulators have been used for many years to perform remote handling tasks in hazardous environments. The development history of teleoperators is reviewed, and applications around the world are summarized. The effect of computer supervisory control is discussed, and similarities between robots and teleoperator research activities are delineated. With improved control strategies and system designs, combination of positive attributes of robots with teleoperators will lead to advanced machines capable of autonomy in unstructured environments. This concept of a telerobot is introduced as a goal for future activities

  11. Commander manipulator scoops prestigious mulit-million pound BNFL contract

    International Nuclear Information System (INIS)

    Bailey, Andrew.

    1997-01-01

    Twenty-one Commander robotic arms are on order from INBIS (formerly Ricardo Hitec) and BNFL Engineering Limited (''BEL'', the engineering arm of parent company BNFL). The multi-million pound contract was won amid fierce competition from other well-known names in robotic engineering. The specially designed Commander manipulators will be engaged in remotely handling Intermediate Level Waste (ILW) in a suite of four BNFL ILW plants, which are currently either under construction or planned at Sellafield. The first Commander will delivered to BNFL's Sellafield Silo Emptying Project in January 1998. (Author)

  12. A first wall material probe manipulator for the 'TEXTOR' tokamak

    International Nuclear Information System (INIS)

    Marmy, P.; Stiefel, U.

    1984-04-01

    Textor is a technology oriented tokamak of Euratom at the Kernforschungsanlage Juelich (KFA). Switzerland participates in its experimental program within the framework of the IEA agreement on Plasma Wall Interaction. A major task of EIR consists in the layout, construction and fabrication of a manipulator for the remote handling of up to 240 specimen candidate first wall materials. This operation has to be done without breaking the ultra high vacuum (UHV) and with wall temperatures up to 300 0 C. A great number of preexperiments involving different materials had to be carried out; the understanding of the tribology in ultra high vacuum could be improved. (Auth.)

  13. Teleoperation and computer control of a backhoe/manipulator system

    International Nuclear Information System (INIS)

    Amazeen, C.A.; Bishop, S.S.

    1987-01-01

    Teleoperation of the U.S. Army's Small Emplacement Excavator (SEE) is now in the prototype stage of development. Initial work is directed towards remotely controlling the SEE backhoe attachment as well as a Belvoir Research, Development, and Engineering Center (BRDEC)-developed heavy-lift manipulator (HLM). The HLM is an alternate end effector for the backhoe. Primitive computer control of the backhoe, with a bucket as an end effector, has been achieved. This paper presents the current and planned system configurations and discusses system applications

  14. Manipulations to regenerate aspen ecosystems

    Science.gov (United States)

    Wayne D. Shepperd

    2001-01-01

    Vegetative regeneration of aspen can be initiated through manipulations that provide hormonal stimulation, proper growth environment, and sucker protection - the three elements of the aspen regeneration triangle. The correct course of action depends upon a careful evaluation of the size, vigor, age, and successional status of the existing clone. Soils and site...

  15. Indicial tensor manipulation on MACSYMA

    International Nuclear Information System (INIS)

    Bogen, R.A.; Pavelle, R.

    1977-01-01

    A new computational tool for physical calculations is described. It is the first computer system capable of performing indicial tensor calculus (as opposed to component tensor calculus). It is now operational on the symbolic manipulation system MACSYMA. The authors outline the capabilities of the system and describe some of the physical problems considered as well as others being examined at this time. (Auth.)

  16. Manipulations of Totalitarian Nazi Architecture

    Science.gov (United States)

    Antoszczyszyn, Marek

    2017-10-01

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

  17. Mapping and Manipulating Facial Expression

    Science.gov (United States)

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

    2009-01-01

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

  18. Traction-drive seven degrees-of-freedom telerobot arm: A concept for manipulation in space

    International Nuclear Information System (INIS)

    Kuban, D.P.; Williams, D.M.

    1987-01-01

    As man seeks to expand his dominion into new environments, the demand increases for machines that perform useful functions in remote locations. This new concept for manipulation in space is based on knowledge and experience gained from manipulator systems developed to meet the needs of remote nuclear applications. It merges the best characteristics of teleoperation and robotic technologies. This paper summarizes the report of a study performed for NASA Langley Research Center. The design goals for the telerobot, a mechanical description, and technology areas that must be addressed for successful implementation will be presented and discussed. The concept incorporates mechanical traction drives, redundant kinematics, and modular arm subelements to provide a backlash-free manipulator capable of obstacle avoidance. Further development of this arm is in progress at the Oak Ridge National Laboratory

  19. Dual-arm manipulation module for use in decontamination and decommissioning operations

    International Nuclear Information System (INIS)

    Hamel, W.R.; Haley, D.C.; Dixon, W.E.

    1994-01-01

    A dual-arm manipulation module is under development for application in decontamination and decommissioning (D ampersand D) tasks. The development is led by Oak Ridge National Laboratory with support from Sandia National Laboratories, and with university and industry participation. The project is part of the Robotics Technology Development Program funded by the US Department of Energy, Environmental Restoration and Waste Management, Office of Technology Development. The dual-arm module is designed to provide dexterous manipulation capability for remote characterization, decontamination, and dismantlement operations, and the module is reconfigurable to meet various deployment requirements. Remote manipulation capability can benefit D ampersand D activities through reduced worker exposure to both contaminant and industrial hazards. When tasks conditions permit, increased use of robotic features reduce costs by increased efficiency of operation

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

    International Nuclear Information System (INIS)

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

    2016-01-01

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

  1. Development of nuclear fuel cycle remote handling technology

    International Nuclear Information System (INIS)

    Kim, K. H.; Park, B. S.; Kim, S. H.

    2012-04-01

    This report presents the development of remote handling systems and remote equipment for use in the pyprocessing verification at the PRIDE (PyRoprocess Integrated inactive Demonstration facility). There are four areas conducted in this work. In first area, the prototypes of an engineering-scale high-throughput decladding voloxidizer which is capable of separating spent fuel rod-cuts into hulls and powder and collecting them separately, and an automatic equipment which is capable of collecting residual powder remaining on separated hulls were developed. In second area, a servo-manipulator system was developed to operate and maintain pyroprocess equipment located at the argon cell of the PRIDE in a remote manner. A servo-manipulator with dual arm that is mounted on the lower part of a bridge transporter will be installed on the ceiling of the in-cell and can travel the length of the ceiling. In third area, a digital mock-up and a remote handling evaluation mock-up were constructed to evaluate the pyroprocess equipments from the in-cell arrangements, remote operability and maintainability viewpoint before they are installed in the PRIDE. In last area, a base technology for remote automation of integrated pyroprocess was developed. The developed decladding voloxidizer and automatic equipment will be utilized in the development of a head-end process for pyroprocessing. In addition, the developed servo-manipulator will be used for remote operation and maintenance of the pyroprocess equipments in the PRIDE. The constructed digital mock-up and remote handling evaluation mock-up will be also used to verify and improve the pyroprocess equipments for the PRIDE application. Moreover, these remote technologies described above can be directly used in the PRIDE and applied for the KAPF (Korea Advanced Pyroprocess Facility) development

  2. Whole arm manipulation planning based on feedback velocity fields and sampling-based techniques.

    Science.gov (United States)

    Talaei, B; Abdollahi, F; Talebi, H A; Omidi Karkani, E

    2013-09-01

    Changing the configuration of a cooperative whole arm manipulator is not easy while enclosing an object. This difficulty is mainly because of risk of jamming caused by kinematic constraints. To reduce this risk, this paper proposes a feedback manipulation planning algorithm that takes grasp kinematics into account. The idea is based on a vector field that imposes perturbation in object motion inducing directions when the movement is considerably along manipulator redundant directions. Obstacle avoidance problem is then considered by combining the algorithm with sampling-based techniques. As experimental results confirm, the proposed algorithm is effective in avoiding jamming as well as obstacles for a 6-DOF dual arm whole arm manipulator. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

  3. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    Energy Technology Data Exchange (ETDEWEB)

    Joseph W. Geisinger, Ph.D.

    2001-07-31

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

  4. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    International Nuclear Information System (INIS)

    Geisinger, Joseph W. Ph.D.

    2001-01-01

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

  5. Remote Observational Techniques in Education

    Science.gov (United States)

    Thieman, J.; Mayo, L.

    2002-09-01

    The ability to observe celestial objects remotely is making a major impact into classroom access to astronomical instrumentation previously impossible to encorporate into curriculum. Two programs, Radio Jove and Telescopes In Education have made important contributions in this field. Radio JOVE is an interactive, hands-on, educational activity for learning the scientific method through the medium of radio observations of Jupiter, the Sun, and the galactic radio background. Students build radio receivers from relatively inexpensive non-profit kits (about \\$125 plus shipping) and use them to record data, analyze the data, and share the results with others. Alternatively, for no cost, the students can record and analyze data from remote radio receivers connected to the web. The projects are useful adjuncts to activities in optical observing since students should recognize that we learn about the universe through more than just the optical spectrum. The projects are mini-electronics courses and also teach about charged particles and magnetic fields. The Radio JOVE web site (http://radiojove.gsfc.nasa.gov) should be consulted for further information. The NASA-sponsored Telescopes In Education (TIE) network (http://tie.jpl.nasa.gov) has been wildly successful in engaging the K-12 education community in real-time, hands-on, interactive astronomy activities. Hundreds of schools in the US, Australia, Canada, England, and Japan have participated in the TIE program, remotely controlling the 24-inch telescope at the Mount Wilson Observatory from their classrooms. In recent years, several (approximately 20 to date) other telescopes have been, or are in the process of being, outfitted for remote use as TIE affiliates. These telescopesare integrated seamlessly into one virtual observatory providing the services required to operate this facility, including a scheduling service, tools for data manipulation, an online proposal review environment, an online "Virtual TIE Student Ap J

  6. Electromechanical three-axis development for remote handling in the Hot Experimental Facility

    International Nuclear Information System (INIS)

    Garin, J.; Bolfing, B.J.; Satterlee, P.E.; Babcock, S.M.

    1981-01-01

    A three-axis closed-loop position control system has been designed and installed on an overhead bridge, carriage, tube hoist for automotive positioning of manipulation at a remotely maintained work site. The system provides accurate (within 3 min) and repeatable three-axis positioning of the manipulator. The position control system has been interfaced to a supervisory minicomputer system that provides teach-playback capability of manipulator positioning and color graphic display of the three-axis system position

  7. Persuasive strategies in Mandela’s No Easy Walk to Freedom

    Directory of Open Access Journals (Sweden)

    Ali Abdulhameed Faris

    2016-01-01

    Full Text Available Remarkable politicians are those who are skilled at communicating their ideas with a good sense of persuasion. The present paper is an endeavour to investigate the persuasive strategies of the African leader, Nelson Mandela, with reference to his address No Easy Walk to Freedom (1953. Johnstone’s (2008 framework for persuasive strategies was used for the analysis. The findings demonstrate the use of three persuasive strategies – quasilogical, presentational and analogical. Quasilogical argumentation, which is based on rationality, was made through syllogism, enthymeme and causation. To create involvement, Mandela manipulated presentational persuasion via rhetorical deixes, metaphors, repetition and alliteration. Attempting to elevate the spiritual values of his addressees in regard to the cause of liberation and freedom, Mandela employed analogical persuasion by making a reference to the Bible. Of these three strategies, quasilogical and presentational strategies were the most manipulated by Mandela in the given speech to move his audience. Logic and rationality was used to motivate his audience to receive his claims about white supremacy, andemotions mainly grief and rage were evoked to energize the course of anti-white supremacy non-violent orchestrated struggle.

  8. Presentation of accessibility equipment for primary pipings, IHX, pumps and appertaining manipulator tests

    International Nuclear Information System (INIS)

    Hahn, G.; Hoeft, E.

    1980-01-01

    Accessibility and inservice procedure of SNR-300 components are described. Due to the high radiation level in the primary system it was necessary to develop special equipment to permit access to the testing components. The pertinent examination methods for surveying welding seams are acoustic (ultrasonic) and optical procedures (TV cameras, surface crack tests). This can be done by remote-controlled manipulators and special devices, which can transport the inspection system by rails to the testing position. Presently, relatively limited experience exists for such remote-controlled handling in nuclear power plants. Thus model experiments were carried out on a model pipe section at INTERATOM. The performed test shows that the concept planned to perform inservice by using remote-controlled manipulators can be realized successfully. (author)

  9. Completely contained and remotely operated digital density meter

    International Nuclear Information System (INIS)

    Goergen, C.R.

    1979-10-01

    A completely contained and remotely operated density determination system having unique features was designed, fabricated, and installed at the Savannah River Plant. The system, based on a Mettler calculating digital density meter, provides more precise and accurate results than the falling drop technique for measuring densities. The system is fast, simple, easy to operate, and has demonstrated both reliability and durability

  10. Research issues in implementing remote presence in teleoperator control

    Science.gov (United States)

    Corker, K.; Mishkin, A. H.; Lyman, J.

    1981-01-01

    The concept of remote presence in telemanipulation is presented. A conceptual design of a prototype teleoperator system incorporating remote presence is described. The design is presented in functional terms, sensor, display, and control subsystem. An intermediate environment, in which the human operator is made to feel present, is explicated. The intermediate environment differs from the task environment due to the quantity and type of information presented to an operator and due to scaling factors protecting the operator from the hazards of the task environment. Potential benefits of remote presence systems, both for manipulation and for the study of human cognition and preception are discussed.

  11. Manipulators

    International Nuclear Information System (INIS)

    Papet, I.; Lune, P.; Pellerin, O.; Sapoval, M.; Brisse, H.; Clement, J.P.; Ribeiro, A.; Gomes, H.; Marcus, C.; Rehel, J.L.

    2005-01-01

    These two articles bring notions relative to the safety of procedures, specially in term of irradiation, they give information on different methods in order to reduce the radiation doses delivered to the patients, especially when the examinations concern children or young patients. (N.C.)

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

    CSIR Research Space (South Africa)

    Dube, C

    2011-11-01

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

  13. An Easy-to-Use Airborne LiDAR Data Filtering Method Based on Cloth Simulation

    Directory of Open Access Journals (Sweden)

    Wuming Zhang

    2016-06-01

    Full Text Available Separating point clouds into ground and non-ground measurements is an essential step to generate digital terrain models (DTMs from airborne LiDAR (light detection and ranging data. However, most filtering algorithms need to carefully set up a number of complicated parameters to achieve high accuracy. In this paper, we present a new filtering method which only needs a few easy-to-set integer and Boolean parameters. Within the proposed approach, a LiDAR point cloud is inverted, and then a rigid cloth is used to cover the inverted surface. By analyzing the interactions between the cloth nodes and the corresponding LiDAR points, the locations of the cloth nodes can be determined to generate an approximation of the ground surface. Finally, the ground points can be extracted from the LiDAR point cloud by comparing the original LiDAR points and the generated surface. Benchmark datasets provided by ISPRS (International Society for Photogrammetry and Remote Sensing working Group III/3 are used to validate the proposed filtering method, and the experimental results yield an average total error of 4.58%, which is comparable with most of the state-of-the-art filtering algorithms. The proposed easy-to-use filtering method may help the users without much experience to use LiDAR data and related technology in their own applications more easily.

  14. A control method for manipulators with redundancy

    International Nuclear Information System (INIS)

    Furusho, Junji; Usui, Hiroyuki

    1989-01-01

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

  15. "RMP Evaluations, Course Easiness, and Grades: Are They Related?"

    Directory of Open Access Journals (Sweden)

    Syed A. Rizvi

    2015-10-01

    Full Text Available This paper investigates the relationship between the student evaluations of the instructors at the RateMyProfessors.com (RMP website and the average grades awarded by those instructors. As of Spring 2012, the RMP site included evaluations of 538 full-and part-time instructors at the College of Staten Island (CSI. We selected the evaluations of the 419 instructors who taught at CSI for at least two semesters from Fall 2009 to Spring 2011 and had at least ten evaluations. This research indicates that there is a strong correlation between RMP's overall evaluation and easiness scores. However, the perceived easiness of an instructor/course does not always result in higher grades for students. Furthermore, we found that the instructors who received high overall evaluation and easiness scores (4.0 to 5.0 at the RMP site do not necessarily award high grades. This is a very important finding as it disputes the argument that instructors receive high evaluations because they are easy or award high grades. On the other hand, instructors of the courses that are perceived to be difficult (RMP easiness score of 3.0 or less are likely to be tough graders. However, instructors who received moderate overall evaluation and easiness scores (between 3.0 and 4.0 the RMP site had a high correlation between these scores and average grade awarded by those instructors. Finally, our research shows that the instructors in non-STEM disciplines award higher grades than the instructors in STEM disciplines. Non-STEM instructors also received higher overall evaluations than their STEM counterparts and non-STEM courses were perceived easier by the students than STEM courses.

  16. [Surgical manipulators in ear surgery: a future vision?].

    Science.gov (United States)

    Hofer, M; Dietz, A; Strauss, G

    2011-04-01

    Middle ear surgery bears a high risk for injury of difficult to differentiate risk structures. Thus, a precise preparation in this area must be the surgical task. However, there are human (tremor) and systematic limitations (OR setup, narrow access). Assistance systems in terms of manipulators are so far not part of the clinical routine. Although, they could compensate for the above mentioned limitations. MANIPULATORS: This work reviews existing surgical manipulator systems. The expected value is an elevated patient safety through improving surgical accuracy and the reduction of ergonomic deficits. CLINICAL APPLICATION AND DEVELOPMENT: In clinical application there are simply modified industrial robots, highly complex master slave systems and small miniature master slave systems which are directly located at the patient. A disadvantage of most systems is the limited number of applicable instruments. Often, only especially designed instruments can be used. The goal in development should be to create a compact, short distance operated master slave system. The usability of standard (already available) instruments with an easy integration into the surgical and sterilisation procedure would lower the threshold for acceptance of such systems.The surgeon will remain the key player. He can only work efficiently in an ergonomic environment and will always have the responsibility for the intervention. From the authors perspective, highly automated systems should not be the research goal. © Georg Thieme Verlag KG Stuttgart · New York.

  17. Advanced robotic remote handling system for reactor dismantlement

    International Nuclear Information System (INIS)

    Shinohara, Yoshikuni; Usui, Hozumi; Fujii, Yoshio

    1991-01-01

    An advanced robotic remote handling system equipped with a multi-functional amphibious manipulator has been developed and used to dismantle a portion of radioactive reactor internals of an experimental boiling water reactor in the program of reactor decommissioning technology development carried out by the Japan Atomic Energy Research Institute. (author)

  18. Remote operations and viewing using the monitor system

    International Nuclear Information System (INIS)

    Grisham, D.L.; Lambert, J.E.; Baldwin, T.S.; Ekberg, E.L.; Hernandez, T.R.; Raybun, J.L.

    1984-01-01

    Over the past two years, major rebuilding operations were conducted at the Clinton P. Anderson Meson Physics Facility (LAMPF). These operations involved replacement of complex experimental apparatus in high-radiation areas using servomanipulators and video viewing. All remote tasks were completed on or ahead of allotted schedules. This success is attributed to continuing improvement of manipulators, viewing systems, and operating techniques

  19. Adaptive hybrid control of manipulators

    Science.gov (United States)

    Seraji, H.

    1987-01-01

    Simple methods for the design of adaptive force and position controllers for robot manipulators within the hybrid control architecuture is presented. The force controller is composed of an adaptive PID feedback controller, an auxiliary signal and a force feedforward term, and it achieves tracking of desired force setpoints in the constraint directions. The position controller consists of adaptive feedback and feedforward controllers and an auxiliary signal, and it accomplishes tracking of desired position trajectories in the free directions. The controllers are capable of compensating for dynamic cross-couplings that exist between the position and force control loops in the hybrid control architecture. The adaptive controllers do not require knowledge of the complex dynamic model or parameter values of the manipulator or the environment. The proposed control schemes are computationally fast and suitable for implementation in on-line control with high sampling rates.

  20. Genetic manipulation of Francisella tularensis

    Directory of Open Access Journals (Sweden)

    Xhavit eZogaj

    2011-01-01

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

  1. Remote tooling for inspection and repair in Pickering NGS-A calandria vault

    International Nuclear Information System (INIS)

    Hadji-Mirzai, M.; Tokarz, A.; Vandenberg, J.P.

    1993-01-01

    In recent years it has been necessary to develop capabilities for the inspection and repair of carbon steel components located within calandria vaults at Ontario Hydro's Pickering Nuclear Generating Station 'A'. Concerns about corrosion of piping and some of the structural components have made necessary the development of remote manipulators to inspect and repair carbon steel components within the vaults to ensure continued reliable operation of the units. Remote manipulators for this program have been designed to perform a number of inspection and repair tasks, and several versions have been developed to specialise in detailed inspection techniques and precision tooling module manipulation. (author)

  2. Operating experience with remote handling equipment in a typical hot facility

    International Nuclear Information System (INIS)

    Ravishankar, A.; Balasubramanian, G.R.

    1990-01-01

    Large number of articulated arm manipulators and special purpose remote tools have been used either alone or in combination in a recent campaign of treatment of irradiated J rods of CIRUS for separation of 233 U. These equipments were used for operations such as remote maintenance of centrifuge, centrifugal extractor, direct sampling, assistance for sample conveying operations etc. Paper discusses problems encountered in using articulated arm manipulators of type MAll,AMl and how they were overcome. Problems encountered in use of model-8 manipulator for chopper maintenence in a mockup facility are also highlighted. (author). 4 figs., 1 tab

  3. Viruses manipulate the marine environment.

    Science.gov (United States)

    Rohwer, Forest; Thurber, Rebecca Vega

    2009-05-14

    Marine viruses affect Bacteria, Archaea and eukaryotic organisms and are major components of the marine food web. Most studies have focused on their role as predators and parasites, but many of the interactions between marine viruses and their hosts are much more complicated. A series of recent studies has shown that viruses have the ability to manipulate the life histories and evolution of their hosts in remarkable ways, challenging our understanding of this almost invisible world.

  4. Manipulating a stated choice experiment

    DEFF Research Database (Denmark)

    Fosgerau, Mogens; Borjesson, Maria

    2015-01-01

    This paper considers the design of a stated choice experiment intended to measure the marginal rate of substitution (MRS) between cost and an attribute such as time using a conventional logit model. Focusing the experimental design on some target MRS will bias estimates towards that value....... The paper shows why this happens. The resulting estimated MRS can then be manipulated by adapting the target MRS in the experimental design. (C) 2015 Elsevier Ltd. All rights reserved....

  5. List manipulation in Turbo Prolog

    Directory of Open Access Journals (Sweden)

    V.Cotelea

    1995-06-01

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

  6. Remote sensing of natural resources. Quarterly literature review, October-December 1980

    International Nuclear Information System (INIS)

    Gonzales, R.W.; Inglis, M.H.

    1981-02-01

    This review covers literature pertaining to documented data and data gathering techniques that are performed or obtained remotely from space, aircraft, or ground-based stations. All of the documentation is related to remote sensing sensors or the remote sensing of the natural resources. Section headings are: general; geology; environmental quality; hydrology; vegetation; oceanography; regional planning and land use; data manipulation; and instrumentation and technology

  7. Potential application of nuclear remote-handling technology to underwater inspection and maintenance

    International Nuclear Information System (INIS)

    Eccleston, M.J.

    1990-01-01

    Examples are given of remote handling equipment developed within the nuclear industry and employing telemanipulative or telerobotic principles. In telerobotics the nuclear industry has been following a trend towards increased levels of autonomy, delegating operator control to a computer, for example, in resolved rate manipulator tip control, teach-and-repeat control and collision avoidance. Illustrations are presented of remote-handling techniques from the nuclear industry which may be carried over into undersea remote inspection, maintenance and repair systems. (author)

  8. Remote handling of JET in-torus components. A practical experience

    International Nuclear Information System (INIS)

    Mills, S.; Brade, R.; Edwards, P.

    2000-01-01

    This paper summarises the experiences gained from the extensive handling of JET components inside the torus. The problems involved with handling components not designed to be remotely handled and the methods used to overcome them are described and discussed with specific examples from recent JET remote operations. The method employed for remotely producing structural TIG welds is explained. The problems of dextrous manipulation in an inverted attitude are discussed and the methods of amelioration are described

  9. Current status of research and development on remote maintenance for fusion components

    International Nuclear Information System (INIS)

    Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka; Shibanuma, Kiyoshi

    2008-01-01

    There is a growing attention to remote maintenance of nuclear fusion reactors. Remote maintenance is planned in ITER tokamak to keep the health of in-vessel components like blankets and divertors. In this article, current status of the development in the remote maintenance equipments and methods, especially for ITER tokamak are reviewed. The newly developed vehicle type and boom type maintenance devices, manipulator, and transfer cask are illustrated. (J.P.N.)

  10. Manipulation of Biofilm Microbial Ecology

    Energy Technology Data Exchange (ETDEWEB)

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

    1998-08-15

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

  11. Stereo advantage for a peg-in-hole task using a force-feedback manipulator

    Science.gov (United States)

    Spain, Edward H.

    1990-01-01

    An improved assessment methodology has been implemented at NOSC and tested using an instrumented peg-in-hole (PiH) taskboard. Several aspects of the methodology are discussed in light of their implications for future studies of manipulator performance. Using a simple (but high-fidelity) force-feedback manipulator, a group of 9 trained operators showed a consistent advantage for stereoscopic TV viewing over monoscopic TV viewing when performing the PiH task. To introduce a controlled element of spatial uncertainty into the testing procedure, taskboard orientation relative to the manipulator and remote video camera head was changed in a randomized order on a trial-by-trial basis. The stereoscopic advantage demonstrated by this study can reasonably be expected to be even more pronounced as the quality of the stereo TV interface is improved and force-feedback provided through the manipulator system is diminished and/or distorted.

  12. Full scale tests on remote handled FFTF fuel assembly waste handling and packaging

    International Nuclear Information System (INIS)

    Allen, C.R.; Cash, R.J.; Dawson, S.A.; Strode, J.N.

    1986-01-01

    Handling and packaging of remote handled, high activity solid waste fuel assembly hardware components from spent FFTF reactor fuel assemblies have been evaluated using full scale components. The demonstration was performed using FFTF fuel assembly components and simulated components which were handled remotely using electromechanical manipulators, shielding walls, master slave manipulators, specially designed grapples, and remote TV viewing. The testing and evaluation included handling, packaging for current and conceptual shipping containers, and the effects of volume reduction on packing efficiency and shielding requirements. Effects of waste segregation into transuranic (TRU) and non-transuranic fractions also are discussed

  13. Remote maintenance concepts for the Compact Ignition Tokamak

    International Nuclear Information System (INIS)

    Davis, F.C.; Hager, E.R.

    1988-01-01

    Because deuterium-tritium fuel will be used in the Compact Ignition Tokamak (CIT), remote handling technology is needed to carry out some maintenance operations on the machine. In keeping with the compact, low-cost nature of CIT, remote maintenance is provided only for systems with the highest probability of failure. Remote operations include removing, repairing (if feasible), and replacing such components as thermal protection tiles on the first wall, radio-frequency (rf) heating modules, and diagnostic modules. For maintenance inside the vacuum vessel, major pieces of equipment under development include an articulated boom manipulator with servomanipulators, an inspection manipulator, and special tooling. For maintenance outside the cryostat, remote equipment includes a bridge-mounted manipulator system, equipment for decontamination and hot cell activities, and for handling and packaging solid radioactive waste. The conceptual design phase of the CIT project is nearing completion; research and development activities in support of the project include demonstrations of remote maintenance operations on full-size partial mock-ups. 9 figs

  14. Particle Manipulation Methods in Droplet Microfluidics.

    Science.gov (United States)

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

    2018-02-06

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

  15. Physics Based Vision Systems for Robotic Manipulation

    Data.gov (United States)

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

  16. Remote Network Access (RNA)

    National Research Council Canada - National Science Library

    2002-01-01

    .... Remote Network Access (RNA) includes or is associated with all communication devices/software, firewalls, intrusion detection systems and virus protection applications to ensure security of the OIG, DoD, Network from remote...

  17. A Geostationary Earth Orbit Satellite Model Using Easy Java Simulation

    Science.gov (United States)

    Wee, Loo Kang; Goh, Giam Hwee

    2013-01-01

    We develop an Easy Java Simulation (EJS) model for students to visualize geostationary orbits near Earth, modelled using a Java 3D implementation of the EJS 3D library. The simplified physics model is described and simulated using a simple constant angular velocity equation. We discuss four computer model design ideas: (1) a simple and realistic…

  18. An effective algorithm for computing global sensitivity indices (EASI)

    International Nuclear Information System (INIS)

    Plischke, Elmar

    2010-01-01

    We present an algorithm named EASI that estimates first order sensitivity indices from given data using Fast Fourier Transformations. Hence it can be used as a post-processing module for pre-computed model evaluations. Ideas for the estimation of higher order sensitivity indices are also discussed.

  19. An Easy Way to Show Memory Color Effects.

    Science.gov (United States)

    Witzel, Christoph

    2016-01-01

    This study proposes and evaluates a simple stimulus display that allows one to measure memory color effects (the effect of object knowledge and memory on color perception). The proposed approach is fast and easy and does not require running an extensive experiment. It shows that memory color effects are robust to minor variations due to a lack of color calibration.

  20. Five Easy Principles to Make Math Moments Count

    Science.gov (United States)

    Cutler, Carrie S.

    2011-01-01

    Preschool children are learning so many skills--how to cut with scissors, zip zippers, recognize the alphabet and their names, and share toys with others. A strong academic curriculum also requires that children learn more about math (National Council of Teachers of Mathematics [NCTM], 2000). By following the five easy principles outlined here,…

  1. An Easy-to-Assemble Three-Part Galvanic Cell

    Science.gov (United States)

    Eggen, Per-Odd; Skaugrud, Brit

    2015-01-01

    The galvanic cell presented in this article is made of only three parts, is easy to assemble, and can light a red light emitting diode (LED). The three cell components consist of a piece of paper with copper sulfate, a piece of paper with sodium sulfate, and a piece of magnesium ribbon. Within less than 1 h, students have time to discuss the…

  2. Myopia Glasses and Optical Power Estimation: An Easy Experiment

    Science.gov (United States)

    Ribeiro, Jair Lúcio Prados

    2015-01-01

    Human eye optics is a common high school physics topic and students usually show a great interest during our presentation of this theme. In this article, we present an easy way to estimate a diverging lens' optical power from a simple experiment involving myopia eyeglasses and a smartphone flashlight.

  3. Rapid mixing chemical oxidative polymerization: an easy route to ...

    Indian Academy of Sciences (India)

    Administrator

    (SDCNTs)/PANI nanofibres (NFs) has been prepared using an easy in situ rapid mixing chemical ... SDCNTs thin film was obtained using thermal chemical vapour deposition method in ... In the next step, 250 mL of aqueous HCl was taken in a.

  4. An Easy Way to Show Memory Color Effects

    OpenAIRE

    Witzel, Christoph

    2016-01-01

    This study proposes and evaluates a simple stimulus display that allows one to measure memory color effects (the effect of object knowledge and memory on color perception). The proposed approach is fast and easy and does not require running an extensive experiment. It shows that memory color effects are robust to minor variations due to a lack of color calibration.

  5. For easy sleep along the shore: Making hazard warnings more ...

    International Development Research Centre (IDRC) Digital Library (Canada)

    2011-01-27

    Jan 27, 2011 ... For easy sleep along the shore: Making hazard warnings more effective ... to alert the public; local leaders trained to make the right decisions; .... and the sirens sound, its people will have the motivation and the capacity to act?

  6. Gel Electrophoresis--The Easy Way for Students

    Science.gov (United States)

    VanRooy, Wilhelmina; Sultana, Khalida

    2010-01-01

    This article describes a simple, inexpensive, easy to conduct gel-electrophoresis activity using food dyes. It is an alternative to the more expensive counterparts which require agarose gel, DNA samples, purchased chamber and Tris-borate-EDTA buffer. We suggest some learning activities for senior biology students along with comments on several…

  7. Technical Manual: easyCBM. Technical Report #1408

    Science.gov (United States)

    Anderson, Daniel; Alonzo, Julie; Tindal, Gerald; Farley, Dan; Irvin, P. Shawn; Lai, Cheng-Fei; Saven, Jessica L.; Wray, Kraig A.

    2014-01-01

    Since the easyCBM© learning system was first published in 2006, over $8 million of federal funding (both from the Office of Special Education Programs and more recently from the Institute of Education Sciences) has been used to develop, study, and refine the assessments available on the system. This Technical Manual summarizes the ongoing research…

  8. easyCBM Norms. 2014 Edition. Technical Report #1409

    Science.gov (United States)

    Saven, Jessica L.; Tindal, Gerald; Irvin, P. Shawn; Farley, Dan; Alonzo, Julie

    2014-01-01

    Previous norms for the easyCBM assessment system were computed using scores from all students who took each measure for every grade and benchmark season (fall, winter, and spring). During the 2013-­14 school year, new national norms were developed to more accurately (proportionately) represent reading and mathematics performance by two variables:…

  9. EASY-2005: Validation and new tools for data checking

    International Nuclear Information System (INIS)

    Forrest, R.A.; Kopecky, J.

    2007-01-01

    The European Activation System (EASY) has been developed for activation calculations within the Fusion Technology programme. It comprises the EAF nuclear data libraries and the FISPACT inventory code. EASY-2005 contains about five times more neutron-induced reactions (62,637) than the previous version; due to an increase in the upper energy limit from 20 to 60 MeV. Many measurements of activation in well-defined neutron spectra have been made; these integral results are used to validate EAF. Details of the validation covering 453 reactions are given. Model calculations were used to produce the majority of the data, and the large number of reactions, and the lack of experimental data, make it necessary to develop new checking tools. Within the SAFEPAQ-II code, the new methodology of statistical analysis of cross sections (SACS) has been developed. This enables various quantities such as maximum cross section (σ max ) to be plotted as a function of asymmetry parameter (s) for each reaction type. Such plots show well-defined trends and inconsistent data for a particular reaction can readily be identified. The use of integral data and SACS for improvement are discussed, in relation to the maintenance version, EASY-2005.1 and the planned new version, EASY-2007

  10. Factors facilitating and inhibiting implementation of easy accessible sporting programs.

    NARCIS (Netherlands)

    Ooms, L.; Veenhof, C.

    2012-01-01

    Introduction: The organized sport sector has been identified as a potential setting for physical activity promotion. In The Netherlands, ten national sporting organizations were funded to develop and implement easy accessible sporting programs, especially for the least active population groups. A

  11. Remote Controlling and Monitoring of Microscopic Slides

    International Nuclear Information System (INIS)

    Mustafa, G.; Qadri, M.T.; Daraz, U.

    2016-01-01

    Remotely controlled microscopic slide was designed using especial Graphical User Interface (GUI) which interfaces the user at remote location with the real microscope using site and the user can easily view and control the slide present on the microscope's stage. Precise motors have been used to allow the movement in all the three dimensions required by a pathologist. The pathologist can easily access these slides from any remote location and so the physical presence of the pathologist is now made easy. This invention would increase the health care efficiency by reducing the time and cost of diagnosis, making it very easy to get the expert's opinion and supporting the pathologist to relocate himself for his work. The microscope is controlled with computer with an attractive Graphical User Interface (GUI), through which a pathologist can easily monitor, control and record the image of the slide. The pathologist can now do his work regardless of his location, time, cost and physically presence of lab equipment. The technology will help the specialist in viewing the patients slide from any location in the world. He would be able to monitor and control the stage. This will also help the pathological laboratories in getting opinion from senior pathologist who are present at any far location in the world. This system also reduces the life risks of the patients. (author)

  12. Introduction to remote sensing

    CERN Document Server

    Cracknell, Arthur P

    2007-01-01

    Addressing the need for updated information in remote sensing, Introduction to Remote Sensing, Second Edition provides a full and authoritative introduction for scientists who need to know the scope, potential, and limitations in the field. The authors discuss the physical principles of common remote sensing systems and examine the processing, interpretation, and applications of data. This new edition features updated and expanded material, including greater coverage of applications from across earth, environmental, atmospheric, and oceanographic sciences. Illustrated with remotely sensed colo

  13. Remote detection system

    International Nuclear Information System (INIS)

    Nixon, K.V.; France, S.W.; Garcia, C.; Hastings, R.D.

    1981-05-01

    A newly designed remote detection system has been developed at Los Alamos that allows the collection of high-resolution gamma-ray spectra and neutron data from a remote location. The system consists of the remote unit and a command unit. The remote unit collects data in a potentially hostile environment while the operator controls the unit by either radio or wire link from a safe position. Both units are battery powered and are housed in metal carrying cases

  14. Overhead remote handling systems for the process facility modifications project

    International Nuclear Information System (INIS)

    Wiesener, R.W.; Grover, D.L.

    1987-01-01

    Each of the cells in the process facility modifications (PFM) project complex is provided with a variety of general purpose remote handling equipment including bridge cranes, monorail hoist, bridge-mounted electromechanical manipulator (EMM) and an overhead robot used for high efficiency particulate air (HEPA) filter changeout. This equipment supplements master-slave manipulators (MSMs) located throughout the complex to provide an overall remote handling system capability. The overhead handling equipment is used for fuel and waste material handling operations throughout the process cells. The system also provides the capability for remote replacement of all in-cell process equipment which may fail or be replaced for upgrading during the lifetime of the facility

  15. Development of spent fuel remote handling technology

    International Nuclear Information System (INIS)

    Yoon, J. S.; Hong, H. D.; Kim, S. H.

    2004-02-01

    In this research, the remote handling technology is developed for the advanced spent fuel conditioning process which gives a possible solution to deal with the rapidly increasing spent fuels. In detail, a fuel rod slitting device is developed for the decladding of the spent fuel. A series of experiments has been performed to find out the optimal condition of the spent fuel voloxidation which converts the UO 2 pellet into U 3 O 8 powder. The design requirements of the ACP equipment for hot test is established by analysing the modular requirement, radiation hardening and thermal protection of the process equipment, etc. The prototype of the servo manipulator is developed. The manipulator has an excellent performance in terms of the payload to weight ratio that is 30 % higher than that of existing manipulators. To provide reliability and safety of the ACP, the 3 dimensional graphic simulator is developed. Using the simulator the remote handling operation is simulated and as a result, the optimal layout of ACP is obtained. The supervisory control system is designed to control and monitor the several different unit processes. Also the failure monitoring system is developed to detect the possible accidents of the reduction reactor

  16. An evolutionary resolution of manipulation conflict.

    Science.gov (United States)

    González-Forero, Mauricio

    2014-07-01

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

  17. Using Manipulatives to Teach Elementary Mathematics

    Science.gov (United States)

    Boggan, Matthew; Harper, Sallie; Whitmire, Anna

    2010-01-01

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

  18. OLAP: A Fast, Easy, Affordable Executive Information System--Finally!

    Science.gov (United States)

    Stewart, Henry M.

    1995-01-01

    The University of Rochester's experience with online analytical processing (OLAP), part of its executive information system, is reported. The server, a multiuser, local area network (LAN)-based database loaded from legacy systems or a data warehouse, can rapidly manipulate and display data, and allows quick creation and changing of analytical…

  19. Remote Operation and Maintenance Demonstration Facility at the Oak Ridge National Laboratory

    International Nuclear Information System (INIS)

    Burgess, T.W.

    1986-01-01

    The Remote Operation and Maintenance Demonstration (ROMD) Facility at the Oak Ridge National Laboratory has been developed by the Consolidated Fuel Reprocessing Program to demonstrate remote handling concepts on advanced nuclear fuel reprocessing equipment and for other programs of national interest. The ROMD facility is a large-volume high-bay area that encloses a complete, technologically advanced remote maintenance system and full-scale development reprocessing equipment. The maintenance system consists of a full complement of teleoperated manipulators, manipulator transport systems, and overhead hoists that provide the capability of performing a large variety of remote handling tasks. This system has been used to demonstrate remote manipulation techniques for the US Department of Energy (DOE), the Power Reactor and Nuclear Fuels Development Corporation of Japan, the US Navy, and the National Aeronautics and Space Administration. Extensive tests of manipulative systems and remote maintainability of process equipment have been performed. This paper describes the ROMD facility and key remote maintenance equipment and presents a summary of major experimental activities. 7 refs., 6 figs

  20. Combined long reach and dexterous manipulation for waste storage tank applications

    International Nuclear Information System (INIS)

    Burks, B.L.; Armstrong, G.A.; Butler, P.L.; Boissiere, P.

    1991-01-01

    One of the highest priority environmental restoration tasks within the Department of Energy (DOE) is the remediation of single-shell waste storage tanks (WSTs), especially those suspected of, or documented as, leakers. Most currently proposed approaches for remediation of large underground WSTs require application of remotely operated long-reach (greater than 10 m), high-lift capacity (greater than 200 kg) manipulator systems. Because of the complexity of in-tank hardware, waste forms, remediation tasks, and variety of end-effector tools, these manipulator systems must also be capable of performing a diverse set of dexterous manipulations. This presentation will describe the integration of a Spar RMS 2500 manipulator system, a Schilling Titan-7F manipulator, and control systems developed at ORNL and SNL to provide a combined long reach and dexterous manipulation system. The purpose of integrating these two manipulator systems was to study and demonstrate their combined performance, evaluate design requirements for a deployed system, and provide a testbed for control and end-effector technologies that might be applicable to remediation of WSTs. 5 refs

  1. Interpersonal relationship manipulation at a personal level

    Directory of Open Access Journals (Sweden)

    Andreja Hribernik

    2010-12-01

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

  2. Networking made easy - there must be an app for that!

    CERN Multimedia

    CERN. Geneva

    2015-01-01

    We've changed the way we work – remotely, by video conference, in worldwide collaborations. We've changed the way we share ideas – through events like IT Lightning Talks and TEDx. How can we change the way we network? A call for volunteers to develop networking activities for TEDxCERN 2015.

  3. Genetic manipulation of Methanosarcina spp.

    Directory of Open Access Journals (Sweden)

    Petra Regine Adelheid Kohler

    2012-07-01

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

  4. Covariance Manipulation for Conjunction Assessment

    Science.gov (United States)

    Hejduk, M. D.

    2016-01-01

    The manipulation of space object covariances to try to provide additional or improved information to conjunction risk assessment is not an uncommon practice. Types of manipulation include fabricating a covariance when it is missing or unreliable to force the probability of collision (Pc) to a maximum value ('PcMax'), scaling a covariance to try to improve its realism or see the effect of covariance volatility on the calculated Pc, and constructing the equivalent of an epoch covariance at a convenient future point in the event ('covariance forecasting'). In bringing these methods to bear for Conjunction Assessment (CA) operations, however, some do not remain fully consistent with best practices for conducting risk management, some seem to be of relatively low utility, and some require additional information before they can contribute fully to risk analysis. This study describes some basic principles of modern risk management (following the Kaplan construct) and then examines the PcMax and covariance forecasting paradigms for alignment with these principles; it then further examines the expected utility of these methods in the modern CA framework. Both paradigms are found to be not without utility, but only in situations that are somewhat carefully circumscribed.

  5. Easy to implement diagnostics of a glow dielectric barrier discharge

    International Nuclear Information System (INIS)

    Massines, F.; Segur, P.

    2001-01-01

    It is relatively easier to generate plasma at atmospheric pressure rather than low pressure. In retaliation, due to the short mean free path of different particles, the diagnostics giving microscopic characteristics are more difficult to implement. This, for example, is the case of Langmuir probe or mass spectrometry although solutions have been put forward. Likewise, the strong contribution of the excited state quenching can render optical characterization result interpretation difficult. Nevertheless, there are easy to implement basic diagnostics like optical emission spectroscopy, the ultra rapid photography or the discharge current measurement. A possible approach to get to the microscopic data consists in associating the experimental results with the results of a numerical model. This is the approach undertaken for the study of a glow dielectric barrier discharge (DBD) and is described in the following text in order to illustrate the possibilities of those easy to implement diagnostics supported by the analysis of surfaces having interacted with the plasma

  6. Soft modes in the easy plane pyrochlore antiferromagnet

    International Nuclear Information System (INIS)

    Champion, J D M; Holdsworth, P C W

    2004-01-01

    Thermal fluctuations lift the high ground state degeneracy of the classical nearest neighbour pyrochlore antiferromagnet, with easy plane anisotropy, giving a first-order phase transition to a long range ordered state. We show, from spin wave analysis and numerical simulation, that even below this transition a continuous manifold of states, of dimension N 2/3 , exist (N is the number of degrees of freedom). As the temperature goes to zero a further 'order by disorder' selection is made from this manifold. The pyrochlore antiferromagnet Er 2 Ti 2 O 7 is believed to have an easy plane anisotropy and is reported to have the same magnetic structure. This is perhaps surprising, given that the dipole interaction lifts the degeneracy of the classical model in favour of a different structure. We interpret our results in the light of these facts

  7. 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.

  8. From Classroom Teaching to Remote Teaching

    DEFF Research Database (Denmark)

    Borch, Ole; Helbo, Jan; Knudsen, Morten

    2000-01-01

    for teaching purpose on the Internet. It is also described how courses in the two different teaching environments can be maintained in one place. More professional teaching tools are available on the market, but the methods described in this paper are based on Luvit[1], an open low-cost web-based teaching tool...... and at the same time easy to learn and use by both developer and students. Two in-house project groups have tested the project work with success after a short learning period. 35 remote students under Open Education in Multimedia Industrial Information Technology (MII) are using the Luvit[1] tool and the methods...

  9. UNESCO to blame:Reality or easy escape?

    OpenAIRE

    Pereira Roders, A Ana; Grigolon, AB Anna

    2015-01-01

    “UNESCO to blame” is a trend often observed in scholarly works. In those studies UNESCO is accused to privilege Eurocentric standards on heritage conservation. Is this reality or an easy escape? Can this trend be noted in other UNESCO reference texts? This article seeks to answer this question by studying the two main inscription-based conventions and their contribution to heritage management, while performing a data analysis on the countries behind these conventions, and their roles over tim...

  10. STRATEGI PEMASARAN PAKET WISATA DI BALI EASY HOLIDAY DENPASAR BALI

    OpenAIRE

    Erick Kevin Perangin-Angin; I Putu Sudana; I Nyoman Sudiarta

    2017-01-01

    This Journal aimed to know the strengths and weaknesses of the internal environment and opportunities as well as threats from the external environment and create strategies and marketing programs that can be applied in the Bali Easy Holiday. The technique data collection using observation, interview, questionnaire, the study of literature and documentation study. Sampling techniques using a purposive sampling. Data analysis techniques using qualitative descriptive analysis and Likert scale an...

  11. An easy explanation book on glossary of nuclear energy

    International Nuclear Information System (INIS)

    Seo, Du Hwan; Seo, Gyeong Won

    2011-03-01

    This book mentions about 260 words of nuclear energy, which include general term of nuclear energy, nuclear reactor, nuclear fuel and technique for concentration, using of nuclear energy, radiation and measurement, radwaste disposal, development plan on nuclear energy and international bodies. This book is useful for students studying nuclear energy and radiation and those who are interested in nuclear field to research in easy access.

  12. EASI on the HP-25, HP-65, and HP-67

    International Nuclear Information System (INIS)

    Sasser, D.W.

    1977-05-01

    EASI (Estimate of Adversary Sequence Interruption) is an effective, simple method which has been developed for use in evaluating physical security systems. The usefulness of the method is enhanced by the fact that it can be implemented on a programmable pocket calculator. A program for the Texas Instruments SR-52 programmable pocket calculator has been developed and reported upon elsewhere. The purpose of this report is to provide programs for the Hewlett-Packard programmable pocket calculators

  13. OTTER: An Optimized Transit Tool And Easy Reference

    Science.gov (United States)

    2016-03-01

    TRANSIT TOOL AND EASY REFERENCE Warren Korban Blackburn Lieutenant Commander, United States Navy B.A., Thomas Edison State College, 2003...B.S.A.S.T., Thomas Edison State College, 2004 Submitted in partial fulfillment of the requirements for the degree of MASTER OF SCIENCE IN...application. Each of these technologies adds to the efficiency of the fleet. As RADM Thomas Eccles said, “No single technology will enable the Navy to

  14. Construction of an easy-to-use CRISPR-Cas9 system by patching a newly designed EXIT circuit.

    Science.gov (United States)

    Tang, Qiang; Lou, Chunbo; Liu, Shuang-Jiang

    2017-01-01

    Plasmid-borne genetic editing tools, including the widely used CRISPR-Cas9 system, have greatly facilitated bacterial programming to obtain novel functionalities. However, the lack of effective post-editing plasmid elimination methods impedes follow-up genetic manipulation or application. Conventional strategies including exposure to physical and chemical treatments, or exploiting temperature-sensitive replication origins have several drawbacks (e.g., they are limited for efficiency and are time-consuming). Therefore, the demand is apparent for easy and rapid elimination of the tool plasmids from their bacterial hosts after genetic manipulation. To bridge this gap, we designed a novel EXIT circuit with the homing endonuclease, which can be exploited for rapid and efficient elimination of various plasmids with diverse replication origins. As a proof of concept, we validated the EXIT circuit in Escherichia coli by harnessing homing endonuclease I- Sce I and its cleavage site. When integrated into multiple plasmids with different origins, the EXIT circuit allowed them to be eliminated from the host cells, simultaneously. By combining the widely used plasmid-borne CRISPR-Cas9 system and the EXIT circuit, we constructed an easy-to-use CRISPR-Cas9 system that eliminated the Cas9- and the single-guide RNA (sgRNA)-encoding plasmids in one-step. Within 3 days, we successfully constructed an atrazine-degrading E. coli strain, thus further demonstrating the advantage of this new CRISPR-Cas9 system for bacterial genome editing. Our novel EXIT circuit, which exploits the homing endonuclease I- Sce I, enables plasmid(s) with different replication origins to be eliminated from their host cells rapidly and efficiently. We also developed an easy-to-use CRISPR-Cas9 system with the EXIT circuit, and this new system can be widely applied to bacterial genome editing.

  15. easyDAS: Automatic creation of DAS servers

    Directory of Open Access Journals (Sweden)

    Jimenez Rafael C

    2011-01-01

    Full Text Available Abstract Background The Distributed Annotation System (DAS has proven to be a successful way to publish and share biological data. Although there are more than 750 active registered servers from around 50 organizations, setting up a DAS server comprises a fair amount of work, making it difficult for many research groups to share their biological annotations. Given the clear advantage that the generalized sharing of relevant biological data is for the research community it would be desirable to facilitate the sharing process. Results Here we present easyDAS, a web-based system enabling anyone to publish biological annotations with just some clicks. The system, available at http://www.ebi.ac.uk/panda-srv/easydas is capable of reading different standard data file formats, process the data and create a new publicly available DAS source in a completely automated way. The created sources are hosted on the EBI systems and can take advantage of its high storage capacity and network connection, freeing the data provider from any network management work. easyDAS is an open source project under the GNU LGPL license. Conclusions easyDAS is an automated DAS source creation system which can help many researchers in sharing their biological data, potentially increasing the amount of relevant biological data available to the scientific community.

  16. Laparoscopic simulation for all: two affordable, upgradable, and easy-to-build laparoscopic trainers.

    Science.gov (United States)

    Smith, Matthew D; Norris, Joseph M; Kishikova, Lyudmila; Smith, David P

    2013-01-01

    Laparoscopic surgery has established itself as the approach of choice for a multitude of operations in general, urological, and gynecological surgery. A number of factors make performing laparoscopic surgery technically demanding, and as such it is crucial that surgical trainees hone their skills safely on trainers before operating on patients. These can be highly expensive. Here, we describe a novel and upgradable approach to constructing an affordable laparoscopic trainer. A pattern was produced to build an upgradable laparoscopic trainer for less than $100. The basic model was constructed from an opaque plastic crate with plywood base, 2 trocars, and 2 pairs of disposable laparoscopic instruments. A laptop, a light emitting diode (LED), and a fixed webcam were utilized to visualize the box interior. An enhanced version was also created, as an optional upgrade to the basic model, featuring a neoprene-trocar interface and a simulated mobile laparoscope. The described setup allowed trainees to gain familiarity with laparoscopic techniques, beginning with simple manipulation and then progressing through to more relevant procedures. Novices began by moving easy-to-grasp objects between containers and then attempting more challenging manipulations such as stacking sugar cubes, excising simulated lesions, threading circular mints onto cotton, and ligating fastened drinking straws. These techniques have introduced the necessity of careful instrument placement and have increased trainees' dexterity with laparoscopy. Here, we have outlined an upgradable and affordable alternative laparoscopic trainer that has given many trainees crucial experience with laparoscopic techniques, allowing them to safely improve their manual skill and confidence. Copyright © 2013 Association of Program Directors in Surgery. Published by Elsevier Inc. All rights reserved.

  17. Remote Monitoring Transparency Program

    International Nuclear Information System (INIS)

    Sukhoruchkin, V.K.; Shmelev, V.M.; Roumiantsev, A.N.

    1996-01-01

    The objective of the Remote Monitoring Transparency Program is to evaluate and demonstrate the use of remote monitoring technologies to advance nonproliferation and transparency efforts that are currently being developed by Russia and the United States without compromising the national security to the participating parties. Under a lab-to-lab transparency contract between Sandia National Laboratories (SNL) and the Kurchatov Institute (KI RRC), the Kurchatov Institute will analyze technical and procedural aspects of the application of remote monitoring as a transparency measure to monitor inventories of direct- use HEU and plutonium (e.g., material recovered from dismantled nuclear weapons). A goal of this program is to assist a broad range of political and technical experts in learning more about remote monitoring technologies that could be used to implement nonproliferation, arms control, and other security and confidence building measures. Specifically, this program will: (1) begin integrating Russian technologies into remote monitoring systems; (2) develop remote monitoring procedures that will assist in the application of remote monitoring techniques to monitor inventories of HEU and Pu from dismantled nuclear weapons; and (3) conduct a workshop to review remote monitoring fundamentals, demonstrate an integrated US/Russian remote monitoring system, and discuss the impacts that remote monitoring will have on the national security of participating countries

  18. MAESTRO, a hydraulic manipulator for maintenance and decommissioning applications

    International Nuclear Information System (INIS)

    Olivier David; Yvan Measson; Catherine Bidard; Christine Libersa

    2006-01-01

    Compared to electric technology payload of hydraulic manipulators is very high with respect to their volume and mass. However, due to their force control limitations they were usually disqualified for precise manipulation. CEA, in collaboration with CYBERNETIX developed a complete remote handling system around the advanced hydraulic robotic arm MAESTRO. Requirements and specifications of the system were defined according to the needs of decommissioning activities in existing nuclear facilities and maintenance scenarios of the next step fusion reactor ITER. Using TAO2000 CEA controller, CEA developed specific force control loops to improve the performances of the manipulator and reach a level where the MAESTRO can be used like a traditional tele-operation master/slave system with force feedback. The complete system is composed of a 2 m long 100 kg payload 6 degrees of freedom slave hydraulic manipulator. The manipulator is mounted on an embedded unit made of a 210 bars hydraulic power pack and a 10 kGy rad hardened slave controller. The master station is made of the new generation Virtuose V6D-40-40 master arm with its TAO2000 controller. The graphical supervisor Magritte gives the operator an additional interface to manage and monitor the system. Repetitive tasks like tool picking can therefore be left to the system while the operator keeps his concentration on the main task. Thanks to the collision detection algorithm, Magritte warns the operator when the tool or any part of the Maestro arm comes too close to a delicate unit. Operational experience gained through test campaigns was gathered in an upgrade study to propose a new version of the manipulator that successfully ran through a 1000 hour endurance test. Rad-hardened components were selected and tested in nuclear facilities. Attention was paid to provide a design in which contamination is easily removed and to ease the maintenance when performed by an operator in suit. To be quickly adapted to new tasks, the

  19. Remote maintenance system technology development for nuclear fuel cycle plants

    International Nuclear Information System (INIS)

    Kashihara, Hidechiyo

    1984-01-01

    The necessity of establishing the technology of remote maintenance, the kinds of maintenance techniques and the change, the image of a facility adopting remote maintenance canyon process, and the outline of the R and D plan to put remote maintenance canyon process in practical use are described. As the objects of development, there are twin arm type servo manipulator system, rack system, remote tube connectors, solution sampling system, inspection system for in-cell equipment, and large plugs for wall penetration. The outline of those are also reported. The development of new remote maintenance technology has been forwarded in the Tokai Works aiming at the application to a glass solidification pilot plant and a FBR fuel recycling test facility. The lowering of the rate of utilization of cells due to poor accessibility and the increase of radiation exposure of workers must be overcome to realize nuclear fuel cycle technology. The maintenance technology is classified into crane canyon method, direct maintenance cell method, remote maintenance cell method and remote maintenance canyon method, and those are described briefly. The development plan of remote maintenance technology is outlined. (Kako, I.)

  20. Depth Perception In Remote Stereoscopic Viewing Systems

    Science.gov (United States)

    Diner, Daniel B.; Von Sydow, Marika

    1989-01-01

    Report describes theoretical and experimental studies of perception of depth by human operators through stereoscopic video systems. Purpose of such studies to optimize dual-camera configurations used to view workspaces of remote manipulators at distances of 1 to 3 m from cameras. According to analysis, static stereoscopic depth distortion decreased, without decreasing stereoscopitc depth resolution, by increasing camera-to-object and intercamera distances and camera focal length. Further predicts dynamic stereoscopic depth distortion reduced by rotating cameras around center of circle passing through point of convergence of viewing axes and first nodal points of two camera lenses.

  1. A remotely operated excavator [HAZ-TRAK

    International Nuclear Information System (INIS)

    Anon.

    1992-01-01

    HAZ-TRAK is a remotely operated excavator and material handling system for nuclear waste site characterization, waste site remediation, and the decommissioning of nuclear facilities. HAZ-TRAK combines the power and mobility of a commercial excavator, with the dexterity and controllability of a force feedback manipulator system: when operating HAZ-TRAK as an excavator, the operator can feel buried objects. A master/slave control method enables the operator to intuitively control all the excavator arm functions with one hand. The main features of the excavator are described in this article. (author)

  2. Remotely controlled repair at Douglas Point

    International Nuclear Information System (INIS)

    Anon.

    1981-01-01

    The Douglas Point nuclear generating station, completed in 1966, was Canada's first venture in commercial nuclear power. The discovery, 11 years later, of two perforations in auxiliary piping in a high radiation area led Atomic Energy of Canada Ltd and Ontario Hydro to develop new approaches to remotely controlled repair that will have much wider applications. Eddy current and ultrasonic testing were used to determine the pattern and extent of wear in a pipe encircled by a U-bolt, without first removing the U-bolt. Progress was monitored using remote TV cameras. Welding tools were designed and fabricated for the repairs, and a manipulator was also designed to transport the tool into its place of work. (author)

  3. Remote methods for decontamination and decommissioning operations

    International Nuclear Information System (INIS)

    DeVore, J.R.

    1986-01-01

    Three methods for the decontamination and decommissioning of nuclear facilities are described along with operational experience associated with each method. Each method described in some way reduces radiation exposure to the operating personnel involved. Electrochemical decontamination of process tanks is described using an in-situ method. Descriptions of two processes, electropolishing and cerium redox decontamination, are listed. A method of essentially smokeless cutting of process piping using a plasma-arc cutting torch is described. In one technique, piping is cut remotely from a distance using a specially modified torch holder. In another technique, cutting is done with master-slave manipulators inside a hot cell. Finally, a method for remote cutting and scarification of contaminated concrete is described. This system, which utilizes high-pressure water jets, is coupled to a cutting head or rotating scarification head. The system is suited for cutting contaminated concrete for removal or removing a thin layer in a controlled manner for decontamination

  4. Integrated remotely sensed datasets for disaster management

    Science.gov (United States)

    McCarthy, Timothy; Farrell, Ronan; Curtis, Andrew; Fotheringham, A. Stewart

    2008-10-01

    Video imagery can be acquired from aerial, terrestrial and marine based platforms and has been exploited for a range of remote sensing applications over the past two decades. Examples include coastal surveys using aerial video, routecorridor infrastructures surveys using vehicle mounted video cameras, aerial surveys over forestry and agriculture, underwater habitat mapping and disaster management. Many of these video systems are based on interlaced, television standards such as North America's NTSC and European SECAM and PAL television systems that are then recorded using various video formats. This technology has recently being employed as a front-line, remote sensing technology for damage assessment post-disaster. This paper traces the development of spatial video as a remote sensing tool from the early 1980s to the present day. The background to a new spatial-video research initiative based at National University of Ireland, Maynooth, (NUIM) is described. New improvements are proposed and include; low-cost encoders, easy to use software decoders, timing issues and interoperability. These developments will enable specialists and non-specialists collect, process and integrate these datasets within minimal support. This integrated approach will enable decision makers to access relevant remotely sensed datasets quickly and so, carry out rapid damage assessment during and post-disaster.

  5. Wave Manipulation by Topology Optimization

    DEFF Research Database (Denmark)

    Andkjær, Jacob Anders

    topology optimization can be used to design structures for manipulation of the electromagnetic and acoustic waves. The wave problems considered here fall within three classes. The first class concerns the design of cloaks, which when wrapped around an object will render the object undetectable...... for the cloak is to delay the waves in regions of higher permittivity than the background and subsequently phase match them to the waves outside. Directional acoustic cloaks can also be designed using the topology optimization method. Aluminum cylinders constitutes the design and their placement and size...... concerns the design of planar Fresnel zone plate lenses for focusing electromagnetic waves. The topology optimized zone plates improve the focusing performance compared to results known from the literature....

  6. Ion manipulation method and device

    Energy Technology Data Exchange (ETDEWEB)

    Anderson, Gordon A.; Baker, Erin M.; Smith, Richard D.; Ibrahim, Yehia M.

    2017-11-07

    An ion manipulation method and device is disclosed. The device includes a pair of substantially parallel surfaces. An array of inner electrodes is contained within, and extends substantially along the length of, each parallel surface. The device includes a first outer array of electrodes and a second outer array of electrodes. Each outer array of electrodes is positioned on either side of the inner electrodes, and is contained within and extends substantially along the length of each parallel surface. A DC voltage is applied to the first and second outer array of electrodes. A RF voltage, with a superimposed electric field, is applied to the inner electrodes by applying the DC voltages to each electrode. Ions either move between the parallel surfaces within an ion confinement area or along paths in the direction of the electric field, or can be trapped in the ion confinement area.

  7. Multidiscipline simulation of elastic manipulators

    Directory of Open Access Journals (Sweden)

    T. Rølvåg

    1992-10-01

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

  8. The remote exchange of the JET divertor

    International Nuclear Information System (INIS)

    Pick, M.

    1999-01-01

    In 1997 a series of experiments were performed in the JET machine using deuterium-tritium (D-T) mixtures and resulting in discharges with record breaking fusion power and fusion energy. The experiments demonstrated a key technology required for fusion, namely the on-line operation of a tritium fuel re-processing plant. These experiments left the inside of the JET vessel inaccessible to manned access for approximately one year. During this time, the complete Mark IIA divertor, a major system within the torus, was successfully removed and replaced with a new divertor design, the Mark II Gas Box divertor, using only remote handling techniques. This was the first application of the JET remote handling system and a demonstration of a further key ITER technology. The paper explains the methodology and operational approach taken to achieve the results using the remote handling system developed at JET. It describes the remote handling equipment including the force-reflecting servo-manipulator, the specialised tools designed, the facilities needed, and the trials, planning and training carried out to ensure the safe, reliable and rapid completion of the remote handling tasks. The planned tasks are outlined including the execution of the novel procedure for a remote, sub-millimetre precision, dimensional survey of the divertor support structure using digital photogrammetry. Furthermore the paper shows how the adaptability of the system was used to successfully undertake a large number of unplanned tasks including the removal of damaged tiles, a damaged diagnostic system and the vacuum cleaning of diagnostic windows. (author)

  9. Remote Working Level Monitor. Final report

    International Nuclear Information System (INIS)

    1977-01-01

    The Remote Working Level Monitor (RWLM) is an instrument used to remotely monitor the RN-daughter concentrations and the Working Level (WL). It is an ac powered, microprocessor based instrument which multiplexes two independent detector units to a single central processor unit (CPU). The CPU controls the actuation of the detector units and processes and outputs the data received from these remote detector units. The remote detector units are fully automated and require no manual operation once they are set up. They detect and separate the alpha emitters of RaA and RaC' as well as detecting the beta emitters of RaB and RaC. The resultant pulses from these detected radioisotopes are transmitted to the CPU for processing. The programmed microprocessor performs the mathematical manipulations necessary to output accurate Rn-daughter concentrations and the WL. A special subroutine within the program enables the RWLM to run and output a calibration procedure on command. The data resulting from this request can then be processed in a separate program on most computers capable of BASIC programming. The calibration program results in the derivation of coefficients and beta efficiencies which provides calibrated coefficients and beta efficiencies

  10. Remote application of an oscillatory system for density measurements

    International Nuclear Information System (INIS)

    Fortsch, E.M.; Wade, M.A.

    1974-01-01

    An Anton-Paar densimeter was modified for remote use and installed in the Remote Analytical Facility of the Idaho Chemical Processing Plant. This instrument determines density by measuring the deviation in resonant frequency of a hollow-glass mechanical oscillator when filled with sample material. The volume of the oscillator is constant and any change in its frequency is due to the sample. The change in frequency is a measure of the mass of the sample. Since there is no need to measure either volume or mass, the remote manipulations are simplified. This unit replaced existing falling-drop equipment with a reduction in cost and improvement of precision. The remote unit is used routinely 24 h a day with a precision of better than +- 5 x 10 -4 g/ml

  11. Optical remote sensing

    CERN Document Server

    Prasad, Saurabh; Chanussot, Jocelyn

    2011-01-01

    Optical remote sensing relies on exploiting multispectral and hyper spectral imagery possessing high spatial and spectral resolutions respectively. These modalities, although useful for most remote sensing tasks, often present challenges that must be addressed for their effective exploitation. This book presents current state-of-the-art algorithms that address the following key challenges encountered in representation and analysis of such optical remotely sensed data: challenges in pre-processing images, storing and representing high dimensional data, fusing different sensor modalities, patter

  12. REMOTE SENSING IN OCEANOGRAPHY.

    Science.gov (United States)

    remote sensing from satellites. Sensing of oceanographic variables from aircraft began with the photographing of waves and ice. Since then remote measurement of sea surface temperatures and wave heights have become routine. Sensors tested for oceanographic applications include multi-band color cameras, radar scatterometers, infrared spectrometers and scanners, passive microwave radiometers, and radar imagers. Remote sensing has found its greatest application in providing rapid coverage of large oceanographic areas for synoptic and analysis and

  13. A links manipulator simulation program interim report

    International Nuclear Information System (INIS)

    Noble, R.A.

    1987-04-01

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

  14. Probabilistic approach to manipulator kinematics and dynamics

    International Nuclear Information System (INIS)

    Rao, S.S.; Bhatti, P.K.

    2001-01-01

    A high performance, high speed robotic arm must be able to manipulate objects with a high degree of accuracy and repeatability. As with any other physical system, there are a number of factors causing uncertainties in the behavior of a robotic manipulator. These factors include manufacturing and assembling tolerances, and errors in the joint actuators and controllers. In order to study the effect of these uncertainties on the robotic end-effector and to obtain a better insight into the manipulator behavior, the manipulator kinematics and dynamics are modeled using a probabilistic approach. Based on the probabilistic model, kinematic and dynamic performance criteria are defined to provide measures of the behavior of the robotic end-effector. Techniques are presented to compute the kinematic and dynamic reliabilities of the manipulator. The effects of tolerances associated with the various manipulator parameters on the reliabilities are studied. Numerical examples are presented to illustrate the procedures

  15. Advanced Remote Sensing Research

    Science.gov (United States)

    Slonecker, Terrence; Jones, John W.; Price, Susan D.; Hogan, Dianna

    2008-01-01

    'Remote sensing' is a generic term for monitoring techniques that collect information without being in physical contact with the object of study. Overhead imagery from aircraft and satellite sensors provides the most common form of remotely sensed data and records the interaction of electromagnetic energy (usually visible light) with matter, such as the Earth's surface. Remotely sensed data are fundamental to geographic science. The Eastern Geographic Science Center (EGSC) of the U.S. Geological Survey (USGS) is currently conducting and promoting the research and development of three different aspects of remote sensing science: spectral analysis, automated orthorectification of historical imagery, and long wave infrared (LWIR) polarimetric imagery (PI).

  16. Remote Maintenance Monitoring System -

    Data.gov (United States)

    Department of Transportation — The Remote Maintenance and Monitoring System (RMMS) is a collection of subsystems that includes telecommunication components, hardware, and software, which serve to...

  17. Optical Remote Sensing Laboratory

    Data.gov (United States)

    Federal Laboratory Consortium — The Optical Remote Sensing Laboratory deploys rugged, cutting-edge electro-optical instrumentation for the collection of various event signatures, with expertise in...

  18. Kinematics modeling and experimentation of the multi-manipulator tooth-arrangement robot for full denture manufacturing.

    Science.gov (United States)

    Zhang, Yong-de; Jiang, Jin-gang; Liang, Ting; Hu, Wei-ping

    2011-12-01

    Artificial teeth are very complicated in shape, and not easy to be grasped and manipulated accurately by a single robot. The method of tooth-arrangement by multi-manipulator for complete denture manufacturing proposed in this paper. A novel complete denture manufacturing mechanism is designed based on multi-manipulator and dental arch generator. Kinematics model of the multi-manipulator tooth-arrangement robot is built by analytical method based on tooth-arrangement principle for full denture. Preliminary experiments on tooth-arrangement are performed using the multi-manipulator tooth-arrangement robot prototype system. The multi-manipulator tooth-arrangement robot prototype system can automatically design and manufacture a set of complete denture that is suitable for a patient according to the jaw arch parameters. The experimental results verified the validity of kinematics model of the multi-manipulator tooth-arrangement robot and the feasibility of the manufacture strategy of complete denture fulfilled by multi-manipulator tooth-arrangement robot.

  19. Master-slave-manipulator 'EMSM I'

    International Nuclear Information System (INIS)

    Koehler, G.W.; Salaske, M.

    1976-01-01

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

  20. Master-slave-manipulator EMSM I

    International Nuclear Information System (INIS)

    Koehler, G.W.; Salaske, M.

    1976-01-01

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

  1. Positional control of space robot manipulator

    Science.gov (United States)

    Kurochkin, Vladislav; Shymanchuk, Dzmitry

    2018-05-01

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

  2. Managerial Incentives and Stock Price Manipulation

    OpenAIRE

    Peng, Lin; Röell, Ailsa A

    2009-01-01

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

  3. Seismic qualification of existing safety class manipulators

    International Nuclear Information System (INIS)

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

    1992-01-01

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

  4. 3D Laser Scanner for Underwater Manipulation

    Directory of Open Access Journals (Sweden)

    Albert Palomer

    2018-04-01

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

  5. Nano-manipulation of single DNA molecules

    International Nuclear Information System (INIS)

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

    2004-01-01

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

  6. Bioprinting Living Biofilms through Optogenetic Manipulation.

    Science.gov (United States)

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

    2018-04-18

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

  7. 3D Laser Scanner for Underwater Manipulation.

    Science.gov (United States)

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

    2018-04-04

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

  8. An easy path to convex analysis and applications

    CERN Document Server

    Mordukhovich, Boris S

    2013-01-01

    Convex optimization has an increasing impact on many areas of mathematics, applied sciences, and practical applications. It is now being taught at many universities and being used by researchers of different fields. As convex analysis is the mathematical foundation for convex optimization, having deep knowledge of convex analysis helps students and researchers apply its tools more effectively. The main goal of this book is to provide an easy access to the most fundamental parts of convex analysis and its applications to optimization. Modern techniques of variational analysis are employed to cl

  9. Physics over easy Breakfasts with Beth and physics

    CERN Document Server

    Azaroff, L V

    2010-01-01

    During a sequence of meals, the author relates the principal features of physics in easy-to-understand conversations with his wife Beth. Beginning with the studies of motion by Galileo and Newton through to the revolutionary theories of relativity and quantum mechanics in the 20th century, all important aspects of electricity, energy, magnetism, gravity and the structure of matter and atoms are explained and illustrated. The second edition similarly recounts the more recent application of these theories to nanoparticles, Bose-Einstein condensates, quantum entanglement and quantum computers. By

  10. EASY-2005: validation and new tools for data checking

    International Nuclear Information System (INIS)

    Forrest, R.; Kopecky, J.

    2006-01-01

    The European Activation System (EASY) is the tool developed for activation calculations as part of the Fusion Technology programme. It comprises the EAF nuclear data libraries and the FISPACT inventory code. The version EASY-2005, released last year contains many more neutron-induced reactions than the previous version; an increase of about a factor of five to 62,637. The reason for this was the increase in the upper energy limit from 20 to 60 MeV. A major strand of work within Europe has been the measurement of activation in a series of well-defined neutron spectra, these integral results can then be used to validate a subset of the EAF-2005 library, demonstrating that it can be relied on for activation predictions in similar spectra. A validation report has been produced covering 453 reactions; this shows the integral results and the available differential data from EXFOR for these reactions. For 202 reactions there is good agreement, indicating that the data for the reaction are adequate. In cases of disagreement the report indicates where additional measurements are required or where the library data can be improved. The majority of the data above 20 MeV were obtained from model calculations, and this is also the case for many of the reactions at all energies. Because of the large number of reactions and the lack of experimental data, there was a need to develop new tools that could help in the checking of such a large library. Within the SAFEPAQ-II code that is used for evaluation and production of the EAF libraries, the new methodology of Statistical Analysis of Cross Sections (SACS) has been developed. This enables various quantities such as maximum cross section (σ max ), energy at maximum (E max ) and width at half maximum (W 0.5 ) to be plotted as functions of atomic mass (A) and asymmetry parameter (s) for each type of reaction. Such plots show well defined trends and inconsistent data for a particular reaction can easily be identified. Using the

  11. Conceptual design report for a Fusion Engineering Device sector-handling machine and movable manipulator system

    International Nuclear Information System (INIS)

    Watts, K.D.; Masson, L.S.; McPherson, R.S.

    1982-10-01

    Design requirements, trade studies, design descriptions, conceptual designs, and cost estimates have been completed for the Fusion Engineering Device sector handling machine, movable manipulator system, subcomponent handling machine, and limiter blade handling machine. This information will be used by the Fusion Engineering Design Center to begin to determine the cost and magnitude of the effort required to perform remote maintenance on the Fusion Engineering Device. The designs presented are by no means optimum, and the costs estimates are rough-order-of-magnitude

  12. Towards an easy access to Annexin-A5 protein binding block copolymer micelles

    International Nuclear Information System (INIS)

    Schmidt, Vanessa; Giacomelli, Cristiano; Brisson, Alain R.; Borsali, Redouane

    2008-01-01

    The formation of Annexin-A5 decorated (bio-functionalized) nanoparticles is of particular interest in micelle-mediated target drug delivery, in vivo magnetic resonance imaging, and controlled fabrication of biochips. This work describes an easy access to the synthesis and manipulation of block copolymer nano-objects exhibiting Annexin-A5 protein binding ability. Well-defined spherical micelles containing negatively charged phosphonic diacid groups - which are potential binding sites for Annexin-A5 proteins - at their hydrophilic periphery originate from the self-assembly of polystyrene-b-poly(2-phosphatethyl methacrylate-stat-2-hydroxyethyl methacrylate) (PS-b-P(PEMA-stat-HEMA)) amphiphilic macromolecules in aqueous media. PS-b-P(PEMA-stat-HEMA) can be prepared in a three-step phosphorylation/silylation/methanolysis procedure applied to PS-b-PHEMA precursors synthesized via Atom Transfer Radical Polymerization (ATRP). The herein discussed approach allows precise control over micellar dimensions and properties such as core radius (i.e., loading capacity), corona width, and density of phosphate groups at the micelle periphery

  13. Development of nuclear fuel cycle remote handling technology

    International Nuclear Information System (INIS)

    Kim, K. H.; Park, B. S.; Kim, S. H.

    2010-04-01

    This report presents the development of remote handling systems and remote equipment for use in the pyprocessing verification at the PRIDE (PyRoprocess Integrated inactive Demonstration facility). There are three areas conducted in this work. In first area, developed were the prototypes of an engineering-scale high-throughput decladding voloxidizer which is capable of separating spent fuel rod-cuts into hulls and powder and collecting them separately and an automatic equipment which is capable of collecting residual powder remaining on separated hulls. In second area, a servo-manipulator prototype was developed to operate and maintain pyroprocess equipment located at the argon cell of the PRIDE in a remote manner. A servo-manipulator with dual arm that is mounted on the lower part of a bridge transporter will be installed on the ceiling of the in-cell and can travel the length of the ceiling. In last area, a simulator was developed to simulate and evaluate the design developments of the pyroprocess equipment from the in-cell arrangements, remote operability and maintainability viewpoint in a virtual process environment in advance before they are constructed. The developed decladding voloxidizer and automatic equipment will be utilized in the development of a head-end process for pyroprocessing. In addition, the developed servo-manipulator will be installed in the PRIDE and used for remote operation and maintenance of the pyroprocess equipment. The developed simulator will be also used to verify and improve the design of the pyroprocess equipment for the PRIDE application. Moreover, these remote technologies described above can be directly used in the PRIDE and applied for the ESPF (Engineering Scale Pyroprocess Facility) and KAPF (Korea Advanced Pyroprocess Facility) development

  14. History of remote operations and robotics in nuclear facilities

    International Nuclear Information System (INIS)

    Herndon, J.N.

    1992-01-01

    The field of remote technology is continuing to evolve to support man's efforts to perform tasks in hostile environments. Remote technology has roots which reach into the early history of man. Fireplace pokers, blacksmith's tongs, and periscopes are examples of the beginnings of remote technology. The technology which we recognize today has evolved over the last 45-plus years to support human operations in hostile environments such as nuclear fission and fusion, space, underwater, hazardous chemical, and hazardous manufacturing. The four major categories of approach to remote technology have been (1) protective clothing and equipment for direct human entry, (2) extended reach tools using distance for safety, (3) telemanipulators with barriers for safety, and (4) teleoperators incorporating mobility with distance and/or barriers for safety. The government and commercial nuclear industry has driven the development of the majority of the actual teleoperator hardware available today. This hardware has been developed due to the unsatisfactory performance of the protective-clothing approach in many hostile applications. Systems which have been developed include crane/impact wrench systems, unilateral power manipulators, mechanical master/slaves, and servomanipulators. Work for space applications has been primarily research oriented with few successful space applications, although the shuttle's remote manipulator system has been successful. In the last decade, underwater applications have moved forward significantly, with the offshore oil industry and military applications providing the primary impetus. This document consists of viewgraphs and subtitled figures

  15. Ex-vessel remote maintenance for the Compact Ignition Tokamak

    International Nuclear Information System (INIS)

    Spampinato, P.T.; Macdonald, D.

    1987-01-01

    The use of deuterium-tritium (D-T) fuel for operation of the Compact Ignition Tokamak (CIT) requires the use of remote handling technology to carry out maintenance operations on the machine. These operations consist in removing and repairing such components as diagnostic modules by using remotely operated maintenance equipment. The major equipment being developed for maintenance external to the plasma chamber includes a bridge-mounted manipulator system for test cell operations, decontamination (decon) equipment, hot cell equipment, and solid-radiation-waste-handling equipment. Wherever possible, the project will use commercially available equipment. Several areas of the maintenance system design were addressed in fiscal year (FY) 1987, including conceptual designs of manipulator systems, the start of a remote equipment research and development (RandD) program, and definition of the hot cell, decon, and equipment repair facility requirements. R and D work included preliminary demonstrations of remote handling operations on full-size, partial mock-ups of the CIT machine at the Oak Ridge National Laboratory (ORNL) Remote Operations and Maintenance Development (ROMD) Facility. 1 ref., 6 figs

  16. Manipulator for inspection or repair of heat exchanger tubes, in particular in steam generators for nuclear reactors

    International Nuclear Information System (INIS)

    Gugel, G.

    1979-01-01

    The manipulator used to inspect or repair pipes in the steam generator chamber of a PWR can be introduced and removed through a penetration nozzle which can be sealed tightly by means of a blind flange. The front end of the manipulator carries a swivel arm which can be operated remotely to be moved in a plane parallel to the tube plate. The end of the swivel arm carries a holder for a mouthpiece which can be extended and retracted. This carrier can also be operated remotely so as to be aligned to the pipe orifices in a direction normal to the swivel plane of the swivel arm. The manipulator is supported in antifriction bearings in the penetration nozzle so as to be movable longitudinally. (DG) [de

  17. Astrophysics is easy! an introduction for the amateur astronomer

    CERN Document Server

    Inglis, Michael

    2015-01-01

    Astrophysics is often –with some justification – regarded as incomprehensible without the use of higher mathematics. Consequently, many amateur astronomers miss out on some of the most fascinating aspects of the subject. Astrophysics Is Easy! cuts through the difficult mathematics and explains the basics of astrophysics in accessible terms. Using nothing more than plain arithmetic and simple examples, the workings of the universe are outlined in a straightforward yet detailed and easy-to-grasp manner.   The original edition of the book was written over eight years ago, and in that time, advances in observational astronomy have led to new and significant changes to the theories of astrophysics. The new theories will be reflected in both the new and expanded chapters.   A unique aspect of this book is that, for each topic under discussion, an observing list is included so that observers can actually see for themselves the concepts presented –stars of the spectral sequence, nebulae, galaxies, even black ...

  18. EASY-2005.1, European Neutron Activation System

    International Nuclear Information System (INIS)

    Forrest, R.A.; Sublet, Jean-Christophe

    2008-01-01

    1 - Description of program or function: The EASY-2005 (European Activation System) consists of a wide range of codes, data and documentation all aimed at satisfying the objective of calculating the response of materials irradiated in a neutron flux. The main difference from the previous version is the upper energy limit which has increased from 20 to 60 MeV. It is designed to investigate both fusion devices and accelerator based materials test facilities that will act as intense sources of high energy neutrons causing significant activation of the surrounding materials. The very general nature of the calculational method and the data libraries means that it is applicable (with some reservations) to all situations (e.g. fission reactors or neutron sources) where materials are exposed to neutrons below 60 MeV. EASY can be divided into two parts: data and code development tools and user tools and data. The former are required to develop the latter, but EASY users only need to be able to use the inventory code FISPACT and be aware of the contents of the EAF library (the data source). The complete EASY package contains the FISPACT-2005 inventory code, the EAF-2005 library, and the EASY User Interface. The activation package EASY-2005 [1] is the result of significant development to extend the upper energy range from 20 to 60 MeV so that it is capable of being used for IFMIF calculations. The EAF-2005 library contains 62,637 reactions, almost five times more than in EAF-2003 (12,617). Such a large increase means that some mistakes may exist in the new file that need to be corrected. Because of these shortcomings and for other reasons explained below, a maintenance release, EAF-2005.1 has been produced. A deuteron-induced cross section library was also included for the first time, and can be used with EASY to enable calculations of the activation due to deuterons [2]. This library is included in the EASY-2005.1 maintenance release as is a new version of the FISPACT code

  19. BrailleEasy: One-handed Braille Keyboard for Smartphones.

    Science.gov (United States)

    Šepić, Barbara; Ghanem, Abdurrahman; Vogel, Stephan

    2015-01-01

    The evolution of mobile technology is moving at a very fast pace. Smartphones are currently considered a primary communication platform where people exchange voice calls, text messages and emails. The human-smartphone interaction, however, is generally optimized for sighted people through the use of visual cues on the touchscreen, e.g., typing text by tapping on a visual keyboard. Unfortunately, this interaction scheme renders smartphone technology largely inaccessible to visually impaired people as it results in slow typing and higher error rates. Apple and some third party applications provide solutions specific to blind people which enables them to use Braille on smartphones. These applications usually require both hands for typing. However, Brailling with both hands while holding the phone is not very comfortable. Furthermore, two-handed Brailling is not possible on smartwatches, which will be used more pervasively in the future. Therefore, we develop a platform for one-handed Brailing consisting of a custom keyboard called BrailleEasy to input Arabic or English Braille codes within any application, and a BrailleTutor application for practicing. Our platform currently supports Braille grade 1, and will be extended to support contractions, spelling correction, and more languages. Preliminary analysis of user studies for blind participants showed that after less than two hours of practice, participants were able to type significantly faster with the BrailleEasy keyboard than with the standard QWERTY keyboard.

  20. Expanding global forest management: An easy first' proposal

    Energy Technology Data Exchange (ETDEWEB)

    Winjum, J.K. (Environmental Protection Agency, Corvallis, OR (United States)); Meganck, R.A. (United Nations Environment Programme, Kingston (Jamaica)); Dixon, R.K.

    1993-04-01

    World leaders have become increasingly aware of the contributions of sustainable forest resources to political, social, economic, and environmental health. As a result, interest is growing for a world treaty or protocol on forest management and protection. This article focuses on global forest management. The first section discusses the current situtation in global forest management (10-12% of the total). Benefits of global benefit to management included sustained and even increased yield, slowing of atmospheric carbon dioxide, and conservation of biodiversity and increase sustainable use options. The Noordwijk Goal is discussed as one example of concrete global action. Finally, the easy first approach is presented in detail. It involves starting in areas where the obstacles are minimal to develop early momentum and a can do outlook for implementation. Difficulties of this approach involve dealing with the political, social, and economic aspects of resource constraints that many nations face daily. But the easy first approach attempts to demonstrate that not all financial commitments, political agreements and forest management techniques must be in place for work to start.

  1. Remote sensing of coral reefs and their physical environment

    International Nuclear Information System (INIS)

    Mumby, Peter J.; Skirving, William; Strong, Alan E.; Hardy, John T.; LeDrew, Ellsworth F.; Hochberg, Eric J.; Stumpf, Rick P.; David, Laura T.

    2004-01-01

    There has been a vast improvement in access to remotely sensed data in just a few recent years. This revolution of information is the result of heavy investment in new technology by governments and industry, rapid developments in computing power and storage, and easy dissemination of data over the internet. Today, remotely sensed data are available to virtually anyone with a desktop computer. Here, we review the status of one of the most popular areas of marine remote sensing research: coral reefs. Previous reviews have focused on the ability of remote sensing to map the structure and habitat composition of coral reefs, but have neglected to consider the physical environment in which reefs occur. We provide a holistic review of what can, might, and cannot be mapped using remote sensing at this time. We cover aspects of reef structure and health but also discuss the diversity of physical environmental data such as temperature, winds, solar radiation and water quality. There have been numerous recent advances in the remote sensing of reefs and we hope that this paper enhances awareness of the diverse data sources available, and helps practitioners identify realistic objectives for remote sensing in coral reef areas

  2. Remote sensing of coral reefs and their physical environment

    Energy Technology Data Exchange (ETDEWEB)

    Mumby, Peter J.; Skirving, William; Strong, Alan E.; Hardy, John T.; LeDrew, Ellsworth F.; Hochberg, Eric J.; Stumpf, Rick P.; David, Laura T

    2004-02-01

    There has been a vast improvement in access to remotely sensed data in just a few recent years. This revolution of information is the result of heavy investment in new technology by governments and industry, rapid developments in computing power and storage, and easy dissemination of data over the internet. Today, remotely sensed data are available to virtually anyone with a desktop computer. Here, we review the status of one of the most popular areas of marine remote sensing research: coral reefs. Previous reviews have focused on the ability of remote sensing to map the structure and habitat composition of coral reefs, but have neglected to consider the physical environment in which reefs occur. We provide a holistic review of what can, might, and cannot be mapped using remote sensing at this time. We cover aspects of reef structure and health but also discuss the diversity of physical environmental data such as temperature, winds, solar radiation and water quality. There have been numerous recent advances in the remote sensing of reefs and we hope that this paper enhances awareness of the diverse data sources available, and helps practitioners identify realistic objectives for remote sensing in coral reef areas.

  3. Hyperspectral remote sensing

    CERN Document Server

    Eismann, Michael

    2012-01-01

    Hyperspectral remote sensing is an emerging, multidisciplinary field with diverse applications that builds on the principles of material spectroscopy, radiative transfer, imaging spectrometry, and hyperspectral data processing. This book provides a holistic treatment that captures its multidisciplinary nature, emphasizing the physical principles of hyperspectral remote sensing.

  4. Remote actuated valve implant

    Science.gov (United States)

    McKnight, Timothy E; Johnson, Anthony; Moise, Jr., Kenneth J; Ericson, Milton Nance; Baba, Justin S; Wilgen, John B; Evans, III, Boyd McCutchen

    2014-02-25

    Valve implant systems positionable within a flow passage, the systems having an inlet, an outlet, and a remotely activatable valve between the inlet and outlet, with the valves being operable to provide intermittent occlusion of the flow path. A remote field is applied to provide thermal or magnetic activation of the valves.

  5. Remote Maintenance Design Guide for Compact Processing Units

    Energy Technology Data Exchange (ETDEWEB)

    Draper, J.V.

    2000-07-13

    Oak Ridge National Laboratory (ORNL) Robotics and Process Systems (RPSD) personnel have extensive experience working with remotely operated and maintained systems. These systems require expert knowledge in teleoperation, human factors, telerobotics, and other robotic devices so that remote equipment may be manipulated, operated, serviced, surveyed, and moved about in a hazardous environment. The RPSD staff has a wealth of experience in this area, including knowledge in the broad topics of human factors, modular electronics, modular mechanical systems, hardware design, and specialized tooling. Examples of projects that illustrate and highlight RPSD's unique experience in remote systems design and application include the following: (1) design of a remote shear and remote dissolver systems in support of U.S. Department of Energy (DOE) fuel recycling research and nuclear power missions; (2) building remotely operated mobile systems for metrology and characterizing hazardous facilities in support of remote operations within those facilities; (3) construction of modular robotic arms, including the Laboratory Telerobotic Manipulator, which was designed for the National Aeronautics and Space Administration (NASA) and the Advanced ServoManipulator, which was designed for the DOE; (4) design of remotely operated laboratories, including chemical analysis and biochemical processing laboratories; (5) construction of remote systems for environmental clean up and characterization, including underwater, buried waste, underground storage tank (UST) and decontamination and dismantlement (D&D) applications. Remote maintenance has played a significant role in fuel reprocessing because of combined chemical and radiological contamination. Furthermore, remote maintenance is expected to play a strong role in future waste remediation. The compact processing units (CPUs) being designed for use in underground waste storage tank remediation are examples of improvements in systems

  6. Man-machine cooperation in remote handling for fusion plants

    International Nuclear Information System (INIS)

    Leinemann, K.

    1984-01-01

    Man-machine cooperation in remote handling for fusion plants comprises cooperation for design of equipment and planning of procedures using a CAD system, and cooperation during operation of the equipment with computer aided telemanipulation systems (CAT). This concept is presently being implemented for support of slave positioning, camera tracking, and camera alignment in the KfK manipulator test facility. The pilot implementation will be used to test various man-machine interface layouts, and to establish a set of basic buildings blocks for future implementations of advanced remote handling control systems. (author)

  7. Progress report on the development of remotely operated tools

    International Nuclear Information System (INIS)

    Smith, A.T.

    1984-08-01

    This report contains a number of individual trials reports based upon work conducted in aid of a programme of feasibility studies into the size reduction of radioactive contaminated solid waste. The work was directed towards the identification of acceptable remotely operated tools and the means of deploying them for dismantling operations in a radioactive environment. Reliability, ease of maintenance, change of tool bits and common power sources have been major considerations in the trials assessments. Alternative end effector drive systems have also been considered when defining suitable manipulative capabilities and attention has also been directed towards a remotely controlled tool changing capability. (author)

  8. Dielectric nanoresonators for light manipulation

    Science.gov (United States)

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

    2017-07-01

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

  9. Introduction of a system of monitoring and automation of manipulator for hotcell in net

    Energy Technology Data Exchange (ETDEWEB)

    Fernandes, Guilherme Bezerra; Campos, Tarcisio Passos Ribeiro de [Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, MG (Brazil). Programa de Pos-graduacao em Ciencias e Tecnicas Nucleares]. E-mails: guilhermemaster@gmail.com; campos@nuclear.ufmg.br

    2007-07-01

    Herein, the paper addresses the improvements on the automation procedures and security aspects of a hot cell developed by the NRI/PCTN for manipulating sealed radioactive sources. For such, it was necessary the construction of a vision system, a operational system for the manipulator and auxiliary systems for grasping. For the vision system, a set of five CCD cameras coupled with electromechanical device provide orientation into a solid angle made of 180 deg (x-axis) and 180 deg (z-axis), assembled with gears motors. Two cameras are placed into the hot cell and three outside. The system of operation of the manipulator have been reconstructed including: software, firmware and the electronics in order to improve the control of the eight freedom degrees through microcontroller circuits. The auxiliary systems involve two devices that allow the opening and closing the recipes in which the radioactive source is enclosed. Three distinct keyboards, one for each system, had also been developed for independent control without computer. All the systems when integrated allow the remote operation, that is, operated by remote control at large distance, promoting the security of the operators in the manipulation of the radioactive sources. (author)

  10. Development the interface system of master-slave manipulator and external input device on the graphic simulator

    International Nuclear Information System (INIS)

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

    2002-01-01

    The master-slave manipulator is the generally used as remote handling device in the hot cell, in which the high level radioactive materials such as spent fuels are handled. To analyze the motion of remote handling device and to simulate the remote handling operation task in the hot cell, the 3D graphic simulator which has been installed the master-slave manipulator is established. Also the interface program of external input device with 6 DOF(degree of Freedom) is developed and connected to graphic simulator with LLTI(Low Level Tele-operation Interface) which provides a uniquely optimized, high speed, bidirectional communication interface to one or more of system and processes

  11. Remote handling at LAMPF

    International Nuclear Information System (INIS)

    Grisham, D.L.; Lambert, J.E.

    1983-01-01

    Experimental area A at the Clinton P. Anderson Meson Physics Facility (LAMPF) encompasses a large area. Presently there are four experimental target cells along the main proton beam line that have become highly radioactive, thus dictating that all maintenance be performed remotely. The Monitor remote handling system was developed to perform in situ maintenance at any location within area A. Due to the complexity of experimental systems and confined space, conventional remote handling methods based upon hot cell and/or hot bay concepts are not workable. Contrary to conventional remote handling which require special tooling for each specifically planned operation, the Monitor concept is aimed at providing a totally flexible system capable of remotely performing general mechanical and electrical maintenance operations using standard tools. The Monitor system is described

  12. Remote vehicle survey tool

    International Nuclear Information System (INIS)

    Armstrong, G.A.; Burks, B.L.; Kress, R.L.; Wagner, D.G.; Ward, C.R.

    1993-01-01

    The Remote Vehicle Survey Tool (RVS7) is a color graphical display tool for viewing remotely acquired scientific data. The RVST displays the data in the form of a color two-dimensional world model map. The world model map allows movement of the remote vehicle to be tracked by the operator and the data from sensors to be graphically depicted in the interface. Linear and logarithmic meters, dual channel oscilloscopes, and directional compasses are used to display sensor information. The RVST is user-configurable by the use of ASCII text files. The operator can configure the RVST to work with any remote data acquisition system and teleoperated or autonomous vehicle. The modular design of the RVST and its ability to be quickly configured for varying system requirements make the RVST ideal for remote scientific data display in all environmental restoration and waste management programs

  13. Remote maintenance design activities and research and development accomplishments for the compact ignition tokamak

    International Nuclear Information System (INIS)

    Spampinato, P.T.

    1989-01-01

    The use of deuterium-tritium (D-T) fuel for the Compact Ignition Tokamak (CIT) requires the use of remote handling technology in order to carry out maintenance operations. The remote operations consist of removing and replacing such components as first wall armor protection tiles, radio-frequency (RF) heating modules, and diagnostic modules. The major pieces of equipment being developed for maintenance operations internal to the vacuum vessel include an articulated boom manipulator (ABM), an inspection manipulator, and special tooling. For operations external to the vessel, the equipment includes a bridge-mounted manipulator system, decontamination equipment, hot cell equipment, and solid radioactive waste (rad-waste) handling and packaging equipment. The CIT Project is completing the conceptual design phase; research and development (R and D) activities, which include demonstrations of remote maintenance operations on full-size partial mock-ups are under way. (orig.)

  14. Remote maintenance design activities and research and development accomplishments for the Compact Ignition Tokamak

    International Nuclear Information System (INIS)

    Spampinato, P.T.

    1988-01-01

    The use of deuterium-tritium (D-T) fuel for the Compact Ignition Tokamak (CIT) requires the use of remote handling technology to carry out maintenance operations. The remote operations consist of removing and replacing such components as first wall armor protection tiles, radio-frequency (rf) heating modules, and diagnostic modules. The major pieces of equipment being developed for maintenance activities internal to the vacuum vessel include an articulated boom manipulator (ABM), an inspection manipulator, and special tooling. For activities external to the vessel, the equipment includes a bridge-mounted manipulator system, decontamination equipment, hot cell equipment, and solid radiation-waste (rad-waste) handling and packaging equipment. The CIT Project is completing the conceptual design phase; research and development (R and D) activities, which include demonstrations of remote maintenance operations on full-size partial mock-ups are under way. 5 figs

  15. Remote handling demonstration of ITER blanket module replacement

    International Nuclear Information System (INIS)

    Kakudate, S.; Nakahira, M.; Oka, K.; Taguchi, K.; Obara, K.; Tada, E.; Shibanuma, K.; Tesini, A.; Haange, R.; Maisonnier, D.

    2001-01-01

    In ITER, the in-vessel components such as blanket are to be maintained or replaced remotely since they will be activated by 14 MeV neutrons, and a complete exchange of shielding blanket with breeding blanket is foreseen after the Basic Performance Phase. The blanket is segmented into about seven hundred modules to facilitate remote maintainability and allow individual module replacement. For this, the remote handing equipment for blanket maintenance is required to handle a module with a dead weight of about 4 tonne within a positioning accuracy of a few mm under intense gamma radiation. According to the ITER R and D program, a rail-mounted vehicle manipulator system was developed and the basic feasibility of this system was verified through prototype testing. Following this, development of full-scale remote handling equipment has been conducted as one of the ITER Seven R and D Projects aiming at a remote handling demonstration of the ITER blanket. As a result, the Blanket Test Platform (BTP) composed of the full-scale remote handling equipment has been completed and the first integrated performance test in March 1998 has shown that the fabricate remote handling equipment satisfies the main requirements of ITER blanket maintenance. (author)

  16. CameraCast: flexible access to remote video sensors

    Science.gov (United States)

    Kong, Jiantao; Ganev, Ivan; Schwan, Karsten; Widener, Patrick

    2007-01-01

    New applications like remote surveillance and online environmental or traffic monitoring are making it increasingly important to provide flexible and protected access to remote video sensor devices. Current systems use application-level codes like web-based solutions to provide such access. This requires adherence to user-level APIs provided by such services, access to remote video information through given application-specific service and server topologies, and that the data being captured and distributed is manipulated by third party service codes. CameraCast is a simple, easily used system-level solution to remote video access. It provides a logical device API so that an application can identically operate on local vs. remote video sensor devices, using its own service and server topologies. In addition, the application can take advantage of API enhancements to protect remote video information, using a capability-based model for differential data protection that offers fine grain control over the information made available to specific codes or machines, thereby limiting their ability to violate privacy or security constraints. Experimental evaluations of CameraCast show that the performance of accessing remote video information approximates that of accesses to local devices, given sufficient networking resources. High performance is also attained when protection restrictions are enforced, due to an efficient kernel-level realization of differential data protection.

  17. Manipulation or Mobilisation for Neck Pain

    NARCIS (Netherlands)

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

    2010-01-01

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

  18. Analysis of singularity in redundant manipulators

    International Nuclear Information System (INIS)

    Watanabe, Koichi

    2000-03-01

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

  19. Even Middle Graders Can Learn with Manipulatives.

    Science.gov (United States)

    Holden, Linda

    1987-01-01

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

  20. Lazy motion planning for robotic manipulators

    NARCIS (Netherlands)

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

    2017-01-01

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

  1. Judging Nudging : Answering the Manipulation Objection

    NARCIS (Netherlands)

    Nys, Thomas; Engelen, Bart

    2017-01-01

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

  2. Tools for Manipulation and Characterisation of Nanostructures

    DEFF Research Database (Denmark)

    Mølhave, Kristian; Bøggild, Peter

    grippers, which were then successfully used for pick-and-place manipulation of silicon nanowires. For increased gripping force and control over the manipulation process, microfabricated grippers with integrated force-feedback were also demonstrated. Environmental electron beam deposition (EEBD...... components that are some 10000 times smaller....

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

    NARCIS (Netherlands)

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

    2005-01-01

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

  4. Effect of sacroiliac manipulation on postural sway in quiet standing: a randomized controlled trial.

    Science.gov (United States)

    Farazdaghi, Mohammad Reza; Motealleh, Alireza; Abtahi, Forough; Panjan, Andrej; Šarabon, Nejc; Ghaffarinejad, Farahnaz

    Sacroiliac joint manipulation can alter joint and muscle control mechanisms through local and remote effects. Postural balance is controlled by supraspinal (rambling) and spinal-peripheral (trembling) mechanisms. A manipulation may interfere with postural control in quiet standing. To evaluate the immediate effects of sacroiliac joint manipulation on postural control in patients with (1) sacroiliac dysfunction and (2) to determine whether rambling and trembling are affected by sacroiliac joint manipulation. 32 patients aged between 20 and 50 years old were selected by convenience after confirmation of sacroiliac joint dysfunction by clinical examination. These patients were randomly allocated either to manipulation or sham manipulation group. Displacement, velocity and frequency of the center of pressure, rambling and trembling in the anterior-posterior and medial-lateral directions were our primary outcomes and analyzed immediately before and after the intervention in quiet standing. The physical therapists who performed the physical, biomechanical and statistical examinations, were all blinded to the patients' grouping. No differences were found between the two groups but trembling velocity (0.14 and -0.11 for intervention and sham group, respectively) and frequency (0.17 and 0.11 for intervention and sham group respectively) increased after intervention in the treatment group in the anterior-posterior direction. Generally, sacroiliac joint manipulation had no superiority than sham treatment regarding postural control as measured by rambling-trembling analysis of center of pressure. Manipulation may increase muscle activation in the treatment group due to increased trembling parameters. Trial number: IRCT2014072715932N8 - http://www.irct.ir/searchresult.php?keyword=%D8%B3%D9%88%DB%8C%D9%87&id=15932&field=&number=8&prt=13&total=10&m=1. Copyright © 2017 Associação Brasileira de Pesquisa e Pós-Graduação em Fisioterapia. Publicado por Elsevier Editora Ltda. All

  5. Failed fuel rod detection system and computerized manipulator during outages

    International Nuclear Information System (INIS)

    Boehm, H.H.; Foerch, H.

    1984-01-01

    During regular outages spent fuel assemblies need to be replaced and relocated within the core. Defective fuel rods in particular fuel assemblies have to be removed from further service and before delivery of such faulty fuel assemblies to a reprocessing plant. The system which Brown Boveri Reaktor GmbH and Krautkraemer have developed in the Federal Republic of Germany is capable of directly locating the defective rods in a proper fuel assembly. Inspection times are comparable to those of standard sipping methods, with the advantages of immediately available results and direct identification of the defective fuel rods. During the repair of fuel assemblies this system allows withdrawal of individual defective rods. With the sipping method all the fuel rods of a defective fuel assembly need to be removed and inspected by eddy current testing. During steam generator inspection and repair personnel are exposed to ample radiation. A remotely controlled, computerized manipulator was used to significantly reduce the radiation dose by automating steps in the procedures; at the same time inspection and repair times were reduced. The main features of the manipulator are a rigid component construction of the leg and two arms, and a resolver control for horizontal and vertical motion that enables rapid and accurate access to a desired tube (author)

  6. The development of computational algorithms for manipulator inverse kinematics

    International Nuclear Information System (INIS)

    Sasaki, Shinobu

    1989-10-01

    A solution technique of the inverse kinematics for multi-joint robot manipulators has been considered to be one of the most cumbersome treatment due to non-linearity properties inclusive of trigonometric functions. The most traditional approach is to use the Jacobian matrix on linearization assumptions. This iterative technique, however, is attended with numerical problems having significant influences on the solution characteristics such as initial guess dependence and singularities. Taking these facts into consideration, new approaches have been proposed from different standpoints, which are based on polynomial transformation of kinematic model, the minimization technique in mathematical programming, vector-geometrical concept, and the separation of joint variables associated with the optimization problem. In terms of computer simulations, each approach was identified to be a useful algorithm which leads to theoretically accurate solutions to complicated inverse problems. In this way, the short-term goal of our studies on manipulator inverse problem in the R and D project of remote handling technology was accomplished with success, and consequently the present report sums up the results of basic studies on this matter. (author)

  7. Downhole water management and robotic valve manipulation on electric wireline

    Energy Technology Data Exchange (ETDEWEB)

    Schwanitz, Brian [Welltec, Alleroed (Denmark); Petersen, Erik; Farias, Eduardo [Welltec do Brasil Ltda., Rio de Janeiro, RJ (Brazil)

    2008-07-01

    Due to high operating cost and challenging environments, the oil and gas industry is facing an increasing demand to identify areas where new intervention solutions can be applied. Down hole water management and robotic valve manipulation are some of the areas where new approaches are finding critical success. A new technology has enabled increased recovery rates by managing produced water and allowing remote mechanical manipulation of down hole valves on wireline. These services are possible when applying a robotic stroking device and a wireline key tool.This paper will examine the challenges and present case histories illustrating how advanced technological solutions were applied to overcome operational problem in order to enhance reservoir performance and well productivity. Specifically the paper will illustrate both how isolating sliding side door and setting bridge plug in high x-flow using wireline stroker and tractor technologies water cut were reduced from 85% to 5% and from 90% to 45% respectively and shifting isolation sleeve and open and close sliding sleeve replacing conventional methods with a solution that runs on electrical wireline meant a revolution within the oil and gas industry. (author)

  8. Interaction control of a redundant mobile manipulator

    International Nuclear Information System (INIS)

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

    1998-01-01

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

  9. Maximum allowable load on wheeled mobile manipulators

    International Nuclear Information System (INIS)

    Habibnejad Korayem, M.; Ghariblu, H.

    2003-01-01

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

  10. Laser Diode Beam Basics, Manipulations and Characterizations

    CERN Document Server

    Sun, Haiyin

    2012-01-01

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

  11. A review of microfabrication techniques and dielectrophoretic microdevices for particle manipulation and separation

    International Nuclear Information System (INIS)

    Li, M; Li, W H; Zhang, J; Alici, G; Wen, W

    2014-01-01

    The development of lab-on-a-chip (LOC) devices over the past decade has attracted growing interest. LOC devices aim to achieve the miniaturization, integration, automation and parallelization of biological and chemical assays. One of the applications, the ability to effectively and accurately manipulate and separate micro- and nano-scale particles in an aqueous solution, is particularly appealing in biological, chemical and medical fields. Among the technologies that have been developed and implemented in microfluidic microsystems for particle manipulation and separation (such as mechanical, inertial, hydrodynamic, acoustic, optical, magnetic and electrical methodologies), dielectrophoresis (DEP) may prove to be the most popular because of its label-free nature, ability to manipulate neutral bioparticles, analyse with high selectivity and sensitivity, compatibility with LOC devices, and easy and direct interface with electronics. The required spatial electric non-uniformities for the DEP effect can be generated by patterning microelectrode arrays within microchannels, or placing insulating obstacles within a microchannel and curving the microchannels. A wide variety of electrode- and insulator-based DEP microdevices have been developed, fabricated, and successfully employed to manipulate and separate bioparticles (i.e. DNA, proteins, bacteria, viruses, mammalian and yeast cells). This review provides an overview of the state-of-the-art of microfabrication techniques and of the structures of dielectrophoretic microdevices aimed towards different applications. The techniques used for particle manipulation and separation based on microfluidics are provided in this paper. In addition, we also present the theoretical background of DEP. (topical review)

  12. Transmission Index Research of Parallel Manipulators Based on Matrix Orthogonal Degree

    Science.gov (United States)

    Shao, Zhu-Feng; Mo, Jiao; Tang, Xiao-Qiang; Wang, Li-Ping

    2017-11-01

    Performance index is the standard of performance evaluation, and is the foundation of both performance analysis and optimal design for the parallel manipulator. Seeking the suitable kinematic indices is always an important and challenging issue for the parallel manipulator. So far, there are extensive studies in this field, but few existing indices can meet all the requirements, such as simple, intuitive, and universal. To solve this problem, the matrix orthogonal degree is adopted, and generalized transmission indices that can evaluate motion/force transmissibility of fully parallel manipulators are proposed. Transmission performance analysis of typical branches, end effectors, and parallel manipulators is given to illustrate proposed indices and analysis methodology. Simulation and analysis results reveal that proposed transmission indices possess significant advantages, such as normalized finite (ranging from 0 to 1), dimensionally homogeneous, frame-free, intuitive and easy to calculate. Besides, proposed indices well indicate the good transmission region and relativity to the singularity with better resolution than the traditional local conditioning index, and provide a novel tool for kinematic analysis and optimal design of fully parallel manipulators.

  13. Remote maintenance for a new generation of hot cells

    International Nuclear Information System (INIS)

    Feldman, M.J.; Grant, N.R.

    1987-01-01

    For several years the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory has been developing facility concepts, designing specialized equipment, and testing prototypical hardware for reprocessing spent fuel from fast breeder reactors. The major facility conceptual design, the Hot Experimental Facility, was based on total remote maintenance to increase plant availability and to reduce radiation exposure. This thrust included designing modular equipment to facilitate maintenance and the manipulation necessary to accomplish maintenance. Included in the design repetoire was the development effort in advanced servomanipulator systems, a remote sampling system, television viewing, and a transporter system, television viewing, and a transporter for manipulator positioning. Demonstration of these developed items is currently ongoing, and the technology is available for applications where production operations in highly radioactive environments are required

  14. Remote removal of contaminated equipment from a radiochemical engineering cell

    International Nuclear Information System (INIS)

    Scharnhorst, N.L.; Bryan, G.H.; Bjorklund, W.J.

    1984-01-01

    Large-scale vitrification equipment in a radioactive cell was dismantled and packed for burial through the use of viewing windows with manipulators, two overhead cranes, and unique tools for disassembling, grabbing, and handling the equipment components. An air-driven reciprocating hacksaw, remotely placed and operated, was used to cut large structural members inaccessible by the manipulators. Remotely operated circular saws and a plasma torch were used to cut calciners, furnaces, storage vessels, piping, pumps, and structural members into pieces that were placed safely into shielded burial boxes. This engineering effort was accomplished without any exposure problems in approximately 17 months, which required almost 10 equivalent worker-years. 8 figures, 1 table

  15. Remote maintenance for a new generation of hot cells

    International Nuclear Information System (INIS)

    Feldman, M.J.; Grant, N.R.

    1987-01-01

    For several years the Consolidated Fuel Reprocessing Program (CFRP) at Oak Ridge National Laboratory (ORNL) has been developing facility concepts, designing specialized equipment, and testing prototypical hardware for reprocessing spent fuel from fast breeder reactors. The major facility conceptual design, the Hot Experimental Facility, was based on total remote maintenance to increase plant availability and to reduce radiation exposure. This thrust included designing modular equipment to facilitate maintenance and the manipulation necessary to accomplish maintenance. Included in the design repetoire was the development effort in advanced servomanipulator systems, a remote sampling system, television viewing, and a transporter for manipulator positioning. Demonstration of these developed items is currently ongoing, and the technology is available for applications where production operations in highly radioactive environments are required

  16. Portable remote sensing image processing system; Kahangata remote sensing gazo shori system

    Energy Technology Data Exchange (ETDEWEB)

    Fujikawa, S; Uchida, K; Tanaka, S; Jingo, H [Dowa Engineering Co. Ltd., Tokyo (Japan); Hato, M [Earth Remote Sensing Data Analysis Center, Tokyo (Japan)

    1997-10-22

    Recently, geological analysis using remote sensing data has been put into practice due to data with high spectral resolution and high spatial resolution. There has been a remarkable increase in both software and hardware of personal computer. Software is independent of hardware due to Windows. It has become easy to develop softwares. Under such situation, a portable remote sensing image processing system coping with Window 95 has been developed. Using this system, basic image processing can be conducted, and present location can be displayed on the image in real time by linking with GPS. Accordingly, it is not required to bring printed images for the field works of image processing. This system can be used instead of topographic maps for overseas surveys. Microsoft Visual C++ ver. 2.0 is used for the software. 1 fig.

  17. Astrophysics is easy! an introduction for the amateur astronomer

    CERN Document Server

    Inglis, Mike

    2007-01-01

    With some justification, many amateur astronomers believe astrophysics is a very difficult subject, requiring at least degree-level mathematics to understand it properly. This isn’t necessarily the case. Mike Inglis' quantitative approach to the subject explains all aspects of astrophysics in simple terms and cuts through the incomprehensible mathematics with which this fascinating subject is all too often associated. Astrophysics is Easy! begins by looking at the H-R diagram and other basic tools of astrophysics, then ranges across the universe, from a first look at the interstellar medium and nebulae, through the birth, evolution and death of stars, to the physics of galaxies and clusters of galaxies. A unique feature of this book is the way that Dr. Inglis lists example objects for practical observation at every stage, so that practical astronomers can go and look at the object or objects under discussion – using only easily-available commercial amateur equipment.

  18. Differential algebras without differentials: An easy C++ implementation

    Energy Technology Data Exchange (ETDEWEB)

    Michelotti, L.

    1989-03-01

    Automated differentiation can be motivated and explained rather plainly without any reference to infinitesimals or differentials whatsoever. We shall describe one possible approach in this paper. The method which we shall use will suggest its own implementation. However, FORTRAN is not the most natural language in which to carry it out. In the second section we shall describe an almost trivial implementation using C++. (Indeed, one of the motivations for writing this paper is to persuade militant FORTRAN extremists to invest the four or five days necessary to learn this powerful and easy language.) Take heed, however, that what we describe below is only a stripped-down implementation, written in three days, of differential algebra's most essential features; it is not as robust as and does not contain the battery of tools available in Berz's DA package, the product of a significant amount of work. 10 refs.

  19. Differential algebras without differentials: An easy C++ implementation

    International Nuclear Information System (INIS)

    Michelotti, L.

    1989-03-01

    Automated differentiation can be motivated and explained rather plainly without any reference to infinitesimals or differentials whatsoever. We shall describe one possible approach in this paper. The method which we shall use will suggest its own implementation. However, FORTRAN is not the most natural language in which to carry it out. In the second section we shall describe an almost trivial implementation using C++. (Indeed, one of the motivations for writing this paper is to persuade militant FORTRAN extremists to invest the four or five days necessary to learn this powerful and easy language.) Take heed, however, that what we describe below is only a stripped-down implementation, written in three days, of differential algebra's most essential features; it is not as robust as and does not contain the battery of tools available in Berz's DA package, the product of a significant amount of work. 10 refs

  20. A germination test: an easy approach to know the irradiation

    International Nuclear Information System (INIS)

    Khawar, A.; Bhatti, I.A.; Bhatti, H.N.

    2010-01-01

    Food irradiation is an evolving preserving technique that provides a shield against the spoilage and might have a potential to ensure the food safety and security world wide. In the present study, feasibility to apply germination test to distinguish an un-irradiated and irradiated samples of wheat, maize, chickpea and black eye beans was checked. Samples were irradiated to the absorbed doses ranging from 0-10 kGy using Co-60 gamma irradiator and were germinated in plant growth chamber. Root and shoot lengths were measured at 7th day after gamma radiation treatment. In all the irradiated samples root and shoot lengths were decreased with the increase in radiation absorbed doses. The seeds irradiated to the absorbed doses more than 2 kGy were not germinated. Germination test proved as an easy and simple method to detect irradiation in wheat, maize, chickpea and black eye beans irradiated even at low absorbed doses. (author)

  1. Easy 3D Mapping for Indoor Navigation of Micro UAVs

    DEFF Research Database (Denmark)

    Schiøler, Henrik; Totu, Luminita Cristiana; La Cour-Harbo, Anders

    2017-01-01

    Indoor operation of micro air vehicles (UAS or UAV) is significantly simplified with the availability of some means for indoor localization as well as a sufficiently precise 3D map of the facility. Creation of 3D maps based on the available architectural information should on the one hand provide...... a map of sufficient precision and on the other limit complexity to a manageable level. This paper presents a box based approach for easy generation 3D maps to serve as the basis for indoor navigation of UAS. The basic building block employed is a 3D axis parallel box (APB). Unions of APBs constitute...... with arguments for pivotal design choices and a selection of examples....

  2. Modified Dugdale crack models - some easy crack relations

    DEFF Research Database (Denmark)

    Nielsen, Lauge Fuglsang

    1997-01-01

    the same strength as a plain Dugdale model. The critical energy release rates Gamma_CR, however, become different. Expressions (with easy computer algorithms) are presented in the paper which relate critical energy release rates and crack geometry to arbitrary cohesive stress distributions.For future...... lifetime analysis of viscoelastic materials strain energy release rates, crack geometries, and cohesive stress distributions are considered as related to sub-critical loads sigma stress-deformation tests......The Dugdale crack model is widely used in materials science to predict strength of defective (cracked) materials. A stable Dugdale crack in an elasto-plastic material is prevented from spreading by uniformly distributed cohesive stresses acting in narrow areas at the crack tips. These stresses...

  3. No easy answers science and the pursuit of knowledge

    CERN Document Server

    Franklin, Allan

    2005-01-01

    In No Easy Answers, Allan Franklin offers an accurate picture of science to both a general reader and to scholars in the humanities and social sciences who may not have any background in physics. Through the examination of nontechnical case studies, he illustrates the various roles that experiment plays in science. He uses examples of unquestioned success, such as the discoveries of the electron and of three types of neutrino, as well as studies that were dead ends, wrong turns, or just plain mistakes, such as the “fifth force,” a proposed modification of Newton's law of gravity. Franklin argues that science is a reasonable enterprise that provides us with knowledge of the natural world based on valid experimental evidence and reasoned and critical discussion, and he makes clear that it behooves all of us to understand how it works.

  4. Remote controlled ultrasonic pre-service and in-service inspections of reactor pressure vessels

    International Nuclear Information System (INIS)

    Mueller, G.

    1990-01-01

    The first mechanised in-service inspection of the reactor pressure vessel on unit one of Eskom's Koeberg nuclear power station has been carried out. Since 1968 a whole range of manipulators to carry out remote controlled ultrasonic inspections of nuclear power station equipment has been developed. The inspection of a reactor pressure vessel using a central mast manipulator is described. 3 figs., 1 ill

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

    International Nuclear Information System (INIS)

    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

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

    International Nuclear Information System (INIS)

    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. 6 references, 3 figures

  7. Task based synthesis of serial manipulators

    Directory of Open Access Journals (Sweden)

    Sarosh Patel

    2015-05-01

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

  8. Status of EFDA Remote Participation Tools and Needs

    Energy Technology Data Exchange (ETDEWEB)

    Giese, P. [Association Euratom HAS /KFKI-RMKI, Budapest (Hungary); Castro, R.; Vega, J. [Asociation Euratom/CIEMAT para Fusion, Madrid (Spain); Schwenn, U. [Max-Planck-Institut fur Plasmaphysik, Garching (Germany)

    2009-07-01

    Remote Participation is key to the success of the activities carried out under JET, EFDA Task Forces and Topical Groups. The Remote Participation Technology enables work and collaborations, irrespective of the physical location of the participants. These activities include 5 broad topics. 1) Remote Data and Computer Access: the main methods used in remote computer access are VPN, SSH and Citrix. There is no strong desire to move towards a standard access method. With regards to remote data access MDSplus has become de-facto standard. Thus, it would seem sensible for data access to/from the ITM gateway to also use MDSPlus. 2) Networking: All EFDA relevant NRENs, as well as GEANT2 and Internet2 work close to perfection. There is no real need for global QoS tools. Some of the LANs have to be improved, since some Associates lack proper connections to GEANT2. 3) Distance conferences and Telecommunication: To achieve an adequate quality of remote conferences the use of H.323 based equipment together with EFDATV is recommended within the EFDA community. Several MCUs (DFNVC, ITER, F4E, NIIF) provide multipoint conference services for EFDA. 4) Collaborative Services: Collaborative environments must provide partners with resources to allow them an easy exchange of information: documents, data and audio/video streams. The EFDA Wiki tool developed for exchange of information among the technical contact persons will be open for other users groups. 5) Remote Experiment Participation: Although Remote experiment tools are still rarely implemented, some are well established and stable. The remote real time experiment data access project, which is being developed by CIEMAT, UPM University and JET CODAS, is very interesting for the users community and its results could be an important base for future developments in this field. This document is composed of an abstract followed by the presentation transparencies. (authors)

  9. Completion of the Heysham 2 peripheral manipulator

    International Nuclear Information System (INIS)

    Shipp, R.; Ewen, R.O.

    1996-01-01

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

  10. W-026, acceptance test report manipulator system

    International Nuclear Information System (INIS)

    Watson, T.L.

    1997-01-01

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

  11. Interpersonal relationship manipulation at a personal level

    OpenAIRE

    Andreja Hribernik

    2010-01-01

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

  12. Remote sensing to monitor uranium tailing sites

    International Nuclear Information System (INIS)

    1992-02-01

    This report concerns the feasibility of using remotely-sensed data for long-term monitoring of uranium tailings. Decommissioning of uranium mine tailings sites may require long-term monitoring to confirm that no unanticipated release of contaminants occurs. Traditional ground-based monitoring of specific criteria of concern would be a significant expense depending on the nature and frequency of the monitoring. The objective of this study was to evaluate whether available remote-sensing data and techniques were applicable to the long-term monitoring of tailings sites. This objective was met by evaluating to what extent the data and techniques could be used to identify and discriminate information useful for monitoring tailings sites. The cost associated with obtaining and interpreting this information was also evaluated. Satellite and aircraft remote-sensing-based activities were evaluated. A monitoring programme based on annual coverage of Landsat Thematic Mapper data is recommended. Immediately prior to and for several years after decommissioning of the tailings sites, airborne multispectral and thermal infrared surveys combined with field verification data are required in order to establish a baseline for the long-term satellite-based monitoring programme. More frequent airborne surveys may be required if rapidly changing phenomena require monitoring. The use of a geographic information system is recommended for the effective storage and manipulation of data accumulated over a number of years

  13. Remote observing with NASA's Deep Space Network

    Science.gov (United States)

    Kuiper, T. B. H.; Majid, W. A.; Martinez, S.; Garcia-Miro, C.; Rizzo, J. R.

    2012-09-01

    The Deep Space Network (DSN) communicates with spacecraft as far away as the boundary between the Solar System and the interstellar medium. To make this possible, large sensitive antennas at Canberra, Australia, Goldstone, California, and Madrid, Spain, provide for constant communication with interplanetary missions. We describe the procedures for radioastronomical observations using this network. Remote access to science monitor and control computers by authorized observers is provided by two-factor authentication through a gateway at the Jet Propulsion Laboratory (JPL) in Pasadena. To make such observations practical, we have devised schemes based on SSH tunnels and distributed computing. At the very minimum, one can use SSH tunnels and VNC (Virtual Network Computing, a remote desktop software suite) to control the science hosts within the DSN Flight Operations network. In this way we have controlled up to three telescopes simultaneously. However, X-window updates can be slow and there are issues involving incompatible screen sizes and multi-screen displays. Consequently, we are now developing SSH tunnel-based schemes in which instrument control and monitoring, and intense data processing, are done on-site by the remote DSN hosts while data manipulation and graphical display are done at the observer's host. We describe our approaches to various challenges, our experience with what worked well and lessons learned, and directions for future development.

  14. A remotely operated robot for decontamination tasks

    International Nuclear Information System (INIS)

    Dudar, A.M.; Vandewalle, R.C.

    1994-01-01

    Engineers in the Robotics Development Group at the Westinghouse Savannah River Company (WSRC) have developed a robot which will be used to decontaminate a pipe gallery of a tank farm used for nuclear waste storage. Personnel access is required into this pipe gallery to inspect existing pipes and perform repairs to secondary containment walls around the tank farm. Presently, the pipe gallery is littered with debris of various sizes and its surface is contaminated with activity levels up to 2.5E6 DPM (disintegrations per minute) alpha and exposure levels as high as 20 Rad/hr. Cleaning up this pipe gallery win be the mission of an all-hydraulic robotic vehicle developed in-house at WSRC caged the ''Remote Decon'' robot. The Remote Decon is a tracked vehicle which utilizes skid steering and features a six-degree-of-freedom (DOF) manipulator arm, a five-DOF front end loader type bucket with a rotating brush for scrubbing and decontaminating surfaces, and a three-DOF pan/tilt mechanism with cameras and lights. The Remote Decon system is connected to a control console via a 200 foot tethered cable. The control console was designed with ergonomics and simplicity as the main design factors and features three joysticks, video monitors, LED panels, and audible alarms

  15. Development of remote handling system based on 3-D shape recognition technique

    International Nuclear Information System (INIS)

    Tomizuka, Chiaki; Takeuchi, Yutaka

    2006-01-01

    In a nuclear facility, the maintenance and repair activities must be done remotely in a radioactive environment. Fuji Electric Systems Co., Ltd. has developed a remote handling system based on 3-D recognition technique. The system recognizes the pose and position of the target to manipulate, and visualizes the scene with the target in 3-D, enabling an operator to handle it easily. This paper introduces the concept and the key features of this system. (author)

  16. Remote Sensing Information Gateway

    Science.gov (United States)

    Remote Sensing Information Gateway, a tool that allows scientists, researchers and decision makers to access a variety of multi-terabyte, environmental datasets and to subset the data and obtain only needed variables, greatly improving the download time.

  17. Remote handling equipment

    International Nuclear Information System (INIS)

    Clement, G.

    1984-01-01

    After a definition of intervention, problems encountered for working in an adverse environment are briefly analyzed for development of various remote handling equipments. Some examples of existing equipments are given [fr

  18. Hyperspectral remote sensing

    National Research Council Canada - National Science Library

    Eismann, Michael Theodore

    2012-01-01

    ..., and hyperspectral data processing. While there are many resources that suitably cover these areas individually and focus on specific aspects of the hyperspectral remote sensing field, this book provides a holistic treatment...

  19. The remote control system

    International Nuclear Information System (INIS)

    Jansweijer, P.P.M.

    1988-01-01

    The remote-control system is applied in order to control various signals in the car of the spectrometer at distance. The construction (hardware and software) as well as the operation of the system is described. (author). 20 figs

  20. Accessing Remote Knowledge

    DEFF Research Database (Denmark)

    Maskell, Peter

    2014-01-01

    young, single-site firms search for distant sources of complementary competences. The discussion is positioned within a comprehensive framework that allows a systematic investigation of the approaches available to firms engaged in globally extended learning. By utilizing the distinction between problem...... awareness (what remote knowledge is needed?) and source awareness (where does this knowledge reside?) the article explores the relative merits and inherent limitations of pipelines, listening posts, crowdsourcing and trade fairs to acquire knowledge and solutions from geographically and relationally remote...

  1. Development of remote handling techniques for the HLLW solidification plant

    International Nuclear Information System (INIS)

    Tosha, Yoshitsugu; Iwata, Toshio; Inada, Eiichi; Nagaki, Hiroshi; Yamamoto, Masao

    1982-01-01

    To develop the techniques for the remote maintenance of the equipment in a HLLW (high-level liquid waste) solidification plant, the mock-up test facility (MTF) has been designed and constructed. Before its construction, the specific mock-up equipment was manufactured and tested. The results of the test and the outline of the MTF are described. As the mock-up equipment, a denitrater-concentrator, a ceramic melter and a canister handling equipment were selected. Remote operation was performed according to the maintenance program, and the evaluation of the component was conducted on the easiness of operation, performance, and the suitability to remote handling equipment. As a result of the test, four important elements were identified; they were guides, lifting fixtures, remote handling bolts, and remote pipe connectors. Many improvements of these elements were achieved, and reflected in the design of the MTF. The MTF is a steel-framed and slate-covered building (25 mL x 20 mW x 27 mH) with five storys of test bases. It contains the following four main systems: pretreatment and off-gas treatment system, glass melting system, canister handling system and secondary waste liquid recovery system. Further development of the remote maintenance techniques is expected through the test in the MTF. (Aoki, K.)

  2. Wired World-Wide Web Interactive Remote Event Display

    Energy Technology Data Exchange (ETDEWEB)

    De Groot, Nicolo

    2003-05-07

    WIRED (World-Wide Web Interactive Remote Event Display) is a framework, written in the Java{trademark} language, for building High Energy Physics event displays. An event display based on the WIRED framework enables users of a HEP collaboration to visualize and analyze events remotely using ordinary WWW browsers, on any type of machine. In addition, event displays using WIRED may provide the general public with access to the research of high energy physics. The recent introduction of the object-oriented Java{trademark} language enables the transfer of machine independent code across the Internet, to be safely executed by a Java enhanced WWW browser. We have employed this technology to create a remote event display in WWW. The combined Java-WWW technology hence assures a world wide availability of such an event display, an always up-to-date program and a platform independent implementation, which is easy to use and to install.

  3. Researching on the process of remote sensing video imagery

    Science.gov (United States)

    Wang, He-rao; Zheng, Xin-qi; Sun, Yi-bo; Jia, Zong-ren; Wang, He-zhan

    Unmanned air vehicle remotely-sensed imagery on the low-altitude has the advantages of higher revolution, easy-shooting, real-time accessing, etc. It's been widely used in mapping , target identification, and other fields in recent years. However, because of conditional limitation, the video images are unstable, the targets move fast, and the shooting background is complex, etc., thus it is difficult to process the video images in this situation. In other fields, especially in the field of computer vision, the researches on video images are more extensive., which is very helpful for processing the remotely-sensed imagery on the low-altitude. Based on this, this paper analyzes and summarizes amounts of video image processing achievement in different fields, including research purposes, data sources, and the pros and cons of technology. Meantime, this paper explores the technology methods more suitable for low-altitude video image processing of remote sensing.

  4. Lightweight submersed 'Walking' NDE manipulators for PWR and BWR vessel weld inspection

    International Nuclear Information System (INIS)

    Saernmark, Ivan; Lenz, Herbert

    2008-01-01

    Three new manipulators developed by WesDyne TRC in Sweden have under the year 2007 performed three very successful inspections in the PWR reactor Ringhals 3 and the BWR reactors Ringhals 1 and Oskarshamn 1. The manipulator systems can be used to perform inspection of circumferential and vertical welds on the reactor pressure vessel, the core shroud, core shroud support in BWR reactors or vessel and core barrel welds in PWR reactors. Most other flat or curved surfaces can be inspected using the new concept through relatively simple mechanical reconfigurations of system modules. The first inspection was performed on the R3 PWR core barrel in June 2007 with a very good result. This Manipulator is designed for access in very narrow gaps and for the type of core barrels with a shield covering the whole area of the perimeter. The manipulator is attached to the inspection area by means of a new unique suction cup system. The current manipulators consist of a curved horizontal beam, with radius similar to the reactor vessel, and a straight vertical beam, forming a T-shaped structure. By alternating the application of suction cup pairs on the horizontal beam and the vertical beam and by driving the scanning motors, the manipulator performs an incremental translational movement upwards/downwards or from side to side. The principles of this system give a well defined and stable platform for global and local positioning accuracy. A combination of advanced sensor solutions provides accurate position information in the absence of other physical reference objects. The system is controlled by the new WesDyne TRC Motor Control Panel and software, the MCP is specifically designed for remote control of submersed manipulators using techniques for cable reduction

  5. Lightweight submersed 'Walking' NDE manipulators for PWR and BWR vessel weld inspection

    Energy Technology Data Exchange (ETDEWEB)

    Saernmark, Ivan; Lenz, Herbert [WesDyne TRC AB, Stockholm (Sweden)

    2008-04-15

    Three new manipulators developed by WesDyne TRC in Sweden have under the year 2007 performed three very successful inspections in the PWR reactor Ringhals 3 and the BWR reactors Ringhals 1 and Oskarshamn 1. The manipulator systems can be used to perform inspection of circumferential and vertical welds on the reactor pressure vessel, the core shroud, core shroud support in BWR reactors or vessel and core barrel welds in PWR reactors. Most other flat or curved surfaces can be inspected using the new concept through relatively simple mechanical reconfigurations of system modules. The first inspection was performed on the R3 PWR core barrel in June 2007 with a very good result. This Manipulator is designed for access in very narrow gaps and for the type of core barrels with a shield covering the whole area of the perimeter. The manipulator is attached to the inspection area by means of a new unique suction cup system. The current manipulators consist of a curved horizontal beam, with radius similar to the reactor vessel, and a straight vertical beam, forming a T-shaped structure. By alternating the application of suction cup pairs on the horizontal beam and the vertical beam and by driving the scanning motors, the manipulator performs an incremental translational movement upwards/downwards or from side to side. The principles of this system give a well defined and stable platform for global and local positioning accuracy. A combination of advanced sensor solutions provides accurate position information in the absence of other physical reference objects. The system is controlled by the new WesDyne TRC Motor Control Panel and software, the MCP is specifically designed for remote control of submersed manipulators using techniques for cable reduction.

  6. Surgical manipulation of mammalian embryos in vitro.

    Science.gov (United States)

    Naruse, I; Keino, H; Taniguchi, M

    1997-04-01

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

  7. Autonomous Task Primitives for Complex Manipulation Operations

    Data.gov (United States)

    National Aeronautics and Space Administration — The goal of this research effort is to enable robots to autonomously perform the complex manipulation tasks that are necessary to maintain a spacecraft. Robots, like...

  8. Spinal Manipulation for Low-Back Pain

    Science.gov (United States)

    ... V W X Y Z Spinal Manipulation for Low-Back Pain Share: On This Page Introduction Key Points About ... will help ensure coordinated and safe care. About Low-Back Pain Back pain is one of the most common ...

  9. Analysis, reconstruction and manipulation using arterial snakes

    KAUST Repository

    Li, Guo; Liu, Ligang; Zheng, Hanlin; Mitra, Niloy J.

    2010-01-01

    , and manipulating such arterial surfaces. The core of the algorithm is a novel deformable model, called arterial snake, that simultaneously captures the topology and geometry of the arterial objects. The recovered snakes produce a natural decomposition of the raw

  10. Disrupting reconsolidation: pharmacological and behavioral manipulations

    NARCIS (Netherlands)

    Soeter, M.; Kindt, M.

    2011-01-01

    We previously demonstrated that disrupting reconsolidation by pharmacological manipulations "deleted" the emotional expression of a fear memory in humans. If we are to target reconsolidation in patients with anxiety disorders, the disruption of reconsolidation should produce content-limited

  11. ADVERTISING AS MEAN OF MANIPULATION OF PEOPLE

    Directory of Open Access Journals (Sweden)

    Camelia PAVEL

    2014-04-01

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

  12. Optoelectronic Tweezers for Microparticle and Cell Manipulation

    Science.gov (United States)

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

    2014-01-01

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

  13. Tension Stiffened and Tendon Actuated Manipulator

    Science.gov (United States)

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

    2015-01-01

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

  14. An easy-to-use diagnostic system development shell

    Science.gov (United States)

    Tsai, L. C.; Ross, J. B.; Han, C. Y.; Wee, W. G.

    1987-01-01

    The Diagnostic System Development Shell (DSDS), an expert system development shell for diagnostic systems, is described. The major objective of building the DSDS is to create a very easy to use and friendly environment for knowledge engineers and end-users. The DSDS is written in OPS5 and CommonLisp. It runs on a VAX/VMS system. A set of domain independent, generalized rules is built in the DSDS, so the users need not be concerned about building the rules. The facts are explicitly represented in a unified format. A powerful check facility which helps the user to check the errors in the created knowledge bases is provided. A judgement facility and other useful facilities are also available. A diagnostic system based on the DSDS system is question driven and can call or be called by other knowledge based systems written in OPS5 and CommonLisp. A prototype diagnostic system for diagnosing a Philips constant potential X-ray system has been built using the DSDS.

  15. Preimage Selective Trapdoor Function: How to Repair an Easy Problem

    Directory of Open Access Journals (Sweden)

    Baocang Wang

    2014-01-01

    Full Text Available Public key cryptosystems are constructed by embedding a trapdoor into a one-way function. So, the one-wayness and the trapdoorness are vital to public key cryptography. In this paper, we propose a novel public key cryptographic primitive called preimage selective trapdoor function. This scenario allows to use exponentially many preimage to hide a plaintext even if the underlying function is not one-way. The compact knapsack problem is used to construct a probabilistic public key cryptosystem, the underlying encryption function of which is proven to be preimage selective trapdoor one-way functions under some linearization attack models. The constructive method can guarantee the noninjectivity of the underlying encryption function and the unique decipherability for ciphertexts simultaneously. It is heuristically argued that the security of the proposal cannot be compromised by a polynomial-time adversary even if the compact knapsack is easy to solve. We failed to provide any provable security results about the proposal; however, heuristic illustrations show that the proposal is secure against some known attacks including brute force attacks, linearization attacks, and key-recovery attacks. The proposal turns out to have acceptable key sizes and performs efficiently and hence is practical.

  16. Growing perovskite into polymers for easy-processable optoelectronic devices

    Science.gov (United States)

    Masi, Sofia; Colella, Silvia; Listorti, Andrea; Roiati, Vittoria; Liscio, Andrea; Palermo, Vincenzo; Rizzo, Aurora; Gigli, Giuseppe

    2015-01-01

    Here we conceive an innovative nanocomposite to endow hybrid perovskites with the easy processability of polymers, providing a tool to control film quality and material crystallinity. We verify that the employed semiconducting polymer, poly[2-methoxy-5-(2-ethylhexyloxy)-1,4-phenylenevinylene] (MEH-PPV), controls the self-assembly of CH3NH3PbI3 (MAPbI3) crystalline domains and favors the deposition of a very smooth and homogenous layer in one straightforward step. This idea offers a new paradigm for the implementation of polymer/perovskite nanocomposites towards versatile optoelectronic devices combined with the feasibility of mass production. As a proof-of-concept we propose the application of such nanocomposite in polymer solar cell architecture, demonstrating a power conversion efficiency up to 3%, to date the highest reported for MEH-PPV. On-purpose designed polymers are expected to suit the nanocomposite properties for the integration in diverse optoelectronic devices via facile processing condition.

  17. The IBA Easy-E-Beam™ Integrated Processing System

    Science.gov (United States)

    Cleland, Marshall R.; Galloway, Richard A.; Lisanti, Thomas F.

    2011-06-01

    IBA Industrial Inc., (formerly known as Radiation Dynamics, Inc.) has been making high-energy and medium-energy, direct-current proton and electron accelerators for research and industrial applications for many years. Some industrial applications of high-power electron accelerators are the crosslinking of polymeric materials and products, such as the insulation on electrical wires, multi-conductor cable jackets, heat-shrinkable plastic tubing and film, plastic pipe, foam and pellets, the partial curing of rubber sheet for automobile tire components, and the sterilization of disposable medical devices. The curing (polymerization and crosslinking) of carbon and glass fiber-reinforced composite plastic parts, the preservation of foods and the treatment of waste materials are attractive possibilities for future applications. With electron energies above 1.0 MeV, the radiation protection for operating personnel is usually provided by surrounding the accelerator facility with thick concrete walls. With lower energies, steel and lead panels can be used, which are substantially thinner and more compact than the equivalent concrete walls. IBA has developed a series of electron processing systems called Easy-e-Beam™ for the medium energy range from 300 keV to 1000 keV. These systems include the shielding as an integral part of a complete radiation processing facility. The basic concepts of the electron accelerator, the product processing equipment, the programmable control system, the configuration of the radiation shielding and some performance characteristics are described in this paper.

  18. The IBA Easy-E-Beam Integrated Processing System

    International Nuclear Information System (INIS)

    Cleland, Marshall R.; Galloway, Richard A.; Lisanti, Thomas F.

    2011-01-01

    IBA Industrial Inc., (formerly known as Radiation Dynamics, Inc.) has been making high-energy and medium-energy, direct-current proton and electron accelerators for research and industrial applications for many years. Some industrial applications of high-power electron accelerators are the crosslinking of polymeric materials and products, such as the insulation on electrical wires, multi-conductor cable jackets, heat-shrinkable plastic tubing and film, plastic pipe, foam and pellets, the partial curing of rubber sheet for automobile tire components, and the sterilization of disposable medical devices. The curing (polymerization and crosslinking) of carbon and glass fiber-reinforced composite plastic parts, the preservation of foods and the treatment of waste materials are attractive possibilities for future applications. With electron energies above 1.0 MeV, the radiation protection for operating personnel is usually provided by surrounding the accelerator facility with thick concrete walls. With lower energies, steel and lead panels can be used, which are substantially thinner and more compact than the equivalent concrete walls. IBA has developed a series of electron processing systems called Easy-e-Beam for the medium energy range from 300 keV to 1000 keV. These systems include the shielding as an integral part of a complete radiation processing facility. The basic concepts of the electron accelerator, the product processing equipment, the programmable control system, the configuration of the radiation shielding and some performance characteristics are described in this paper.

  19. Designing easy DNA extraction: Teaching creativity through laboratory practice.

    Science.gov (United States)

    Susantini, Endang; Lisdiana, Lisa; Isnawati; Tanzih Al Haq, Aushia; Trimulyono, Guntur

    2017-05-01

    Subject material concerning Deoxyribose Nucleic Acid (DNA) structure in the format of creativity-driven laboratory practice offers meaningful learning experience to the students. Therefore, a laboratory practice in which utilizes simple procedures and easy-safe-affordable household materials should be promoted to students to develop their creativity. This study aimed to examine whether designing and conducting DNA extraction with household materials could foster students' creative thinking. We also described how this laboratory practice affected students' knowledge and views. A total of 47 students participated in this study. These students were grouped and asked to utilize available household materials and modify procedures using hands-on worksheet. Result showed that this approach encouraged creative thinking as well as improved subject-related knowledge. Students also demonstrated positive views about content knowledge, social skills, and creative thinking skills. This study implies that extracting DNA with household materials is able to develop content knowledge, social skills, and creative thinking of the students. © 2016 by The International Union of Biochemistry and Molecular Biology, 45(3):216-225, 2017. © 2016 The International Union of Biochemistry and Molecular Biology.

  20. Easy Long-Term Identifiers and the "Data Paper"

    Science.gov (United States)

    Kunze, John

    2011-05-01

    A new publishing paradigm is needed to cope with the deluge of data artifacts produced by data-intensive science, many of which are vital to data re-use and verification of published scientific conclusions. Due to the limitations of traditional publishing, most of these artifacts are not usually disseminated, cited, or preserved. At the California Digital Library (CDL), one promising approach to the problem is to wrap these artifacts in the metaphor of a "data paper", assigning and managing data citations with our EZID (easy-eye-dee) identifier service. A data paper is a somewhat unfamiliar bundle of scholarly output with a familiar facade: minimally, a set of links to archived artifacts and a cover sheet containing familiar elements such as title, authors, date, abstract, and persistent identifier _ just enough to create basic citations, build "overlay journals", and enable discovery of data by internet search engines. Over time, we expect to add elements that permit deeper domain-specific discovery and re-use, such as variable names, methods, etc. At the same time, for data and identifiers that we manage, we will leverage as much domain-agnosticism data and identifier as possible.