WorldWideScience

Sample records for remote manipulators perform

  1. 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.

  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. 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...

  5. 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.

  6. 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

  7. 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

  8. 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)

  9. 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.

  10. 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

  11. 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

  12. 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

  13. 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.

  14. 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

  15. 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

  16. 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

  17. 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.

  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. 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

  1. 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

  2. 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.

  3. 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.)

  4. 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.

  5. 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

  6. 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

  7. 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)

  8. 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

  9. 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)

  10. 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

  11. 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

  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. 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.

  15. 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

  16. 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.

  17. 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

  18. 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

  19. 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)

  20. 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)

  1. Deception studies manipulating centrally acting performance modifiers: a review.

    Science.gov (United States)

    Williams, Emily L; Jones, Hollie S; Sparks, Sandy; Marchant, David C; Micklewright, Dominic; McNaughton, Lars R

    2014-07-01

    Athletes anticipatorily set and continuously adjust pacing strategies before and during events to produce optimal performance. Self-regulation ensures maximal effort is exerted in correspondence with the end point of exercise, while preventing physiological changes that are detrimental and disruptive to homeostatic control. The integration of feedforward and feedback information, together with the proposed brain's performance modifiers is said to be fundamental to this anticipatory and continuous regulation of exercise. The manipulation of central, regulatory internal and external stimuli has been a key focus within deception research, attempting to influence the self-regulation of exercise and induce improvements in performance. Methods of manipulating performance modifiers such as unknown task end point, deceived duration or intensity feedback, self-belief, or previous experience create a challenge within research, as although they contextualize theoretical propositions, there are few ecological and practical approaches which integrate theory with practice. In addition, the different methods and measures demonstrated in manipulation studies have produced inconsistent results. This review examines and critically evaluates the current methods of how specific centrally controlled performance modifiers have been manipulated, within previous deception studies. From the 31 studies reviewed, 10 reported positive effects on performance, encouraging future investigations to explore the mechanisms responsible for influencing pacing and consequently how deceptive approaches can further facilitate performance. The review acts to discuss the use of expectation manipulation not only to examine which methods of deception are successful in facilitating performance but also to understand further the key components used in the regulation of exercise and performance.

  2. 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.

  3. 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.

  4. 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..

  5. 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.)

  6. 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.

  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. Performance evaluation of the Personal Mobility and Manipulation Appliance (PerMMA).

    Science.gov (United States)

    Wang, Hongwu; Xu, Jijie; Grindle, Garrett; Vazquez, Juan; Salatin, Ben; Kelleher, Annmarie; Ding, Dan; Collins, Diane M; Cooper, Rory A

    2013-11-01

    The Personal Mobility and Manipulation Appliance (PerMMA) is a recently developed personal assistance robot created to provide people with severe physical disabilities enhanced assistance in both mobility and manipulation. PerMMA aims to improve functional independence when a personal care attendant is not available on site. PerMMA integrates both a smart powered wheelchair and two dexterous robotic arms to assist its users in completing essential mobility and manipulation tasks during basic and instrumental activities of daily living (ADL). Two user interfaces were developed: a local control interface and a remote operator controller. This paper reports on the evaluation of PerMMA with end users completing basic ADL tasks. Participants with both lower and upper extremity impairments (N=15) were recruited to operate PerMMA and complete up to five ADL tasks in a single session of no more than two hours (to avoid fatigue or frustration of the participants). The performance of PerMMA was evaluated by participants completing ADL tasks with two different control modes: local mode and cooperative control. The users' task completion performance and answers on pre/post-evaluation questionnaires demonstrated not only the ease in learning and usefulness of PerMMA, but also their attitudes toward assistance from advanced technology like PerMMA. As a part of the iterative development process, results of this work will serve as supporting evidence to identify design criteria and other areas for improvement of PerMMA. Copyright © 2013 IPEM. All rights reserved.

  9. 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.

  10. 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.

  11. 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.

  12. Robust high-performance control for robotic manipulators

    Science.gov (United States)

    Seraji, Homayoun (Inventor)

    1991-01-01

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

  13. Manipulating perceptual parameters in a continuous performance task.

    Science.gov (United States)

    Shalev, Nir; Humphreys, Glyn; Demeyere, Nele

    2018-02-01

    Sustained attention (SA) is among the most studied faculties of human cognition, and thought to be crucial for many aspects of behavior. Measuring SA often relies on performance on a continuous, low-demanding task. Such continuous performance tasks (CPTs) have many variations, and sustained attention is typically estimated based on variability in reaction times. While relying on reaction times may be useful in some cases, it can pose a challenge when working with clinical populations. To increase interpersonal variability in task parameters that do not rely on speed, researchers have increased demands for memory and response inhibition. These approaches, however, may be confounded when used to assess populations that suffer from multiple cognitive deficits. In the current study, we propose a new approach for increasing task variability by increasing the attentional demands. In order to do so, we created a new variation of a CPT - a masked version, where inattention is more likely to cause misidentifying a target. After establishing that masking indeed decreases target detection, we further investigated which task parameter may influence response biases. To do so, we contrasted two versions of the CPT with different target/distractor ratio. We then established how perceptual parameters can be controlled independently in a CPT. Following the experimental manipulations, we tested the MCCPT with aging controls and chronic stroke patients to assure the task can be used with target populations. The results confirm the MCCPT as a task providing high sensitivity without relying on reaction speed, and feasible for patients.

  14. 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.

  15. 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.

  16. 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)

  17. 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

  18. 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

  19. 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.)

  20. 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.

  1. High-definition television evaluation for remote handling task performance

    International Nuclear Information System (INIS)

    Fujita, Y.; Omori, E.; Hayashi, S.; Draper, J.V.; Herndon, J.N.

    1986-01-01

    In a plant that employs remote handling techniques for equipment maintenance, operators perform maintenance tasks primarily by using the information from television systems. The efficiency of the television system has a significant impact on remote maintenance task performance. High-definition television (HDTV) transmits a video image with more than twice the number of horizontal scan lines as standard-resolution television (1125 for HDTV to 525 for standard-resolution NTSC television). The added scan lines dramatically improve the resolution of images on the HDTV monitors. This paper describes experiments designed to evaluate the impact of HDTV on the performance of typical remote tasks. The experiments described in this paper compared the performance of four operators using HDTV with their performance while using other television systems. The experiments included four television systems: (a) high-definition color television, (b) high-definition monochromatic television, (c) standard-resolution monochromatic television, and (d) standard-resolution stereoscopic monochromatic television

  2. Optimizing interactive performance for long-distance remote observing

    Science.gov (United States)

    Kibrick, Robert; Allen, Steven L.; Conrad, Al; Wirth, Gregory D.

    2006-06-01

    Remote observing is the dominant mode of operation for both Keck Telescopes and their associated instruments. Over 90% of all Keck observations are carried out remotely from the Keck Headquarters in Waimea, Hawaii (located 40 kilometers from the telescopes on the summit of Mauna Kea), and this year represents the tenth anniversary of the start of Keck remote observing from Waimea. In addition, an increasing number of observations are now conducted by geographically-dispersed observing teams, with some team members working from Waimea while others collaborate from Keck remote observing facilities located in California. Such facilities are now operational on four campuses of the University of California and at the California Institute of Technology. Details of the motivation and planning for those facilities and the software architecture on which they were originally based are discussed in several previous reports. The most recent of those papers reported the results of various measurements of interactive performance as a function of alternative networking protocols (e.g., ssh, X, VNC) and software topologies. This report updates those results to reflect performance improvements that have occurred over the past two years as a result of upgrades to hardware, software, and network configurations at the respective sites. It also explores how the Keck remote observing effort has evolved over the past decade in response to the increased number and diversity of Keck instruments and the growing number of mainland remote observing sites.

  3. Assessing irrigation performance by using remote sensing

    NARCIS (Netherlands)

    Bandara, K.M.P.S.

    2006-01-01

    Keywords: Performance indicators, performance assessment, diagnostic approach, SEBAL, target level, grain yield, water productivity, error estimation, spatio-temporal resolution.

    In

  4. Remote Intimations: Performance Art and Environmental Illness

    Science.gov (United States)

    Bottoms, Stephen; Laffin, Julie

    2012-01-01

    This article explores and documents the work of leading Midwestern performance artist Julie Laffin, in the years since she developed a serious form of environmental illness (Multiple Chemical Sensitivity). This condition has effectively rendered her housebound and unable to appear in public, so that her previous live performance practice--which…

  5. Consistent Performance Differences between Children and Adults Despite Manipulation of Cue-Target Variables

    Directory of Open Access Journals (Sweden)

    Jessie-Raye Bauer

    2017-08-01

    Full Text Available Two behavioral experiments assessed the plasticity and short-term improvement of task switching in 215 children and adults. Specifically, we studied manipulations of cued attention to different features of a target stimulus as a way to assess the development of cognitive flexibility. Each experiment had multiple levels of difficulty via manipulation of number of cued features (2–4 and number of response options (2 or 4. Working memory demand was manipulated across the two experiments. Impact of memory demand and task level manipulations on task accuracy and response times were measured. There were three overall goals: First, these task manipulations (number of cued features, response choices, and working memory load were tested to assess the stability of group differences in performance between children ages 6–16 years and adults 18–27 years, with the goal of reducing age group differences. Second, age-related transitions to adult-level performance were examined within subgroups of the child sample. Third, short-term improvement from the beginning to the end of the study session was measured to probe whether children can improve with task experience. Attempts to use task manipulations to reduce age differences in cued task switching performance were unsuccessful: children performed consistently worse and were more susceptible to task manipulations than adults. However, across both studies, adult-like performance was observed around mid-adolescence, by ages 13-16 years. Certain task manipulations, especially increasing number of response options when working memory demand was low, produced differences from adults even in the oldest children. Interestingly, there was similar performance improvement with practice for both child and adult groups. The higher memory demand version of the task (Experiment 2 prompted greater short-term improvement in accuracy and response times than the lower memory demand version (Experiment 1. These results

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

    International Nuclear Information System (INIS)

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

    1975-11-01

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

  7. 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)

  8. User's guide for remote access of the Performance Assessment Center

    International Nuclear Information System (INIS)

    Peterson, C.R.; Kostelnik, K.M.

    1991-03-01

    The Performance Assessment Center (PAC) was established by the Department of Energy's National Low-Level Waste Management Program to provide technical assistance to support the development of low-level radioactive waste disposal facilities. This user's manual provides guidance to remote users of the PAC. Information is presented on how remote users may most effectively access and use the systems available at the Performance Assessment Center in Idaho Falls, Idaho. Access requirements and operating procedures are presented to assist the first-time PAC user. This manual also provides brief descriptions of each code available on the system

  9. 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.

  10. Does Manipulating Stereotype Threat Condition Change Performance Goal State

    Science.gov (United States)

    Simmons, Cecil Max

    2010-01-01

    This study tested whether the Stereotype Threat effect is mediated by achievement goals, in particular performance-avoidance goals. Threat level was altered before a difficult math test to observe how the endorsement by females of various achievement goal dimensions was affected. 222 people (96 females) in a pre-calculus class at a Mid-Western…

  11. Network Performance and Quality of Experience of Remote Access Laboratories

    Directory of Open Access Journals (Sweden)

    Alexander A. Kist

    2012-11-01

    Full Text Available Remote Access Laboratories (RAL have become important learning and teaching tools. This paper presents a performance study that targets a specific remote access architecture implemented within a universities operational environment. This particular RAL system provides globally authenticated and arbitrated remote access to virtualized computers as well as computer controlled hardware experiments. This paper presents system performance results that have been obtained utilizing both a set of automated and human subject tests. Principle objectives of the study were: To gain a better understanding of the nature of network traffic caused by experimental activity usage; to obtain an indication of user expectations of activity performance; and to develop a measure to predict Quality of Experience, based on easily measurable Quality of Service parameters. The study emulates network layer variation of access-bandwidth and round-trip-time of typical usage scenarios and contrasts against user perception results that allow classifying expected user performance. It demonstrates that failure rate is excellent measure of usability, and that round-trip-time predominantly affects user experience. Thin-client and remote desktop architectures are popular to separate the location of users and the actual data processing and use similar structures, hence results of this study to be applied in these application areas as well.

  12. Remote Manipulation of D&D Exhibiting Tele-Autonomy and Tele-Collaboration

    Energy Technology Data Exchange (ETDEWEB)

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

    2006-12-05

    Teleoperation has found much application in today's society. While its benefits make it advantageous in many situations, teleoperation also introduces new challenges. In this paper, we present techniques to improve teleoperation performance by making better use of the human's inherent skills.

  13. Remote Manipulation of D and D Exhibiting Tele-Autonomy and Tele-Collaboration

    International Nuclear Information System (INIS)

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

    2006-01-01

    Teleoperation has found much application in today's society. While its benefits make it advantageous in many situations, teleoperation also introduces new challenges. In this paper, we present techniques to improve teleoperation performance by making better use of the human's inherent skills

  14. 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.

  15. Integration of remote refurbishment performed on ITER components

    Energy Technology Data Exchange (ETDEWEB)

    Dammann, A., E-mail: alexis.dammann@iter.org [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France); Antola, L. [AMEC, 31 Parc du Golf, CS 90519, 13596 Aix en Provence (France); Beaudoin, V. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France); Dremel, C. [Westinghouse, Electrique France/Astare, 122 Avenue de Hambourg, 13008 Marseille (France); Evrard, D. [SOGETI High Tech, 180 Rue René Descartes, 13851 Aix en Provence (France); Friconneau, J.P. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France); Lemée, A. [SOGETI High Tech, 180 Rue René Descartes, 13851 Aix en Provence (France); Levesy, B.; Pitcher, C.S. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France)

    2015-10-15

    Highlights: • System engineering approach to consolidate requirements to modify the layout of the Hot Cell. • Illustration of the loop between requirement and design. • Verification process. - Abstract: Internal components of the ITER Tokamak are replaced and transferred to the Hot Cell by remote handling equipment. These components include port plugs, cryopumps, divertor cassettes, blanket modules, etc. They are brought to the refurbishment area of the ITER Hot Cell Building for cleaning and maintenance, using remote handling techniques. The ITER refurbishment area will be unique in the world, when considering combination of size, quantity of complex component to refurbish in presence of radiation, activated dust and tritium. The refurbishment process to integrate covers a number of workstations to perform specific remote operations fully covered by a mast on crane system. This paper describes the integration of the Refurbishment Area, explaining the functions, the methodology followed, some illustrations of trade-off and safety improvements.

  16. Remote handling dynamical modelling: assessment on new approach to enhance positioning accuracy with heavy load manipulation

    International Nuclear Information System (INIS)

    Gagarina-Sasia, T.; David, O.; Dubus, G.; Perrot, Y.; Riwain, A.

    2007-01-01

    In vessel maintenance work in Fusion Tokamak will be carried out with help several sets of robotic devices. Heavy loads handling in constrained space is identified by all players of the RH community as a key-issue in the latest Fusion Tokamak facilities. To deal with high-level dexterity tasks, high payload to mass ratio and limited operating space, RH equipment designers can only propose systems whose mechanical flexibility is no longer negligible and need to be taken into account in the control scheme. Traditional approaches where control system only includes a linear model of deformation of the structure leads to poor positioning accuracy. Uncontrolled or under evaluated errors could be damaging for in-vessel components during maintenance operations in the Tokamak facility. To address the control of complex flexible systems, we will investigate the use of specific mechanical software that combines both finite element and kinematical joints analyses, with a strong-coupled formulation, to perform system dynamics simulations. This procedure will be applied on a single axis mock up robotic joint with highly flexible structure. A comparison of experimental results with the traditional linear approach and the specified software model will be carried out. Benefits introduced by this new approach will finally be assessed in view of RH design or specification in the field of RH in Fusion Tokamak scale such as ITER. (orig.)

  17. 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)

  18. Influence of visual feedback on human task performance in ITER remote handling

    Energy Technology Data Exchange (ETDEWEB)

    Schropp, Gwendolijn Y.R., E-mail: g.schropp@heemskerk-innovative.nl [Utrecht University, Utrecht (Netherlands); Heemskerk Innovative Technology, Noordwijk (Netherlands); Heemskerk, Cock J.M. [Heemskerk Innovative Technology, Noordwijk (Netherlands); Kappers, Astrid M.L.; Tiest, Wouter M. Bergmann [Helmholtz Institute-Utrecht University, Utrecht (Netherlands); Elzendoorn, Ben S.Q. [FOM-Institute for Plasma Physics Rijnhuizen, Association EURATOM/FOM, Partner in the Trilateral Euregio Clusterand ITER-NL, PO box 1207, 3430 BE Nieuwegein (Netherlands); Bult, David [FOM-Institute for Plasma Physics Rijnhuizen, Association EURATOM/FOM, Partner in the Trilateral Euregio Clusterand ITER-NL, PO box 1207, 3430 BE Nieuwegein (Netherlands)

    2012-08-15

    Highlights: Black-Right-Pointing-Pointer The performance of human operators in an ITER-like test facility for remote handling. Black-Right-Pointing-Pointer Different sources of visual feedback influence how fast one can complete a maintenance task. Black-Right-Pointing-Pointer Insights learned could be used in design of operator work environment or training procedures. - Abstract: In ITER, maintenance operations will be largely performed by remote handling (RH). Before ITER can be put into operation, safety regulations and licensing authorities require proof of maintainability for critical components. Part of the proof will come from using standard components and procedures. Additional verification and validation is based on simulation and hardware tests in 1:1 scale mockups. The Master Slave manipulator system (MS2) Benchmark Product was designed to implement a reference set of maintenance tasks representative for ITER remote handling. Experiments were performed with two versions of the Benchmark Product. In both experiments, the quality of visual feedback varied by exchanging direct view with indirect view (using video cameras) in order to measure and analyze its impact on human task performance. The first experiment showed that both experienced and novice RH operators perform a simple task significantly better with direct visual feedback than with camera feedback. A more complex task showed a large variation in results and could not be completed by many novice operators. Experienced operators commented on both the mechanical design and visual feedback. In a second experiment, a more elaborate task was tested on an improved Benchmark product. Again, the task was performed significantly faster with direct visual feedback than with camera feedback. In post-test interviews, operators indicated that they regarded the lack of 3D perception as the primary factor hindering their performance.

  19. Influence of visual feedback on human task performance in ITER remote handling

    International Nuclear Information System (INIS)

    Schropp, Gwendolijn Y.R.; Heemskerk, Cock J.M.; Kappers, Astrid M.L.; Tiest, Wouter M. Bergmann; Elzendoorn, Ben S.Q.; Bult, David

    2012-01-01

    Highlights: ► The performance of human operators in an ITER-like test facility for remote handling. ► Different sources of visual feedback influence how fast one can complete a maintenance task. ► Insights learned could be used in design of operator work environment or training procedures. - Abstract: In ITER, maintenance operations will be largely performed by remote handling (RH). Before ITER can be put into operation, safety regulations and licensing authorities require proof of maintainability for critical components. Part of the proof will come from using standard components and procedures. Additional verification and validation is based on simulation and hardware tests in 1:1 scale mockups. The Master Slave manipulator system (MS2) Benchmark Product was designed to implement a reference set of maintenance tasks representative for ITER remote handling. Experiments were performed with two versions of the Benchmark Product. In both experiments, the quality of visual feedback varied by exchanging direct view with indirect view (using video cameras) in order to measure and analyze its impact on human task performance. The first experiment showed that both experienced and novice RH operators perform a simple task significantly better with direct visual feedback than with camera feedback. A more complex task showed a large variation in results and could not be completed by many novice operators. Experienced operators commented on both the mechanical design and visual feedback. In a second experiment, a more elaborate task was tested on an improved Benchmark product. Again, the task was performed significantly faster with direct visual feedback than with camera feedback. In post-test interviews, operators indicated that they regarded the lack of 3D perception as the primary factor hindering their performance.

  20. Make-or-buy decisions and the manipulability of performance measures

    OpenAIRE

    Andersson, Fredrik

    2009-01-01

    Abstract in Undetermined The make-or-buy decision is analyzed in a simple framework combining contractual incompleteness with the existence of an imperfect but contractible performance measure. Contractual incompleteness gives rise to two regimes, identified with make and buy. The performance measure on which comprehensive contracts can be written is imperfect in the sense of being subject to manipulation. The performance incentives faced by the agent are stronger in the “buy” regime. A posit...

  1. Evaluation of high-definition television for remote task performance

    International Nuclear Information System (INIS)

    Draper, J.V.; Fujita, Y.; Herndon, J.N.

    1987-04-01

    High-definition television (HDTV) transmits a video image with more than twice the number (1125 for HDTV to 525 for standard-resolution TV) of horizontal scan lines that standard-resolution TV provides. The improvement in picture quality (compared to standard-resolution TV) that the extra scan lines provide is impressive. Objects in the HDTV picture have more sharply defined edges, better contrast, and more accurate reproduction of shading and color patterns than do those in the standard-resolution TV picture. Because the TV viewing system is a key component for teleoperator performance, an improvement in TV picture quality could mean an improvement in the speed and accuracy with which teleoperators perform tasks. This report describes three experiments designed to evaluate the impact of HDTV on the performance of typical remote tasks. The performance of HDTV was compared to that of standard-resolution, monochromatic TV and standard-resolution, stereoscopic, monochromatic TV in the context of judgment of depth in a televised scene, visual inspection of an object, and performance of a typical remote handling task. The results of the three experiments show that in some areas HDTV can lead to improvement in teleoperator performance. Observers inspecting a small object for a flaw were more accurate with HDTV than with either of the standard-resolution systems. High resolution is critical for detection of small-scale flaws of the type in the experiment (a scratch on a glass bottle). These experiments provided an evaluation of HDTV television for use in tasks that must be routinely performed to remotely maintain a nuclear fuel reprocessing facility. 5 refs., 7 figs., 9 tabs

  2. 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.

  3. 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.

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

    International Nuclear Information System (INIS)

    Sol, Enrique del; Meek, Richard; Ruiz Morales, Emilio; Vitelli, Ricardo; Esqué, Salvador

    2016-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2016-06-15

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

  6. High-definition television evaluation for remote handling task performance

    International Nuclear Information System (INIS)

    Fujita, Y.; Omori, E.; Hayashi, S.; Draper, J.V.; Herndon, J.N.

    1986-01-01

    This paper describes experiments designed to evaluate the impact of HDTV on the performance of typical remote tasks. The experiments described in this paper compared the performance of four operators using HDTV with their performance while using other television systems. The experiments included four television systems: (1) high-definition color television, (2) high-definition monochromatic television, (3) standard-resolution monochromatic television, and (4) standard-resolution stereoscopic monochromatic television. The stereo system accomplished stereoscopy by displaying two cross-polarized images, one reflected by a half-silvered mirror and one seen through the mirror. Observers wore a pair of glasses with cross-polarized lenses so that the left eye received only the view from the left camera and the right eye received only the view from the right camera

  7. Manipulating motor performance and memory through real-time fMRI neurofeedback

    OpenAIRE

    Scharnowski, Frank; Veit, Ralf; Zopf, Regine; Studer, Petra; Bock, Simon; Diedrichsen, Jörn; Goebel, Rainer; Mathiak, Klaus; Birbaumer, Niels; Weiskopf, Nikolaus

    2015-01-01

    Task performance depends on ongoing brain activity which can be influenced by attention, arousal, or motivation. However, such modulating factors of cognitive efficiency are unspecific, can be difficult to control, and are not suitable to facilitate neural processing in a regionally specific manner. Here, we non-pharmacologically manipulated regionally specific brain activity using technically sophisticated real-time fMRI neurofeedback. This was accomplished by training participants to simult...

  8. 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)

  9. The effects of platform motion and target orientation on the performance of trackball manipulation.

    Science.gov (United States)

    Yau, Yi-Jan; Chao, Chin-Jung; Feng, Wen-Yang; Hwang, Sheue-Ling

    2011-08-01

    The trackball has been widely employed as a control/command input device on moving vehicles, but few studies have explored the effects of platform motion on its manipulation. Fewer still have considered this issue in designing the user interface and the arrangement of console location and orientation simultaneously. This work describes an experiment carried out to investigate the performance of trackball users on a simple point-and-click task in a motion simulator. By varying the orientation of onscreen targets, the effect of cursor movement direction on performance is investigated. The results indicate that the platform motion and target orientation both significantly affect the time required to point and click, but not the accuracy of target selection. The movement times were considerably longer under rolling and pitching motions and for targets located along the diagonal axes of the interface. Subjective evaluations carried out by the participants agree with these objective results. These findings could be used to optimise console and graphical menu design for use on maritime vessels. STATEMENT OF RELEVANCE: In military situations, matters of life or death may be decided in milliseconds. Any delay or error in classification and identification will thus affect the safety of the ship and its crew. This study demonstrates that performance of manipulating a trackball is affected by the platform motion and target orientation. The results of the present study can guide the arrangement of consoles and the design of trackball-based graphical user interfaces on maritime vessels.

  10. Transitivity performance, relational hierarchy knowledge and awareness: results of an instructional framing manipulation.

    Science.gov (United States)

    Kumaran, Dharshan; Ludwig, Hans

    2013-12-01

    The transitive inference (TI) paradigm has been widely used to examine the role of the hippocampus in generalization. Here we consider a surprising feature of experimental findings in this task: the relatively poor transitivity performance and levels of hierarchy knowledge achieved by adult human subjects. We focused on the influence of the task instructions on participants' subsequent performance--a single-word framing manipulation which either specified the relation between items as transitive (i.e., OLD-FRAME: choose which item is "older") or left it ambiguous (i.e., NO-FRAME: choose which item is "correct"). We show a marked but highly specific effect of manipulating prior knowledge through instruction: transitivity performance and levels of relational hierarchy knowledge were enhanced, but premise performance unchanged. Further, we show that hierarchy recall accuracy, but not conventional awareness scores, was a significant predictor of inferential performance across the entire group of participants. The current study has four main implications: first, our findings establish the importance of the task instructions, and prior knowledge, in the TI paradigm--suggesting that they influence the size of the overall hypothesis space (e.g., to favor a linear hierarchical structure over other possibilities in the OLD-FRAME). Second, the dissociable effects of the instructional frame on premise and inference performance provide evidence for the operation of distinct underlying mechanisms (i.e., an associative mechanism vs. relational hierarchy knowledge). Third, our findings suggest that a detailed measurement of hierarchy recall accuracy may be a more sensitive index of relational hierarchy knowledge, than conventional awareness score--and should be used in future studies investigating links between awareness and inferential performance. Finally, our study motivates an experimental setting that ensures robust hierarchy learning across participants

  11. 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

  12. Determination of performance characteristics of robotic manipulator's permanent magnet synchronous motor by learning its FEM model

    International Nuclear Information System (INIS)

    Bharadvaj, Bimmi; Saini, Surendra Singh; Swaroop, Teja Tumapala; Sarkar, Ushnish; Ray, Debashish Datta

    2016-01-01

    Permanent Magnet Synchronous Motors (PMSM) are widely used as actuators because of high torque density, high efficiency and reliability. Robotic Manipulator designed for specific task generally requires actuators with very high intermittent torque and speed for their operation in limited space. Hence accurate performance characteristics of PMSM must be known beforehand under these conditions as it may damage the motor. Therefore an advanced mathematical model of PMSM is required for its control synthesis and performance analysis over wide operating range. The existing mathematical models are developed considering ideal motor without including the geometrical deviations that occur during manufacturing process of the motor or its components. These manufacturing tolerance affect torque ripple, operating current range etc. thereby affecting motor performance. In this work, the magnetically non-linear dynamic model is further exploited to refine the FE model using a proposed algorithm to iteratively compensate for the experimentally observed deviations due to manufacturing. (author)

  13. 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?

  14. 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.)

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

    Directory of Open Access Journals (Sweden)

    Saeed Pezeshki

    2012-11-01

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

  16. Human Performance Considerations for Remotely Piloted Aircraft Systems (RPAS)

    Science.gov (United States)

    Shively, R. Jay; Hobbs, Alan; Lyall, Beth; Rorie, Conrad

    2015-01-01

    Successful integration of Remotely Piloted Aircraft Systems (RPAS) into civil airspace will not only require solutions to technical challenges, but will also require that the design and operation of RPAS take into account human limitations and capabilities. Human factors can affect overall system performance whenever the system relies on people to interact with another element of the system. Four types of broad interactions can be described. These are (1) interactions between people and hardware, such as controls and displays; (2) human use of procedures and documentation; (3) impact of the task environment, including lighting, noise and monotony; and lastly, (4) interactions between operational personnel, including communication and coordination. In addition to the human factors that have been identified for conventional aviation, RPAS operations introduce a set of unique human challenges. The purpose of document is to raise human factors issues for consideration by workgroups of the ICAO RPAS panel as they work to develop guidance material and additions to ICAO annexes. It is anticipated that the content of this document will be revised and updated as the work of the panel progresses.

  17. A study of kinematic cues and anticipatory performance in tennis using computational manipulation and computer graphics.

    Science.gov (United States)

    Ida, Hirofumi; Fukuhara, Kazunobu; Kusubori, Seiji; Ishii, Motonobu

    2011-09-01

    Computer graphics of digital human models can be used to display human motions as visual stimuli. This study presents our technique for manipulating human motion with a forward kinematics calculation without violating anatomical constraints. A motion modulation of the upper extremity was conducted by proportionally modulating the anatomical joint angular velocity calculated by motion analysis. The effect of this manipulation was examined in a tennis situation--that is, the receiver's performance of predicting ball direction when viewing a digital model of the server's motion derived by modulating the angular velocities of the forearm or that of the elbow during the forward swing. The results showed that the faster the server's forearm pronated, the more the receiver's anticipation of the ball direction tended to the left side of the serve box. In contrast, the faster the server's elbow extended, the more the receiver's anticipation of the ball direction tended to the right. This suggests that tennis players are sensitive to the motion modulation of their opponent's racket-arm.

  18. Density mediates grasshopper performance in response to temperature manipulation and spider predation in tallgrass prairie.

    Science.gov (United States)

    Laws, A N; Joern, A

    2017-04-01

    Species interactions are often context-dependent, where outcomes require an understanding of influences among multiple biotic and abiotic factors. However, it remains unclear how abiotic factors such as temperature combine with important biotic factors such as density-dependent food limitation and predation to influence species interactions. Using a native grassland - grasshopper - wolf spider model food chain in tallgrass prairie, we conducted a manipulative field experiment to examine how predator-prey interactions respond to manipulations of temperature, grasshopper density, and food chain length. We find that grasshopper performance responses to temperature and predator treatments were density dependent. At high densities, grasshopper survival decreased with increased temperature when no spiders were present. When spiders were present, grasshopper survival was reduced, and this effect was strongest in the cooled treatment. In contrast, grasshopper survival did not vary significantly with spider presence or among temperature treatments at low grasshopper densities. Our results indicate that context-dependent species interactions are common and highlight the importance of understanding how and when key biotic and abiotic factors combine to influence species interactions.

  19. Manipulating motor performance and memory through real-time fMRI neurofeedback.

    Science.gov (United States)

    Scharnowski, Frank; Veit, Ralf; Zopf, Regine; Studer, Petra; Bock, Simon; Diedrichsen, Jörn; Goebel, Rainer; Mathiak, Klaus; Birbaumer, Niels; Weiskopf, Nikolaus

    2015-05-01

    Task performance depends on ongoing brain activity which can be influenced by attention, arousal, or motivation. However, such modulating factors of cognitive efficiency are unspecific, can be difficult to control, and are not suitable to facilitate neural processing in a regionally specific manner. Here, we non-pharmacologically manipulated regionally specific brain activity using technically sophisticated real-time fMRI neurofeedback. This was accomplished by training participants to simultaneously control ongoing brain activity in circumscribed motor and memory-related brain areas, namely the supplementary motor area and the parahippocampal cortex. We found that learned voluntary control over these functionally distinct brain areas caused functionally specific behavioral effects, i.e. shortening of motor reaction times and specific interference with memory encoding. The neurofeedback approach goes beyond improving cognitive efficiency by unspecific psychological factors such as attention, arousal, or motivation. It allows for directly manipulating sustained activity of task-relevant brain regions in order to yield specific behavioral or cognitive effects. Copyright © 2015 The Authors. Published by Elsevier B.V. All rights reserved.

  20. Manipulating motor performance and memory through real-time fMRI neurofeedback

    Science.gov (United States)

    Scharnowski, Frank; Veit, Ralf; Zopf, Regine; Studer, Petra; Bock, Simon; Diedrichsen, Jörn; Goebel, Rainer; Mathiak, Klaus; Birbaumer, Niels; Weiskopf, Nikolaus

    2015-01-01

    Task performance depends on ongoing brain activity which can be influenced by attention, arousal, or motivation. However, such modulating factors of cognitive efficiency are unspecific, can be difficult to control, and are not suitable to facilitate neural processing in a regionally specific manner. Here, we non-pharmacologically manipulated regionally specific brain activity using technically sophisticated real-time fMRI neurofeedback. This was accomplished by training participants to simultaneously control ongoing brain activity in circumscribed motor and memory-related brain areas, namely the supplementary motor area and the parahippocampal cortex. We found that learned voluntary control over these functionally distinct brain areas caused functionally specific behavioral effects, i.e. shortening of motor reaction times and specific interference with memory encoding. The neurofeedback approach goes beyond improving cognitive efficiency by unspecific psychological factors such as attention, arousal, or motivation. It allows for directly manipulating sustained activity of task-relevant brain regions in order to yield specific behavioral or cognitive effects. PMID:25796342

  1. On the Role of Physical Interaction on Performance of Object Manipulation by Dyads

    Directory of Open Access Journals (Sweden)

    Keivan Mojtahedi

    2017-11-01

    Full Text Available Human physical interactions can be intrapersonal, e.g., manipulating an object bimanually, or interpersonal, e.g., transporting an object with another person. In both cases, one or two agents are required to coordinate their limbs to attain the task goal. We investigated the physical coordination of two hands during an object-balancing task performed either bimanually by one agent or jointly by two agents. The task consisted of a series of static (holding and dynamic (moving phases, initiated by auditory cues. We found that task performance of dyads was not affected by different pairings of dominant and non-dominant hands. However, the spatial configuration of the two agents (side-by-side vs. face-to-face appears to play an important role, such that dyads performed better side-by-side than face-to-face. Furthermore, we demonstrated that only individuals with worse solo performance can benefit from interpersonal coordination through physical couplings, whereas the better individuals do not. The present work extends ongoing investigations on human-human physical interactions by providing new insights about factors that influence dyadic performance. Our findings could potentially impact several areas, including robotic-assisted therapies, sensorimotor learning and human performance augmentation.

  2. Optimal design of a spherical parallel manipulator based on kinetostatic performance using evolutionary techniques

    Energy Technology Data Exchange (ETDEWEB)

    Daneshmand, Morteza [University of Tartu, Tartu (Estonia); Saadatzi, Mohammad Hossein [Colorado School of Mines, Golden (United States); Kaloorazi, Mohammad Hadi [École de Technologie Supérieur, Montréal (Canada); Masouleh, Mehdi Tale [University of Tehran, Tehran (Iran, Islamic Republic of); Anbarjafari, Gholamreza [Hasan Kalyoncu University, Gaziantep (Turkmenistan)

    2016-03-15

    This study aims to provide an optimal design for a Spherical parallel manipulator (SPM), namely, the Agile Eye. This aim is approached by investigating kinetostatic performance and workspace and searching for the most promising design. Previously recommended designs are examined to determine whether they provide acceptable kinetostatic performance and workspace. Optimal designs are provided according to different kinetostatic performance indices, especially kinematic sensitivity. The optimization process is launched based on the concept of the genetic algorithm. A single-objective process is implemented in accordance with the guidelines of an evolutionary algorithm called differential evolution. A multi-objective procedure is then provided following the reasoning of the nondominated sorting genetic algorithm-II. This process results in several sets of Pareto points for reconciliation between kinetostatic performance indices and workspace. The concept of numerous kinetostatic performance indices and the results of optimization algorithms are elaborated. The conclusions provide hints on the provided set of designs and their credibility to provide a well-conditioned workspace and acceptable kinetostatic performance for the SPM under study, which can be well extended to other types of SPMs.

  3. 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.

  4. 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.

  5. Encoding vs. retention: differential effects of cue manipulation on working memory performance in schizophrenia.

    Science.gov (United States)

    Javitt, Daniel C; Rabinowicz, Esther; Silipo, Gail; Dias, Elisa C

    2007-03-01

    Deficits in working memory performance are among the most widely replicated findings in schizophrenia. Roles of encoding vs. memory retention in working memory remain unresolved. The present study evaluated working memory performance in schizophrenia using an AX-type continuous performance test (AX-CPT) paradigm. Participants included 48 subjects with schizophrenia and 27 comparison subjects. Behavior was obtained in 3 versions of the task, which differed based upon ease of cue interoperability. In a simple cue version of the task, cue letters were replaced with red or green circles. In the complex cue version, letter/color conjunctions served as cues. In the base version of the task, patients showed increased rates of false alarms to invalidly cued targets, similar to prior reports. However, when the cue stimuli were replaced with green or red circles to ease interpretation, patients showed similar false alarm rates to controls. When feature conjunction cues were used, patients were also disproportionately affected relative to controls. No significant group by interstimulus interval interaction effects were observed in either the simple or complex cue conditions, suggesting normal retention of information even in the presence of overall performance decrements. These findings suggest first, that cue manipulation disproportionately affects AX-CPT performance in schizophrenia and, second, that substantial behavioral deficits may be observed on working memory tasks even in the absence of disturbances in mnemonic retention.

  6. An Adaptable Robot Vision System Performing Manipulation Actions With Flexible Objects

    DEFF Research Database (Denmark)

    Bodenhagen, Leon; Fugl, Andreas R.; Jordt, Andreas

    2014-01-01

    system should be viewed as a library of new technologies that have been proven to work in close to industrial conditions. As a rather basic, but necessary part, we provide a technology for determining the shape of the object when passing on, e. g., a conveyor belt prior to being handled. The main......This paper describes an adaptable system which is able to perform manipulation operations (such as Peg-in-Hole or Laying-Down actions) with flexible objects. As such objects easily change their shape significantly during the execution of an action, traditional strategies, e. g., for solve path......, operating in real-time. Simulations have been used to bootstrap the learning of optimal actions, which are subsequently improved through real-world executions. To achieve reproducible results, we demonstrate this for casted silicone test objects of regular shape. Note to Practitioners-The aim of this work...

  7. The acute effects of manipulating volume and load of back squats on countermovement vertical jump performance.

    Science.gov (United States)

    Moir, Gavin L; Mergy, David; Witmer, Ca; Davis, Shala E

    2011-06-01

    The acute effects of manipulating the volume and load of back squats on subsequent countermovement vertical jump performance were investigated in the present study. Eleven National Collegiate Athletic Association division II female volleyball players performed 10 countermovement vertical jumps (CMJs) on a force platform 2 minutes after the last squat repetition of a high-load (HL) or high-volume (HV) squat protocol. Two minutes of rest was provided between each CMJ. The HL protocol culminated in the subjects having to perform 3 repetitions with a load equivalent to 90% 1 repetition maximum (1RM) back squat, whereas 12 repetitions with a load equivalent to 37% 1RM were performed in the HV protocol. During an initial familiarization session, knee angles were recorded during a series of CMJs, and these angles were used to control the depth of descent during all subsequent back squats. Jump height (JH) and vertical stiffness (VStiff) were calculated during each of the 10 CMJ, and the change in these variables after the 2 squat protocols was assessed using an analysis of variance model with repeated measures on 2 factors (Protocol [2-levels]; Time [2-levels]). There was no significant difference in JH after the HL and HV protocols (p > 0.05). A significant Protocol × Time interaction for VStiff resulted from the increase after the HL protocol being greater than that after the HV protocol (p = 0.03). The knee angles before the HL and HV protocols were significantly greater than those measured during the initial familiarization session (p = 0.001). Although neither squat protocol provided any benefit in improving JH, the heavy squat protocol produced greater increases in VStiff during the CMJ. Because of the increased VStiff caused by the HL protocol, volleyball coaches may consider using such protocols with their players to improve performance in jumps performed from a run such as the spike and on-court agility.

  8. Performance test of remote controlled engineering vehicle system for CBRN threat. Countermeasure performance for CBRN-environment

    International Nuclear Information System (INIS)

    Naruse, Masahiro; Uemura, Keisuke; Morishita, Masahiro

    2015-01-01

    A research of 'remote controlled engineering vehicle system for CBRN threat' was triggered by the nuclear accident that successively happened after the Great East Japan Earthquake. This project focuses on the remote controlled engineering system that can be used for multi purposes such as debris/obstacle clearing operation or various reconnaissance operation, under CBRN threat. For the remote-controlled engineering vehicle, we conducted a series of validation tests for countermeasure performance for CBRN-environment. As a result, it is proved that the vehicle possess required performances for CBRN threat. (author)

  9. Remote Core Locking: Migrating Critical-Section Execution to Improve the Performance of Multithreaded Applications

    OpenAIRE

    Lozi , Jean-Pierre; David , Florian; Thomas , Gaël; Lawall , Julia; Muller , Gilles

    2014-01-01

    National audience; The scalability of multithreaded applications on current multicore systems is hampered by the performance of lock algorithms, due to the costs of access contention and cache misses. In this paper, we propose a new lock algorithm, Remote Core Locking (RCL), that aims to improve the performance of critical sections in legacy applications on multicore architectures. The idea of RCL is to replace lock acquisitions by optimized remote procedure calls to a dedicated server core. ...

  10. The Role of Affordances in Children's Learning Performance and Efficiency When Using Virtual Manipulative Mathematics Touch-Screen Apps

    Science.gov (United States)

    Moyer-Packenham, Patricia S.; Bullock, Emma K.; Shumway, Jessica F.; Tucker, Stephen I.; Watts, Christina M.; Westenskow, Arla; Anderson-Pence, Katie L.; Maahs-Fladung, Cathy; Boyer-Thurgood, Jennifer; Gulkilik, Hilal; Jordan, Kerry

    2016-01-01

    This paper focuses on understanding the role that affordances played in children's learning performance and efficiency during clinical interviews of their interactions with mathematics apps on touch-screen devices. One hundred children, ages 3 to 8, each used six different virtual manipulative mathematics apps during 30-40-min interviews. The…

  11. Effects of Dispositional Ability Conceptions, Manipulated Learning Environments, and Intrinsic Motivation on Persistence and Performance: An Interaction Approach

    Science.gov (United States)

    Li, Weidong; Lee, Amelia M.; Solmon, Melinda

    2008-01-01

    The present study used an interaction approach to investigate how individuals' dispositions about ability as incremental or fixed (entity), manipulated learning environments, and intrinsic motivation affect persistence and performance on a challenging, novel motor skill. Seventy-two female college students who were assigned to either an…

  12. Both a Nicotinic Single Nucleotide Polymorphism (SNP) and a Noradrenergic SNP Modulate Working Memory Performance when Attention Is Manipulated

    Science.gov (United States)

    Greenwood, Pamela M.; Sundararajan, Ramya; Lin, Ming-Kuan; Kumar, Reshma; Fryxell, Karl J.; Parasuraman, Raja

    2009-01-01

    We investigated the relation between the two systems of visuospatial attention and working memory by examining the effect of normal variation in cholinergic and noradrenergic genes on working memory performance under attentional manipulation. We previously reported that working memory for location was impaired following large location precues,…

  13. 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

  14. Advanced dexterous manipulation for IED defeat : report on the feasibility of using the ShadowHand for remote operations.

    Energy Technology Data Exchange (ETDEWEB)

    Anderson, Robert J.

    2011-01-01

    Improvised Explosive Device (IED) defeat (IEDD) operations can involve intricate operations that exceed the current capabilities of the grippers on board current bombsquad robots. The Shadow Dexterous Hand from the Shadow Robot Company or 'ShadowHand' for short (www.shadowrobot.com) is the first commercially available robot hand that realistically replicates the motion, degrees-of-freedom and dimensions of a human hand (Figure 1). In this study we evaluate the potential for the ShadowHand to perform potential IED defeat tasks on a mobile platform.

  15. Application and performance of remote bioventing systems powered by wind

    International Nuclear Information System (INIS)

    Graves, D.; Hague, K.; Wilson, B.; Dillon, T. Jr.; Klein, J.; McLaughlin, J.; Olson, G.

    1995-01-01

    Wind-powered bioventing systems were designed to operate at remote locations in the absence of electrical power. Laboratory measurements of soil respiration under bioventing conditions indicated the biodegradation of up to 25 mg of weathered diesel per kg of site soil per day. Further testing demonstrated the potential for harnessing wind-power to stimulate air movement through vadose zone soil. A 12-in. attic turbine in a 10-mph wind was found to generate 0.025 in. of water vacuum with an airflow of approximately 2.5 ft 3 per min. Two wind-powered bioventing systems were installed near Nome, Alaska. In situ respiration tests and soil gas composition measurements indicated that the systems were capable of aerating the soil. Measurements of diesel-range organics (DRO) taken during installation and at the end of the treatment season show concentration reductions of 29 and 87% at the two sites

  16. A model for teaching and learning spinal thrust manipulation and its effect on participant confidence in technique performance.

    Science.gov (United States)

    Wise, Christopher H; Schenk, Ronald J; Lattanzi, Jill Black

    2016-07-01

    Despite emerging evidence to support the use of high velocity thrust manipulation in the management of lumbar spinal conditions, utilization of thrust manipulation among clinicians remains relatively low. One reason for the underutilization of these procedures may be related to disparity in training in the performance of these techniques at the professional and post professional levels. To assess the effect of using a new model of active learning on participant confidence in the performance of spinal thrust manipulation and the implications for its use in the professional and post-professional training of physical therapists. A cohort of 15 DPT students in their final semester of entry-level professional training participated in an active training session emphasizing a sequential partial task practice (SPTP) strategy in which participants engaged in partial task practice over several repetitions with different partners. Participants' level of confidence in the performance of these techniques was determined through comparison of pre- and post-training session surveys and a post-session open-ended interview. The increase in scores across all items of the individual pre- and post-session surveys suggests that this model was effective in changing overall participant perception regarding the effectiveness and safety of these techniques and in increasing student confidence in their performance. Interviews revealed that participants greatly preferred the SPTP strategy, which enhanced their confidence in technique performance. Results indicate that this new model of psychomotor training may be effective at improving confidence in the performance of spinal thrust manipulation and, subsequently, may be useful for encouraging the future use of these techniques in the care of individuals with impairments of the spine. Inasmuch, this method of instruction may be useful for training of physical therapists at both the professional and post-professional levels.

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

    Science.gov (United States)

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

    2018-02-01

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

  18. The role of affordances in children's learning performance and efficiency when using virtual manipulative mathematics touch-screen apps

    Science.gov (United States)

    Moyer-Packenham, Patricia S.; Bullock, Emma K.; Shumway, Jessica F.; Tucker, Stephen I.; Watts, Christina M.; Westenskow, Arla; Anderson-Pence, Katie L.; Maahs-Fladung, Cathy; Boyer-Thurgood, Jennifer; Gulkilik, Hilal; Jordan, Kerry

    2016-03-01

    This paper focuses on understanding the role that affordances played in children's learning performance and efficiency during clinical interviews of their interactions with mathematics apps on touch-screen devices. One hundred children, ages 3 to 8, each used six different virtual manipulative mathematics apps during 30-40-min interviews. The study used a convergent mixed methods design, in which quantitative and qualitative data were collected concurrently to answer the research questions (Creswell and Plano Clark 2011). Videos were used to capture each child's interactions with the virtual manipulative mathematics apps, document learning performance and efficiency, and record children's interactions with the affordances within the apps. Quantitized video data answered the research question on differences in children's learning performance and efficiency between pre- and post-assessments. A Wilcoxon matched pairs signed-rank test was used to explore these data. Qualitative video data was used to identify affordance access by children when using each app, identifying 95 potential helping and hindering affordances among the 18 apps. The results showed that there were changes in children's learning performance and efficiency when children accessed a helping or a hindering affordance. Helping affordances were more likely to be accessed by children who progressed between the pre- and post-assessments, and the same affordances had helping and hindering effects for different children. These results have important implications for the design of virtual manipulative mathematics learning apps.

  19. Both a Nicotinic Single Nucleotide Polymorphism (SNP) and a Noradrenergic SNP Modulate Working Memory Performance when Attention is Manipulated

    OpenAIRE

    Greenwood, Pamela M.; Sundararajan, Ramya; Lin, Ming-Kuan; Kumar, Reshma; Fryxell, Karl J.; Parasuraman, Raja

    2009-01-01

    We investigated the relation between the two systems of visuospatial attention and working memory by examining the effect of normal variation in cholinergic and noradrenergic genes on working memory performance under attentional manipulation. We previously reported that working memory for location was impaired following large location precues, indicating the scale of visuospatial attention has a role in forming the mental representation of the target. In one of the first studies to compare ef...

  20. 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

  1. 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...

  2. 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

  3. The performance of the remote analytical laboratory during the first fluorinel dissolution process campaign

    International Nuclear Information System (INIS)

    Lewis, L.C.; Henscheid, J.P.

    1989-01-01

    The Remote Analytical Laboratory at the Idaho Chemical Processing Plant was designed to provide analytical chemistry support to the irradiated fuel processing and associated waste processing operations. The facility was put into radioactive operation on July 7, 1986, and operated for more than a year during the first fluorinel fuel dissolution process campaign. The facility incorporated a number of innovative features and was equipped with state-of-the-art analytical instrumentation. The success of the facility is a direct function of how well the remote analytical equipment performed. The performance is discussed in this article

  4. 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.)

  5. 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.)

  6. Influence of visual feedback on human task performance in ITER remote handling

    NARCIS (Netherlands)

    Schropp, Gwendolijn Y R; Heemskerk, Cock J M; Kappers, Astrid M L; Bergmann Tiest, Wouter M; Elzendoorn, Ben S Q; Bult, David

    In ITER, maintenance operations will be largely performed by remote handling (RH). Before ITER can be put into operation, safety regulations and licensing authorities require proof of maintainability for critical components. Part of the proof will come from using standard components and procedures.

  7. 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.

  8. Preliminary Analysis of Remote Monitoring and Robotic Concepts for Performance Confirmation

    International Nuclear Information System (INIS)

    McAffee, D.A.

    1997-01-01

    As defined in 10 CFR Part 60.2, Performance Confirmation is the ''program of tests, experiments and analyses which is conducted to evaluate the accuracy and adequacy of the information used to determine with reasonable assurance that the performance objectives for the period after permanent closure will be met''. The overall Performance Confirmation program begins during site characterization and continues up to repository closure. The main purpose of this document is to develop, explore and analyze initial concepts for using remotely operated and robotic systems in gathering repository performance information during Performance Confirmation. This analysis focuses primarily on possible Performance Confirmation related applications within the emplacement drifts after waste packages have been emplaced (post-emplacement) and before permanent closure of the repository (preclosure). This will be a period of time lasting approximately 100 years and basically coincides with the Caretaker phase of the project. This analysis also examines, to a lesser extent, some applications related to Caretaker operations. A previous report examined remote handling and robotic technologies that could be employed during the waste package emplacement phase of the project (Reference 5.1). This analysis is being prepared to provide an early investigation of possible design concepts and technical challenges associated with developing remote systems for monitoring and inspecting activities during Performance Confirmation. The writing of this analysis preceded formal development of Performance Confirmation functional requirements and program plans and therefore examines, in part, the fundamental Performance Confirmation monitoring needs and operating conditions. The scope and primary objectives of this analysis are to: (1) Describe the operating environment and conditions expected in the emplacement drifts during the preclosure period. (Presented in Section 7.2). (2) Identify and discuss the

  9. Force coordination in static manipulation tasks performed using standard and non-standard grasping techniques.

    Science.gov (United States)

    de Freitas, Paulo B; Jaric, Slobodan

    2009-04-01

    We evaluated coordination of the hand grip force (GF; normal component of the force acting at the hand-object contact area) and load force (LF; the tangential component) in a variety of grasping techniques and two LF directions. Thirteen participants exerted a continuous sinusoidal LF pattern against externally fixed handles applying both standard (i.e., using either the tips of the digits or the palms; the precision and palm grasps, respectively) and non-standard grasping techniques (using wrists and the dorsal finger areas; the wrist and fist grasp). We hypothesized (1) that the non-standard grasping techniques would provide deteriorated indices of force coordination when compared with the standard ones, and (2) that the nervous system would be able to adjust GF to the differences in friction coefficients of various skin areas used for grasping. However, most of the indices of force coordination remained similar across the tested grasping techniques, while the GF adjustments for the differences in friction coefficients (highest in the palm and the lowest in the fist and wrist grasp) provided inconclusive results. As hypothesized, GF relative to the skin friction was lowest in the precision grasp, but highest in the palm grasp. Therefore, we conclude that (1) the elaborate coordination of GF and LF consistently seen across the standard grasping techniques could be generalized to the non-standard ones, while (2) the ability to adjust GF using the same grasping technique to the differences in friction of various objects cannot be fully generalized to the GF adjustment when different grasps (i.e., hand segments) are used to manipulate the same object. Due to the importance of the studied phenomena for understanding both the functional and neural control aspects of manipulation, future studies should extend the current research to the transient and dynamic tasks, as well as to the general role of friction in our mechanical interactions with the environment.

  10. 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

  11. Sleep and academic performance in Indigenous Australian children from a remote community: an exploratory study.

    Science.gov (United States)

    Cooper, Patrick; Kohler, Mark; Blunden, Sarah

    2012-02-01

    Disruptions to sleep in childhood are associated with poor behaviour and deficits in academic performance and executive function. Although academic performance of indigenous children from remote communities in Australia is documented as well below that of non-indigenous children, the extent of sleep disruption and its contribution to academic performance among this population has not been assessed. This pilot study aimed to objectively assess the sleep of remote indigenous children and the association between sleep disruption and both academic performance and executive function. Twenty-one children from a remote Australian indigenous community aged 6-13 years wore actigraphy for two consecutive nights, reported subjective sleepiness, and were objectively assessed for academic performance (Wechsler Individual Achievement Test, 2nd Edition) and executive function (NEuroloPSYcological Assessment-II). Results show marked reduction in sleep time, sleep fragmentation, academic performance and auditory attention compared with non-indigenous norms. Sleep duration was not associated with performance, possibly because of reduced sleep and performance observed across the entire group. Sleep fragmentation was associated with reduced reading and numerical skills (P sleep of indigenous children in remote communities is an important area of future inquiry, and our initial findings of poor sleep and an association between sleep disruption and academic performance may have important implications for intervention strategies aimed at 'closing the gap'. Further studies should assess a broader range of demographic, social and economic factors to better understand the associations reported here and guide future intervention. © 2012 The Authors. Journal of Paediatrics and Child Health © 2012 Paediatrics and Child Health Division (Royal Australasian College of Physicians).

  12. Micropore Geometry Manipulation by Macroscopic Deformation Based on Shape Memory Effect in Porous PLLA Membrane and its Enhanced Separation Performance.

    Science.gov (United States)

    Zhao, Jingxin; Yang, Qiucheng; Wang, Tao; Wang, Lian; You, Jichun; Li, Yongjin

    2017-12-20

    An effective strategy to tailor the microporous structures has been developed based on the shape memory effect in porous poly(l-lactic acid) membranes in which tiny crystals and amorphous matrix play the roles of shape-fixed phase and reversible-phase, respectively. Our results indicate that not only PLLA membranes but micropores exhibit shape memory properties. The proportional deformations on two scales have been achieved by uniaxial or biaxial tension, providing a facile way to manipulate continuously the size and the orientation degree of pores on microscale. The enhanced separation performance has been validated by taking polystyrene colloids with varying diameters as an example.

  13. REMOTE, a Wireless Sensor Network Based System to Monitor Rowing Performance

    Directory of Open Access Journals (Sweden)

    Jordi Llosa

    2009-09-01

    Full Text Available In this paper, we take a hard look at the performance of REMOTE, a sensor network based application that provides a detailed picture of a boat movement, individual rower performance, or his/her performance compared with other crew members. The application analyzes data gathered with a WSN strategically deployed over a boat to obtain information on the boat and oar movements. Functionalities of REMOTE are compared to those of RowX [1] outdoor instrument, a commercial wired sensor instrument designed for similar purposes. This study demonstrates that with smart geometrical configuration of the sensors, rotation and translation of the oars and boat can be obtained. Three different tests are performed: laboratory calibration allows us to become familiar with the accelerometer readings and validate the theory, ergometer tests which help us to set the acquisition parameters, and on boat tests shows the application potential of this technologies in sports.

  14. REMOTE, a Wireless Sensor Network Based System to Monitor Rowing Performance

    Science.gov (United States)

    Llosa, Jordi; Vilajosana, Ignasi; Vilajosana, Xavier; Navarro, Nacho; Suriñach, Emma; Marquès, Joan Manuel

    2009-01-01

    In this paper, we take a hard look at the performance of REMOTE, a sensor network based application that provides a detailed picture of a boat movement, individual rower performance, or his/her performance compared with other crew members. The application analyzes data gathered with a WSN strategically deployed over a boat to obtain information on the boat and oar movements. Functionalities of REMOTE are compared to those of RowX [1] outdoor instrument, a commercial wired sensor instrument designed for similar purposes. This study demonstrates that with smart geometrical configuration of the sensors, rotation and translation of the oars and boat can be obtained. Three different tests are performed: laboratory calibration allows us to become familiar with the accelerometer readings and validate the theory, ergometer tests which help us to set the acquisition parameters, and on boat tests shows the application potential of this technologies in sports. PMID:22423204

  15. Significant manipulation of output performance of a bridge-structured spin valve magnetoresistance sensor via an electric field

    Science.gov (United States)

    Zhang, Yue; Yan, Baiqian; Ou-Yang, Jun; Wang, Xianghao; Zhu, Benpeng; Chen, Shi; Yang, Xiaofei

    2016-01-01

    Through principles of spin-valve giant magnetoresistance (SV-GMR) effect and its application in magnetic sensors, we have investigated electric-field control of the output performance of a bridge-structured Co/Cu/NiFe/IrMn SV-GMR sensor on a PZN-PT piezoelectric substrate using the micro-magnetic simulation. We centered on the influence of the variation of uniaxial magnetic anisotropy constant (K) of Co on the output of the bridge, and K was manipulated via the stress of Co, which is generated from the strain of a piezoelectric substrate under an electric field. The results indicate that when K varies between 2 × 104 J/m3 and 10 × 104 J/m3, the output performance can be significantly manipulated: The linear range alters from between -330 Oe and 330 Oe to between -650 Oe and 650 Oe, and the sensitivity is tuned by almost 7 times, making it possible to measure magnetic fields with very different ranges. According to the converse piezoelectric effect, we have found that this variation of K can be realized by applying an electric field with the magnitude of about 2-20 kV/cm on a PZN-PT piezoelectric substrate, which is realistic in application. This result means that electric-control of SV-GMR effect has potential application in developing SV-GMR sensors with improved performance.

  16. Ski jump takeoff performance predictions for a mixed-flow, remote-lift STOVL aircraft

    Science.gov (United States)

    Birckelbaw, Lourdes G.

    1992-01-01

    A ski jump model was developed to predict ski jump takeoff performance for a short takeoff and vertical landing (STOVL) aircraft. The objective was to verify the model with results from a piloted simulation of a mixed flow, remote lift STOVL aircraft. The prediction model is discussed. The predicted results are compared with the piloted simulation results. The ski jump model can be utilized for basic research of other thrust vectoring STOVL aircraft performing a ski jump takeoff.

  17. 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

  18. Performance analysis of two-degree of freedom fractional order PID controllers for robotic manipulator with payload.

    Science.gov (United States)

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

    2015-09-01

    The robotic manipulators are multi-input multi-output (MIMO), coupled and highly nonlinear systems. The presence of external disturbances and time-varying parameters adversely affects the performance of these systems. Therefore, the controller designed for these systems should effectively deal with such complexities, and it is an intriguing task for control engineers. This paper presents two-degree of freedom fractional order proportional-integral-derivative (2-DOF FOPID) controller scheme for a two-link planar rigid robotic manipulator with payload for trajectory tracking task. The tuning of all controller parameters is done using cuckoo search algorithm (CSA). The performance of proposed 2-DOF FOPID controllers is compared with those of their integer order designs, i.e., 2-DOF PID controllers, and with the traditional PID controllers. In order to show effectiveness of proposed scheme, the robustness testing is carried out for model uncertainties, payload variations with time, external disturbance and random noise. Numerical simulation results indicate that the 2-DOF FOPID controllers are superior to their integer order counterparts and the traditional PID controllers. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  19. Effects of manipulating the duration and intensity of aerobic training sessions on the physical performance of rats.

    Science.gov (United States)

    Teixeira-Coelho, Francisco; Fonseca, Cletiana Gonçalves; Barbosa, Nicolas Henrique Santos; Vaz, Filipe Ferreira; Cordeiro, Letícia Maria de Souza; Coimbra, Cândido Celso; Pires, Washington; Soares, Danusa Dias; Wanner, Samuel Penna

    2017-01-01

    This study investigated the effects of manipulating the load components of aerobic training sessions on the physical performance of rats. To achieve this purpose, adult male Wistar rats were divided into four groups: an untrained control (CON) group and training groups with a predominant overload in intensity (INT) or duration (DUR) or alternating and similar overloads in intensity and duration (ID). Prior to, during, and after 8 weeks of the control or training protocols, the performance of the rats (evaluated by their workload) was determined during fatiguing, incremental-speed treadmill running. Two additional incremental running tests were performed prior to and at the end of the protocols to measure the peak rate of oxygen consumption (VO2peak). As expected, the rats in the trained groups exhibited increased performance, whereas the untrained rats showed stable performance throughout the 8 weeks. Notably, the performance gain exhibited by the DUR rats reached a plateau after the 4th week. This plateau was not present in the INT or ID rats, which exhibited increased performance at the end of training protocol compared with the DUR rats. None of the training protocols changed the VO2peak values; however, these values were attained at faster speeds, which indicated increased running economy. In conclusion, our findings demonstrate that the training protocols improved the physical performance of rats, likely resulting from enhanced running economy. Furthermore, compared with overload in duration, overload in the intensity of training sessions was more effective at inducing performance improvements across the 8 weeks of the study.

  20. The Effect of Performance-Contingent Incentives when Task Complexity is Manipulated through Instruction

    Directory of Open Access Journals (Sweden)

    Monte Wynder

    2010-12-01

    Full Text Available When, and how, performance-contingent incentives improve performance is an important question fororganisations. Empirical results have been mixed – performance-contingent incentives sometimes increaseperformance, sometimes decrease performance, and sometimes have no effect. Theorists have called forfurther research to identify the effect of various moderating variables, including knowledge and taskcomplexity. This study responds by considering the role of instruction in providing the necessary knowledgeto reduce task complexity. The results suggest that a performance-contingent penalty can be a particularlyeffective means of directing effort for a simple task. For a complex task, performance can be improvedthrough instruction. The type of instruction is important – with rule-based instruction effectively directingeffort – however principle-based instruction is necessary to facilitate problem investigation and problemsolving.

  1. 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.

  2. Significant manipulation of output performance of a bridge-structured spin valve magnetoresistance sensor via an electric field

    Energy Technology Data Exchange (ETDEWEB)

    Zhang, Yue; Yan, Baiqian; Ou-Yang, Jun; Zhu, Benpeng; Chen, Shi; Yang, Xiaofei, E-mail: hust-yangxiaofei@163.com [School of Optical and Electronic Information, Huazhong University of Science and Technology, Wuhan 430074 (China); Wang, Xianghao [School of Information Engineering, Wuhan University of Technology, Wuhan 430070 (China)

    2016-01-28

    Through principles of spin-valve giant magnetoresistance (SV-GMR) effect and its application in magnetic sensors, we have investigated electric-field control of the output performance of a bridge-structured Co/Cu/NiFe/IrMn SV-GMR sensor on a PZN-PT piezoelectric substrate using the micro-magnetic simulation. We centered on the influence of the variation of uniaxial magnetic anisotropy constant (K) of Co on the output of the bridge, and K was manipulated via the stress of Co, which is generated from the strain of a piezoelectric substrate under an electric field. The results indicate that when K varies between 2 × 10{sup 4 }J/m{sup 3} and 10 × 10{sup 4 }J/m{sup 3}, the output performance can be significantly manipulated: The linear range alters from between −330 Oe and 330 Oe to between −650 Oe and 650 Oe, and the sensitivity is tuned by almost 7 times, making it possible to measure magnetic fields with very different ranges. According to the converse piezoelectric effect, we have found that this variation of K can be realized by applying an electric field with the magnitude of about 2–20 kV/cm on a PZN-PT piezoelectric substrate, which is realistic in application. This result means that electric-control of SV-GMR effect has potential application in developing SV-GMR sensors with improved performance.

  3. Significant manipulation of output performance of a bridge-structured spin valve magnetoresistance sensor via an electric field

    International Nuclear Information System (INIS)

    Zhang, Yue; Yan, Baiqian; Ou-Yang, Jun; Zhu, Benpeng; Chen, Shi; Yang, Xiaofei; Wang, Xianghao

    2016-01-01

    Through principles of spin-valve giant magnetoresistance (SV-GMR) effect and its application in magnetic sensors, we have investigated electric-field control of the output performance of a bridge-structured Co/Cu/NiFe/IrMn SV-GMR sensor on a PZN-PT piezoelectric substrate using the micro-magnetic simulation. We centered on the influence of the variation of uniaxial magnetic anisotropy constant (K) of Co on the output of the bridge, and K was manipulated via the stress of Co, which is generated from the strain of a piezoelectric substrate under an electric field. The results indicate that when K varies between 2 × 10 4  J/m 3 and 10 × 10 4  J/m 3 , the output performance can be significantly manipulated: The linear range alters from between −330 Oe and 330 Oe to between −650 Oe and 650 Oe, and the sensitivity is tuned by almost 7 times, making it possible to measure magnetic fields with very different ranges. According to the converse piezoelectric effect, we have found that this variation of K can be realized by applying an electric field with the magnitude of about 2–20 kV/cm on a PZN-PT piezoelectric substrate, which is realistic in application. This result means that electric-control of SV-GMR effect has potential application in developing SV-GMR sensors with improved performance

  4. Effects of postural control manipulation on visuomotor training performance: comparative data in healthy athletes.

    Science.gov (United States)

    Bigsby, Kathryn; Mangine, Robert E; Clark, Joseph F; Rauch, Joseph T; Bixenmann, Benjamin; Susaret, Antonia W; Hasselfeld, Kimberly A; Colosimo, Angelo J

    2014-08-01

    Visuomotor ability is an important parameter for neurologic function and effective sport performance. Adding a balance challenge during a structured eye-hand coordination task, such as hitting lights on a light board (Dynavision™), has not been previously reported. Using Division I football players, the aim of this study was to determine normative data on a dual-task performance regimen combining a visuomotor light board task with a balance task. The intent is to use such normative data and baseline data as part of a concussion management program. Division I college football team members, n=105, were consented. Subjects first performed Dynavision™ D2™ Visuomotor Training Device (D2™) eye-hand coordination tasks, the A* and the RT; they then performed the same tasks with an added balance challenge, standing on a BOSU® ball. Ninety-four athletes completed the full testing procedure on the D2™ system. The mean score of the A* test was 93 ± 11.0 hits per minute; and the mean on the A* test with the added BOSU® balance challenge was 83.7 ± 9.2 hits per minute. The mean RT time was 0.33 ± 0.036 seconds. Mean reaction time increased to 0.38 ± 0.063 while the subject stood on the BOSU® ball. Performance on the D2™ A* and RT were both statistically significantly different in the dual task condition (pmanagement program. III.

  5. Emotion and affect in mental imagery: Do fear and anxiety manipulate mental rotation performance?

    Directory of Open Access Journals (Sweden)

    Sandra eKaltner

    2014-07-01

    Full Text Available Little is known about the effects of fear as a basic emotion on mental rotation performance. We expected that the emotional arousal evoked by fearful stimuli presented prior to each mental rotation trial would enhance mental rotation performance. Regarding the influence of anxiety, high anxious participants are supposed to show slower responses and higher error rates in this specific visuo-spatial ability. Furthermore, with respect to the embodied cognition viewpoint we wanted to investigate if the influence of fear on mental rotation performance is the same for egocentric and object-based transformations. Results show that fear enhances mental rotation performance, expressed by a higher mental rotation speed. Interestingly, this influence is stimulus-specific: it is restricted to egocentric transformations. Both observation of emotional stimuli and egocentric strategies are associated with left hemisphere activation which could explain a stronger influence on this type of transformation during observation. Another possible notion is the conceptual link between visuo-spatial perspective taking and empathy based on the co-activation of parietal areas. Stronger responses in egocentric transformations could result from this specific link. Regarding the influence of anxiety, participants with high scores on the trait-anxiety scale showed poor results in both reaction time and mental rotation speed. Findings of impoverished recruitment of prefrontal attentional control in patients with high scores in trait anxiety could be the explanation for this reduced performance.

  6. 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

  7. Manipulating motor performance and memory through real-time fMRI neurofeedback

    NARCIS (Netherlands)

    Scharnowski, Frank; Veit, Ralf; Zopf, Regine; Studer, Petra; Bock, Simon; Diedrichsen, Jörn; Goebel, R.; Mathiak, Klaus; Birbaumer, Niels; Weiskopf, Nikolaus

    Task performance depends on ongoing brain activity which can be influenced by attention, arousal, or motivation. However, such modulating factors of cognitive efficiency are unspecific, can be difficult to control, and are not suitable to facilitate neural processing in a regionally specific manner.

  8. Mixing console design for telematic applications in live performance and remote recording

    Science.gov (United States)

    Samson, David J.

    The development of a telematic mixing console addresses audio engineers' need for a fully integrated system architecture that improves efficiency and control for applications such as distributed performance and remote recording. Current systems used in state of the art telematic performance rely on software-based interconnections with complex routing schemes that offer minimal flexibility or control over key parameters needed to achieve a professional workflow. The lack of hardware-based control in the current model limits the full potential of both the engineer and the system. The new architecture provides a full-featured platform that, alongside customary features, integrates (1) surround panning capability for motorized, binaural manikin heads, as well as all sources in the included auralization module, (2) self-labelling channel strips, responsive to change at all remote sites, (3) onboard roundtrip latency monitoring, (4) synchronized remote audio recording and monitoring, and (5) flexible routing. These features combined with robust parameter automation and precise analog control will raise the standard for telematic systems as well as advance the development of networked audio systems for both research and professional audio markets.

  9. 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

  10. 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)

  11. 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

  12. High-velocity low-amplitude manipulation (thrust and athletic performance: a systematic review

    Directory of Open Access Journals (Sweden)

    Mikhail Santos Cerqueira

    Full Text Available Abstract Introduction: The high demand level in sports has encouraged the search for strategies to increase the yield. In this context, manual therapy through high-velocity low-amplitude (thrust has been employed in many sports. Despite the adhesion of manual therapists in clinical practice, there were no systematic reviews on this topic. Objective: To evaluate the effects of thrust on the performance of athletes in relation to the outcomes hand-grip strength, jump height and running speed. Methods: The databases used in the search were MEDLINE / PUBMED, LILACS, CINAHL, PEDro, WEB OF SCIENCE, CENTRAL and SCOPUS, and Randomized controlled trials were included, whose participants were professionals or recreational athletes and had thrust as intervention. The methodological quality of the studies was assessed using the PEDro scale of 10 points. Intervention effects were determined by the mean difference and confidence interval. The data analysis was done in the descriptive form due to the heterogeneity found among studies. Results: Five trials were included with a total of 95 individuals. The methodological quality of studies was low, with an average value of 5.6 on the PEDro scale. It was found two articles for each outcome, but in none of them was presented differences between the experimental and control groups considering the confidence interval. Conclusion: The current evidence is insufficient to determine the use or nonuse the MAVBA in sports in order to improve performance.

  13. Improving the performance of galloping micro-power generators by passively manipulating the trailing edge

    Science.gov (United States)

    Noel, J.; Yadav, R.; Li, G.; Daqaq, M. F.

    2018-02-01

    Recent trends in distributed sensing networks have generated significant interest in the design of scalable micro-power generators. One such device exploits the galloping oscillations of a prism to harness energy from a moving fluid. Performance of galloping harvester's depends on the flow patterns around the prism, which, in turn, depend on its geometry and the Reynolds number of the flow. In this letter, we demonstrate that the useful range of the galloping instability can be extended by attaching a rigid splitter plate to the rear face of the prism. The plate provides a secondary flow reattachment point, which serves to improve the oscillation amplitude and power output of the generator. Experimental results demonstrate as much as 67% power enhancement for some prism geometries and a significant reduction in the cut-in wind speed of the generator.

  14. 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)

  15. 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.)

  16. Experimental investigations of sensor-based surface following performed by a mobile manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Reister, D.B.; Unseren, M.A.; Baker, J.E.; Pin, F.G.

    1994-10-01

    We discuss a series of surface following experiments using a range finder mounted on the end of an arm that is mounted on a vehicle. The goal is to keep the range finder at a fixed distance from an unknown surface and to keep the orientation of the range finder perpendicular to the surface. During the experiments, the vehicle moves along a predefined trajectory while planning software determines the position and orientation of the arm. To keep the range finder perpendicular to the surface, the planning software calculates the surface normal for the unknown surface. We assume that the unknown surface is a cylinder (the surface depends on x and y but does not depend on z). To calculate the surface normal, the planning software must calculate the locations (x,y) of points on the surface in world coordinates. The calculation requires data on the position and orientation of the vehicle, the position and orientation of the arm, and the distance from the range finder to the surface. We discuss four series of experiments. During the first series of experiments, the calculated surface normal values had large high frequency random variations. A filter was used to produce an average value for the surface normal and we limited the rate of change in the yaw angle target for the arm. We performed the experiment for a variety of concave and convex surfaces. While the experiments were qualitative successes, the measured distance to the surface was significantly different than the target. The distance errors were systematic, low frequency, and had magnitudes up to 25 mm. During the second series of experiments, we reduced the variations in the calculated surface normal values. While reviewing the data collected while following the surface of a barrel, we found that the radius of the calculated surface was significantly different than the measured radius of the barrel.

  17. Sensor Performance Requirements for the Retrieval of Atmospheric Aerosols by Airborne Optical Remote Sensing

    Directory of Open Access Journals (Sweden)

    Klaus I. Itten

    2008-03-01

    Full Text Available This study explores performance requirements for the retrieval of the atmospheric aerosol optical depth (AOD by airborne optical remote sensing instruments. Independent of any retrieval techniques, the calculated AOD retrieval requirements are compared with the expected performance parameters of the upcoming hyperspectral sensor APEX at the reference wavelength of 550nm. The AOD accuracy requirements are defined to be capable of resolving transmittance differences of 0.01 to 0.04 according to the demands of atmospheric corrections for remote sensing applications. For the purposes of this analysis, the signal at the sensor level is simulated by radiation transfer equations. The resulting radiances are translated into the AOD retrieval sensitivity (Δτλaer and compared to the available measuring sensitivity of the sensor (NE ΔLλsensor. This is done for multiple signal-to-noise ratios (SNR and surface reflectance values. It is shown that an SNR of 100 is adequate for AOD retrieval at 550nm under typical remote sensing conditions and a surface reflectance of 10% or less. Such dark surfaces require the lowest SNR values and therefore offer the best sensitivity for measuring AOD. Brighter surfaces with up to 30% reflectance require an SNR of around 300. It is shown that AOD retrieval for targets above 50% surface reflectance is more problematic with the current sensor performance as it may require an SNR larger than 1000. In general, feasibility is proven for the analyzed cases under simulated conditions.

  18. Tele-Operated Echography and Remote Guidance for Performing Tele-Echography on Geographically Isolated Patients

    Directory of Open Access Journals (Sweden)

    Philippe Arbeille

    2016-06-01

    Full Text Available Objective: To evaluate the performance of three tele-echography systems for routine use in isolated medical centers. Methods: Three systems were used for deep (abdomen, pelvis, fetal and superficial (muscle, thyroid, carotid artery examinations: (a a robotic arm (RA holding an echographic probe; (b an echograph with a motorized probe (MP; and (c remote guidance (RG where the patient site operator performed the examination assisted by an expert via videoconference. All systems were tested in the same medical center located 60 km away from the university hospital. Results: A total of 340 remote echography examinations were performed (41% RA and MP, 59% RG. MP and RA allowed full control of the probe orientation by the expert, and provided diagnoses in 97% of cases. The use of RG was sufficient for superficial vessel examinations and provided diagnoses in 98% of cases but was not suited for deep or superficial organs. Assessment of superficial organs was best accomplished using the MP. Discussion: Both teleoperated systems provided control of the probe orientation by the expert necessary for obtaining appropriate views of deep organs but the MP was much more ergonomic and easier to use than the RA. RG was appropriate for superficial vessels while the MP was better for superficial volumic organs.

  19. Human factors evaluation of remote afterloading brachytherapy: Human error and critical tasks in remote afterloading brachytherapy and approaches for improved system performance. Volume 1

    Energy Technology Data Exchange (ETDEWEB)

    Callan, J.R.; Kelly, R.T.; Quinn, M.L. [Pacific Science and Engineering Group, San Diego, CA (United States)] [and others

    1995-05-01

    Remote Afterloading Brachytherapy (RAB) is a medical process used in the treatment of cancer. RAB uses a computer-controlled device to remotely insert and remove radioactive sources close to a target (or tumor) in the body. Some RAB problems affecting the radiation dose to the patient have been reported and attributed to human error. To determine the root cause of human error in the RAB system, a human factors team visited 23 RAB treatment sites in the US The team observed RAB treatment planning and delivery, interviewed RAB personnel, and performed walk-throughs, during which staff demonstrated the procedures and practices used in performing RAB tasks. Factors leading to human error in the RAB system were identified. The impact of those factors on the performance of RAB was then evaluated and prioritized in terms of safety significance. Finally, the project identified and evaluated alternative approaches for resolving the safety significant problems related to human error.

  20. Human factors evaluation of remote afterloading brachytherapy: Human error and critical tasks in remote afterloading brachytherapy and approaches for improved system performance. Volume 1

    International Nuclear Information System (INIS)

    Callan, J.R.; Kelly, R.T.; Quinn, M.L.

    1995-05-01

    Remote Afterloading Brachytherapy (RAB) is a medical process used in the treatment of cancer. RAB uses a computer-controlled device to remotely insert and remove radioactive sources close to a target (or tumor) in the body. Some RAB problems affecting the radiation dose to the patient have been reported and attributed to human error. To determine the root cause of human error in the RAB system, a human factors team visited 23 RAB treatment sites in the US The team observed RAB treatment planning and delivery, interviewed RAB personnel, and performed walk-throughs, during which staff demonstrated the procedures and practices used in performing RAB tasks. Factors leading to human error in the RAB system were identified. The impact of those factors on the performance of RAB was then evaluated and prioritized in terms of safety significance. Finally, the project identified and evaluated alternative approaches for resolving the safety significant problems related to human error

  1. Can explicit visual feedback of postural sway efface the effects of sensory manipulations on mediolateral balance performance?

    OpenAIRE

    Cofre Lizama, L.E.; Pijnappels, M.A.G.M.; Reeves, N.P.; Verschueren, S.M.; van Dieen, J.H.

    2016-01-01

    Explicit visual feedback on postural sway is often used in balance assessment and training. However, up-weighting of visual information may mask impairments of other sensory systems. We therefore aimed to determine whether the effects of somatosensory, vestibular, and proprioceptive manipulations on mediolateral balance are reduced by explicit visual feedback on mediolateral sway of the body center of mass and by the presence of visual information. We manipulated sensory inputs of the somatos...

  2. 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)

  3. 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

  4. Enhancing Educational Performance for Remote Aboriginal Australians: What Is the Impact of Attendance on Performance?

    Science.gov (United States)

    Jorgensen, Robyn

    2012-01-01

    The educational performance of Aboriginal Australians lags behind non-Indigenous Australians with the gap increasing the longer students remain at school. The Australian government has released its Closing the Gap policy with the specific intent to redress gaps in health, education and housing, as these are seen as key indicators to life success.…

  5. 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.

  6. Device performance of in situ steam generated gate dielectric nitrided by remote plasma nitridation

    International Nuclear Information System (INIS)

    Al-Shareef, H. N.; Karamcheti, A.; Luo, T. Y.; Bersuker, G.; Brown, G. A.; Murto, R. W.; Jackson, M. D.; Huff, H. R.; Kraus, P.; Lopes, D.

    2001-01-01

    In situ steam generated (ISSG) oxides have recently attracted interest for use as gate dielectrics because of their demonstrated reliability improvement over oxides formed by dry oxidation. [G. Minor, G. Xing, H. S. Joo, E. Sanchez, Y. Yokota, C. Chen, D. Lopes, and A. Balakrishna, Electrochem. Soc. Symp. Proc. 99-10, 3 (1999); T. Y. Luo, H. N. Al-Shareef, G. A. Brown, M. Laughery, V. Watt, A. Karamcheti, M. D. Jackson, and H. R. Huff, Proc. SPIE 4181, 220 (2000).] We show in this letter that nitridation of ISSG oxide using a remote plasma decreases the gate leakage current of ISSG oxide by an order of magnitude without significantly degrading transistor performance. In particular, it is shown that the peak normalized transconductance of n-channel devices with an ISSG oxide gate dielectric decreases by only 4% and the normalized drive current by only 3% after remote plasma nitridation (RPN). In addition, it is shown that the reliability of the ISSG oxide exhibits only a small degradation after RPN. These observations suggest that the ISSG/RPN process holds promise for gate dielectric applications. [copyright] 2001 American Institute of Physics

  7. 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)

  8. Urban Spatial Ecological Performance Based on the Data of Remote Sensing of Guyuan

    Science.gov (United States)

    Ren, X.-J.; Chen, X.-J.; Ma, Q.

    2018-04-01

    The evolution analysis of urban landuse and spatial ecological performance are necessary and useful to recognizing the stage of urban development and revealing the regularity and connotation of urban spatial expansion. Moreover, it lies in the core that should be exmined in the urban sustainable development. In this paper, detailed information has been acquired from the high-resolution satellite imageries of Guyuan, China case study. With the support of GIS, the land-use mapping information and the land cover changes are analyzed, and the process of urban spatial ecological performance evolution by the hierarchical methodology is explored. Results demonstrate that in the past 11 years, the urban spatial ecological performance show an improved process with the dramatic landcover change in Guyuan. Firstly, the landuse structure of Guyuan changes significantly and shows an obvious stage characteristic. Secondly, the urban ecological performance of Guyuan continues to be optimized over the 11 years. Thirdly, the findings suggest that a dynamic monitoring mechanism of urban land use based on high-resolution remote sensing data should be established in urban development, and the rational development of urban land use should be guided by the spatial ecological performance as the basic value orientation.

  9. Performance Assessment for the Idaho National Laboratory Remote-Handled Low-Level Waste Disposal Facility

    Energy Technology Data Exchange (ETDEWEB)

    Annette L. Schafer; A. Jeffrey Sondrup; Arthur S. Rood

    2012-05-01

    This performance assessment for the Remote-Handled Low-Level Radioactive Waste Disposal Facility at the Idaho National Laboratory documents the projected radiological dose impacts associated with the disposal of low-level radioactive waste at the facility. This assessment evaluates compliance with the applicable radiological criteria of the U.S. Department of Energy and the U.S. Environmental Protection Agency for protection of the public and the environment. The calculations involve modeling transport of radionuclides from buried waste to surface soil and subsurface media, and eventually to members of the public via air, groundwater, and food chain pathways. Projections of doses are calculated for both offsite receptors and individuals who inadvertently intrude into the waste after site closure. The results of the calculations are used to evaluate the future performance of the low-level radioactive waste disposal facility and to provide input for establishment of waste acceptance criteria. In addition, one-factor-at-a-time, Monte Carlo, and rank correlation analyses are included for sensitivity and uncertainty analysis. The comparison of the performance assessment results to the applicable performance objectives provides reasonable expectation that the performance objectives will be met

  10. 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)

  11. Effects of Graphene Monolayer Coating on the Optical Performance of Remote Phosphors

    Science.gov (United States)

    Yazdan Mehr, M.; Volgbert, S.; van Driel, W. D.; Zhang, G. Q.

    2017-10-01

    A graphene monolayer has been successfully coated on one side of a bisphenol-A-polycarbonate (BPA-PC) plate, used as a substrate for remote phosphor applications in light-emitting diode (LED)-based products. Using a photoresist transferring method, graphene sheet has been coated on BPA-PC plates. The results show that this graphene monolayer significantly improves the lifetime and performance of LEDs mainly by protecting them against external degradation factors such as moisture and oxygen. Also, LED-based products composed of graphene-coated BPA-PC plates exhibit longer stability with comparatively less loss of luminous efficiency. This method has great potential to significantly improve the reliability of not only LED-based products but also many other microelectronics packaging and components, in which moisture and oxygen are the key causes of failures.

  12. 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

  13. 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…

  14. Performance testing of a system for remote ultrasonic examination of the Hanford double-shell waste storage tanks

    International Nuclear Information System (INIS)

    Pfluger, D.C.; Somers, T.; Berger, A.D.

    1995-02-01

    A mobile robotic inspection system is being developed for remote ultrasonic examination of the double wall waste storage tanks at Hanford. Performance testing of the system includes demonstrating robot mobility within the tank annulus, evaluating the accuracy of the vision based navigation process, and verifying ultrasonic and video system performance. This paper briefly describes the system and presents a summary of the plan for performance testing of the ultrasonic testing system. Performance test results will be presented at the conference

  15. Can explicit visual feedback of postural sway efface the effects of sensory manipulations on mediolateral balance performance?

    NARCIS (Netherlands)

    Cofre Lizama, L.E.; Pijnappels, M.A.G.M.; Reeves, N.P.; Verschueren, S.M.; van Dieen, J.H.

    2016-01-01

    Explicit visual feedback on postural sway is often used in balance assessment and training. However, up-weighting of visual information may mask impairments of other sensory systems. We therefore aimed to determine whether the effects of somatosensory, vestibular, and proprioceptive manipulations on

  16. 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.

  17. 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)

  18. 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.

  19. Managing collaboration in the nanoManipulator

    DEFF Research Database (Denmark)

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

    2004-01-01

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

  20. The effects of rest interval length manipulation of the first upper-body resistance exercise in sequence on acute performance of subsequent exercises in men and women.

    Science.gov (United States)

    Ratamess, Nicholas A; Chiarello, Christina M; Sacco, Anthony J; Hoffman, Jay R; Faigenbaum, Avery D; Ross, Ryan E; Kang, Jie

    2012-11-01

    The purpose of the present study was to investigate the effects of manipulating rest interval (RI) length of the first upper-body exercise in sequence on subsequent resistance exercise performance. Twenty-two men and women with at least 1 year of resistance training experience performed resistance exercise protocols on 3 occasions in random order. Each protocol consisted of performing 4 barbell upper-body exercises in the same sequence (bench press, incline bench press, shoulder press, and bent-over row) for 3 sets of up to 10 repetitions with 75% of 1 repetition maximum. Bench press RIs were 1, 2, or 3 minutes, whereas other exercises were performed with a standard 2-minute rest interval. The number of repetitions completed, average power, and velocity for each set of each exercise were recorded. Gender differences were observed during the bench press and incline press as women performed significantly (p ≤ 0.05) more repetitions than men during all RIs. The magnitude of decline in velocity and power over 3 sets of the bench press and incline press was significantly higher in men than women. Manipulation of RI length during the bench press did not affect performance of the remaining exercises in men. However, significantly more repetitions were performed by women during the first set of the incline press using 3-minute rest interval than 1-minute rest interval. In men and women, performance of the incline press and shoulder press was compromised compared with baseline performances. Manipulation of RI length of the first exercise affected performance of only the first set of 1 subsequent exercise in women. All RIs led to comparable levels of fatigue in men, indicating that reductions in load are necessary for subsequent exercises performed in sequence that stress similar agonist muscle groups when 10 repetitions are desired.

  1. 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

  2. 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 ...

  3. 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

  4. Effects of cellular telephone manipulation on driver`s performance; Jidosha untenchu no keitai denwa shiyo sosa ni kanrensuru mondai no kenkyu

    Energy Technology Data Exchange (ETDEWEB)

    Tokunaga, R; Ozawa, M; Hagiwara, T [Hokkaido University, Sapporo (Japan); Takagi, H; Shimojo, A [Civil Engineering Research Institute of Hokkaido, Hokkaido (Japan)

    1997-10-01

    The present evaluates effects of cellular telephone manipulation on driver`s performance. The major independent variables were the reaction time and the mental workload. Hart et al. proposed the concept of the subjective mental workload. Experiments were conduced using a driving simulator without motion. Findings showed that the hands free system may provide less effect than the cellular telephone on the passenger seat on driver`s reaction time and mental workload. 4 refs., 2 tabs., 5 figs.

  5. A case study in nonlinear dynamics and control of articulated spacecraft: The Space Station Freedom with a mobile remote manipulator system

    Science.gov (United States)

    Bennett, William H.; Kwatny, Harry G.; Lavigna, Chris; Blankenship, Gilmer

    1994-01-01

    The following topics are discussed: (1) modeling of articulated spacecraft as multi-flex-body systems; (2) nonlinear attitude control by adaptive partial feedback linearizing (PFL) control; (3) attitude dynamics and control for SSF/MRMS; and (4) performance analysis results for attitude control of SSF/MRMS.

  6. One Nonlinear PID Control to Improve the Control Performance of a Manipulator Actuated by a Pneumatic Muscle Actuator

    Directory of Open Access Journals (Sweden)

    Jun Zhong

    2014-05-01

    Full Text Available Braided pneumatic muscle actuator shows highly nonlinear properties between displacements and forces, which are caused by nonlinearity of pneumatic system and nonlinearity of its geometric construction. In this paper, a new model based on Bouc-Wen differential equation is proposed to describe the hysteretic behavior caused by its structure. The hysteretic loop between contractile force and displacement is dissolved into linear component and hysteretic component. Relationship between pressure within muscle actuator and parameters of the proposed model is discussed. A single degree of freedom manipulator actuated by PMA is designed. On the basis of the proposed model, a novel cascade position controller is designed. Single neuron adaptive PID algorithm is adopted to cope with the nonlinearity and model uncertainties of the manipulator. The outer loop of the controller is to handle position tracking problem and the inner loop is to control pressure. The controller is applied to the manipulator and experiments are conducted. Results demonstrate the effectiveness of the proposed controller.

  7. 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

  8. Performance Issues Related to Web Service Usage for Remote Data Access

    International Nuclear Information System (INIS)

    Pais, V. F.; Stancalie, V.; Mihailescu, F. A.; Totolici, M. C.

    2008-01-01

    Web services are starting to be widely used in applications for remotely accessing data. This is of special interest for research based on small and medium scale fusion devices, since scientists participating remotely to experiments are accessing large amounts of data over the Internet. Recent tests were conducted to see how the new network traffic, generated by the use of web services, can be integrated in the existing infrastructure and what would be the impact over existing applications, especially those used in a remote participation scenario

  9. Convergent thinking and traumatic brain injury: an investigation of performance on the remote associate test.

    Science.gov (United States)

    Rigon, Arianna; Reber, Justin; Patel, Nirav N; Duff, Melissa C

    2018-06-08

    While deficits in several cognitive domains following moderate-to-severe traumatic brain injury (TBI) have been well documented, little is known about the impact of TBI on creativity. In the current study, our goal is to determine whether convergent problem solving, which contributes to creative thinking, is impaired following TBI. We administered a test of convergent problem solving, the Remote Associate Task (RAT), as well as a battery of neuropsychological tests, to 29 individuals with TBI and 20 healthy comparisons. A mixed-effect regression analysis revealed that individuals with TBI were significantly less likely to produce a correct response, although on average they attempted to respond to the same number of items. Moreover, we found that the TBI (but not the comparison) group's performance on the RAT was significantly and positively associated with verbal learning and memory, providing further evidence supporting the association between declarative memory and creative convergent thinking. In summary, our findings reveal that convergent thinking can be compromised by moderate-to-severe TBI, furthering our understanding of the higher-level cognitive sequelae of TBI.

  10. 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

  11. 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)

  12. Enabling People with Developmental Disabilities to Actively Perform Designated Occupational Activities according to Simple Instructions with a Nintendo Wii Remote Controller by Controlling Environmental Stimulation

    Science.gov (United States)

    Shih, Ching-Hsiang; Wang, Shu-Hui; Chang, Man-Ling; Shih, Ching-Hsiang

    2012-01-01

    The latest researches have adopted software technology, turning the Nintendo Wii Remote Controller into a high performance three-dimensional object orientation detector. This study extended Wii Remote Controller functionality to assess whether two people with developmental disabilities would be able to actively perform designated simple…

  13. 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.

  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. 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.

  16. 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.

  17. Effect of spinal manipulative therapy with stretching compared with stretching alone on full-swing performance of golf players: a randomized pilot trial☆

    Science.gov (United States)

    Costa, Soraya M.V.; Chibana, Yumi E.T.; Giavarotti, Leandro; Compagnoni, Débora S.; Shiono, Adriana H.; Satie, Janice; Bracher, Eduardo S.B.

    2009-01-01

    Abstract Objective There has been a steady growth of chiropractic treatment using spinal manipulative therapy (SMT) that aims to increase the performance of athletes in various sports. This study evaluates the effect of SMT by chiropractors on the performance of golf players. Methods Golfers of 2 golf clubs in São Paulo, Brazil, participated in this study. They were randomized to 1 of 2 groups: Group I received a stretch program, and group II received a stretch program in addition to SMT. Participants in both groups performed the same standardized stretching program. Spinal manipulative therapy to dysfunctional spinal segments was performed on group II only. All golfers performed 3 full-swing maneuvers. Ball range was considered as the average distance for the 3 shots. Treatment was performed after the initial measurement, and the same maneuvers were performed afterward. Each participant repeated these procedures for a 4-week period. Student t test, Mann-Whitney nonparametric test, and 1-way analysis of variance for repeated measures with significance level of 5% were used to analyze the study. Results Forty-three golfers completed the protocol. Twenty participants were allocated to group I and 23 to group II. Average age, handicap, and initial swing were comparable. No improvement of full-swing performance was observed during the 4 sessions on group I (stretch only). An improvement was observed at the fourth session of group II (P = .005); when comparing the posttreatment, group II had statistical significance at all phases (P = .003). Conclusions Chiropractic SMT in association with muscle stretching may be associated with an improvement of full-swing performance when compared with muscle stretching alone. PMID:19948307

  18. Remote software upload techniques in future vehicles and their performance analysis

    Science.gov (United States)

    Hossain, Irina

    could benefit from it. However, like the unicast RSU, the security requirements of multicast communication, i.e., authenticity, confidentiality and integrity of the software transmitted and access control of the group members is challenging. In this thesis, an infrastructure-based mobile multicasting for RSU in vehicle ECUs is proposed where an ECU receives the software from a remote software distribution center using the road side BSs as gateways. The Vehicular Software Distribution Network (VSDN) is divided into small regions administered by a Regional Group Manager (RGM). Two multicast Group Key Management (GKM) techniques are proposed based on the degree of trust on the BSs named Fully-trusted (FT) and Semi-trusted (ST) systems. Analytical models are developed to find the multicast session establishment latency and handover latency for these two protocols. The average latency to perform mutual authentication of the software vendor and a vehicle, and to send the multicast session key by the software provider during multicast session initialization, and the handoff latency during multicast session is calculated. Analytical and simulation results show that the link establishment latency per vehicle of our proposed schemes is in the range of few seconds and the ST system requires few ms higher time than the FT system. The handoff latency is also in the range of few seconds and in some cases ST system requires less handoff time than the FT system. Thus, it is possible to build an efficient GKM protocol without putting too much trust on the BSs.

  19. 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)

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

    International Nuclear Information System (INIS)

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

    2014-01-01

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

  1. The ability to manipulate plant glucosinolates and nutrients explains the better performance of Bemisia tabaci Middle East-Asia Minor 1 than Mediterranean on cabbage plants.

    Science.gov (United States)

    Cui, Hongying; Guo, Litao; Wang, Shaoli; Xie, Wen; Jiao, Xiaoguo; Wu, Qingjun; Zhang, Youjun

    2017-08-01

    The performance of herbivorous insects is greatly affected by host chemical defenses and nutritional quality. Some herbivores have developed the ability to manipulate plant defenses via signaling pathways. It is currently unclear, however, whether a herbivore can benefit by simultaneously reducing plant defenses and enhancing plant nutritional quality. Here, we show that the better performance of the whitefly Bemisia tabaci Middle East-Asia Minor 1 (MEAM1; formerly the "B" biotype) than Mediterranean (MED; formerly the "Q" biotype) on cabbage is associated with a suppression of glucosinolate (GS) content and an increase in amino acid supply in MEAM1-infested cabbage compared with MED-infested cabbage. MEAM1 had higher survival, higher fecundity, higher intrinsic rate of increase ( r m ), a longer life span, and a shorter developmental time than MED on cabbage plants. Amino acid content was higher in cabbage infested with MEAM1 than MED. Although infestation by either biotype decreased the levels of total GS, aliphatic GS, glucoiberin, sinigrin, glucobrassicin, and 4OH-glucobrassicin, and the expression of related genes in cabbage, MED infestation increased the levels of 4ME-glucobrassicin, neoglucobrassicin, progoitrin, and glucoraphanin. The GS content and expression of GS-related genes were higher in cabbage infested with MED than with MEAM1. Our results suggest that MEAM1 performs better than MED on cabbage by manipulating host defenses and nutritional quality.

  2. Potential performances of remotely sensed LAI assimilation in WOFOST model based on an OSS experiment

    NARCIS (Netherlands)

    Curnel, Y.; Wit, de A.J.W.; Duveiller, G.; Defourny, P.

    2011-01-01

    An Observing System Simulation Experiment (OSSE) has been defined to assess the potentialities of assimilating winter wheat leaf area index (LAI) estimations derived from remote sensing into the crop growth model WOFOST. Two assimilation strategies are considered: one based on Ensemble Kalman Filter

  3. Performing and updating an inventory of Oregon's expanding irrigated agricultural lands utilizing remote sensing technology

    Science.gov (United States)

    Hall, M. J.

    1981-01-01

    An inventory technique based upon using remote sensing technology, interpreting both high altitude aerial photography and LANDSAT multispectral scanner imagery, is discussed. It is noted that once the final land use inventory maps of irrigated agricultural lands are available and approximately scaled they may be overlaid directly onto either multispectral scanner or return beam vidicon prints, thereby providing an inexpensive updating procedure.

  4. Effects of Graphene Monolayer Coating on the Optical Performance of Remote Phosphors

    NARCIS (Netherlands)

    Yazdan Mehr, M.; Vollebregt, S.; van Driel, W.D.; Zhang, G.Q.

    2017-01-01

    A graphene monolayer has been successfully coated on one side of a bisphenol-A-polycarbonate (BPA-PC) plate, used as a substrate for remote phosphor applications in light-emitting diode (LED)-based products. Using a photoresist transferring method, graphene sheet has been coated on BPA-PC plates.

  5. 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.

  6. 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

  7. Evaluating the performance of remotely sensed and reanalysed precipitation data over West Africa using HBV light

    Science.gov (United States)

    Jütten, Thomas; Jackisch, Dominik; Diekkrüger, Bernd; Kusche, Jürgen; Eicker, Annette; Springer, Anne

    2016-04-01

    Water is one of the most crucial natural resources in West Africa, where the livelihoods of large parts of the population rely heavily on rain-fed agriculture. Therefore, the modelling of the water balance is an important tool to aid in water resource management. Precipitation is one of most important atmospheric drivers of hydrological models. However, ground-based observation networks are sparse in Western Africa and a further decline in station numbers due to a variety of reasons such as the deterioration of stations or political unrest has been observed in recent years. In ungauged river basins, or basins with insufficiently available precipitation data, several studies have shown that remotely sensed or reanalysed precipitation data may be used to compliment or replace missing information. However, the uncertainties of these datasets over Western Africa are not well examined and a need for further studies is apparent. For validation purposes, precipitation datasets are traditionally compared to in-situ ground measurements. This is not possible in ungauged basins. A new approach to assess the quality of satellite and reanalysis data which is gaining popularity among researchers compares different precipitation datasets using hydrological models. In this so-called hydrological evaluation, ground-truth data is no longer necessary in order to validate a product. The chosen model is calibrated for different precipitation products and the simulated streamflow generated for each product is compared to the measured streamflow. Multiple state of the art satellite and reanalysis precipitation datasets with various spatial resolutions were used in this study, namely: CFSR (0.3125°), CHIRPS (0.05°), CMORPH (0.25°), PERSIANN (0.25°), RFE 2.0 (0.1°), TAMSAT (0.0375°), TRMM 3B42 v7 (0.25°) and TRMM 3B42RT (real time) (0.25°). These datasets were evaluated at the regional as well as local scale using the HBV light conceptual hydrological model for several basins

  8. Manipulation of surface morphology of flower-like Ag/ZnO nanorods to enhance photocatalytic performance

    Science.gov (United States)

    U-thaipan, Kasira; Tedsree, Karaked

    2018-06-01

    The surface morphology of flower-like Ag/ZnO nanorod can be manipulated by adopting different synthetic routes and also loading different levels of Ag in order to alter their surface structures to achieve the maximum photocatalytic efficiency. In a single-step preparation method Ag/ZnO was prepared by heating directly a mixture of Zn2+ and Ag+ precursors in an aqueous NaOH-ethylene glycol solution, while in the two-step preparation method an intermediate of flower-shaped ZnO nanorod was obtained by a hydrothermal process before depositing Ag particles on the ZnO surfaces by chemical reduction. The structure, morphology and optical properties of the synthesized samples were characterized using TEM, SEM, XRD, DRS and PL techniques. The sample prepared by single-step method are characterized with agglomeration of Ag atoms as clusters on the surface of ZnO, whereas in the sample prepared by two-step method Ag atoms are found uniformly dispersed and deposited as discrete Ag nanoparticles on the surface of ZnO. A significant enhancement in the adsorption of visible light was evident for Ag/ZnO samples prepared by two-step method especially with low Ag content (0.5 mol%). The flower-like Ag/ZnO nanorod prepared with 0.5 mol% Ag by two-step process was found to be the most efficient photocatalyst for the degradation of phenol, which can decompose 90% of phenol within 120 min.

  9. 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

  10. Novel apparatus and methods for performing remotely controlled particle-solid interaction experiments at CERN

    Science.gov (United States)

    Krause, H. F.; Deveney, E. F.; Jones, N. L.; Vane, C. R.; Datz, S.; Knudsen, H.; Grafström, P.; Schuch, R.

    1997-04-01

    Recent atomic physics studies involving ultrarelativistic Pb ions required solid target positioners, scintillators, and a sophisticated data acquisition and control system placed in a remote location at the CERN Super Proton Synchrotron near Geneva, Switzerland. The apparatus, installed in a high-radiation zone underground, had to (i) function for months, (ii) automatically respond to failures such as power outages and particle-induced computer upsets, and (iii) communicate with the outside world via a telephone line. The heart of the apparatus developed was an Apple Macintosh-based CAMAC system that answered the telephone and interpreted and executed remote control commands that (i) sensed and set targets, (ii) controlled voltages and discriminator levels for scintillators, (iii) modified data acquisition hardware logic, (iv) reported control information, and (v) automatically synchronized data acquisition to the CERN spill cycle via a modem signal and transmitted experimental data to a remote computer. No problems were experienced using intercontinental telephone connections at 1200 baud. Our successful "virtual laboratory" approach that uses off-the-shelf electronics is generally adaptable to more conventional bench-type experiments.

  11. 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.)

  12. 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

  13. 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

  14. 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)

  15. 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

  16. Thermal performance of milk chilling units in remote villages working with the combination of biomass, biogas and solar energies

    International Nuclear Information System (INIS)

    Edwin, M.; Sekhar, S. Joseph

    2015-01-01

    The milk processing and preservation is a fast growing business in developing countries and it is facing problems due to high energy cost and environmental concerns in using conventional energy sources. The energy tapped from renewable energy sources through the technological innovations would be one of the best options to implement the milk preservation strategies at village level. In rural areas, bioenergy is one of the most versatile energy-generating options. Because of the diversity in feed stock and conversion technologies, suitable study is needed to implement renewable energy base technologies to provide a continuous flow of energy services. In this paper, the use of locally available renewable energy sources, in various combinations, to operate a milk chilling plant at village level has been analysed using the Matlab software. The effect of variations in the combination of renewable energy sources on the overall system COP has been studied. The study predicts that the best possible overall system COPs in hilly, rubber cultivation, paddy and seashore regions are 0.26, 0.25, 0.235 and 0.24 respectively. Moreover, suitable combinations identified in the aforementioned regions are Biomass/Gobar gas (0.7:0.3), Biomass/Biogas/Gobar gas (0.7:0.1:0.2), Biogas/Biomass/Gobar gas (0.6:0.15:0.25) and Biomass/Gobar gas/Biogas/Solar (0.5:0.25:0.125:0.125) respectively. - Highlights: • Hybrid energy based milk cooling system for remote regions. • Performance studies on cooling systems with the combination of renewable energy sources is carried out. • Renewable energy sources available in remote villages to meet the short term milk preservation needs. • Identification of suitable combinations of renewable energy sources to give maximum thermodynamic performance. • Identification of appropriate combinations of renewable energy sources to meet the milk cooling needs in remote regions.

  17. 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.

  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. Using pliers in assembly work: short and long task duration effects of gloves on hand performance capabilities and subjective assessments of discomfort and ease of tool manipulation.

    Science.gov (United States)

    Dianat, Iman; Haslegrave, Christine M; Stedmon, Alex W

    2012-03-01

    The present study investigated the effects of wearing typical industrial gloves on hand performance capabilities (muscle activity, wrist posture, touch sensitivity, hand grip and forearm torque strength) and subjective assessments for an extended duration of performing a common assembly task, wire tying with pliers, which requires a combination of manipulation and force exertion. Three commercially available gloves (cotton, nylon and nitrile gloves) were tested and compared with a bare hand condition while participants performed the simulated assembly task for 2 h. The results showed that wearing gloves significantly increased the muscle activity, wrist deviation, and discomfort whilst reducing hand grip strength, forearm torque strength and touch sensitivity. The combined results showed that the length of time for which gloves are worn does affect hand performance capability and that gloves need to be evaluated in a realistic working context. The results are discussed in terms of selection of gloves for industrial assembly tasks involving pliers. Copyright © 2011 Elsevier Ltd and The Ergonomics Society. All rights reserved.

  20. 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.

  1. 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

  2. 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

  3. Manipulation of the microbiota of mass-reared Mediterranean fruit flies Ceratitis capitata (Diptera: Tephritidae) improves sterile male sexual performance.

    Science.gov (United States)

    Ben Ami, Eyal; Yuval, Boaz; Jurkevitch, Edouard

    2010-01-01

    The sterile insect technique (SIT) is a method of biological control whereby millions of factory reared sterile male insects are released into the field. This technique is commonly used to combat the Mediterranean fruit fly (Ceratitis capitata, Diptera: Tephritidae). Sterile medfly males are less competent in attracting and mating with wild females, a property commonly linked to the irradiation process responsible for the sterilization. As bacteria are important partners in the fly's life cycle, we used molecular analytical methods to study the community structure of the gut microbiota in irradiated male medflies. We find that the sterilizing irradiation procedure affects the gut bacterial community structure of the Mediterranean fruit fly. Although the Enterobacteriaceae family remains the dominant bacterial group present in the gut, the levels of Klebsiella species decreases significantly in the days after sterilization. In addition, we detected substantial differences in some bacterial species between the mass rearing strain Vienna 8 and the wild strain. Most notable among these are the increased levels of the potentially pathogenic species Pseudomonas in the industrial strain. Testing the hypothesis that regenerating the original microbiota community could result in enhanced competitiveness of the sterile flies, we found that the addition of the bacterial species Klebsiella oxytoca to the postirradiation diet enables colonization of these bacteria in the gut while resulting in decreased levels of the Pseudomonas sp. Feeding on diets containing bacteria significantly improved sterile male performance in copulatory tests. Further studies will determine the feasibility of bacterial amelioration in SIT operations.

  4. Performance of a remote interrogation system for the in-hospital evaluation of cardiac implantable electronic devices.

    Science.gov (United States)

    Mittal, Suneet; Younge, Kevin; King-Ellison, Kelly; Hammill, Eric; Stein, Kenneth

    2016-08-01

    Patients with a cardiac implantable electronic device (CIED) often need device interrogation in an in-hospital environment. A diagnosis-only, remote interrogation device and process for CIED interrogation was developed to address this situation. Here, we describe our initial clinical experience with this system. The LATITUDE Consult Communicator is a stand-alone interrogation-only device used to read the patient's implanted CIED. Once retrieved, the data are securely transmitted via an analog phone line to a central server. The clinician can request a review of the transmitted data at any time. Following FDA approval, we determined the usage and performance of the system. Communicators (n = 53) were installed in 42 hospital facilities. The most common location was in the emergency department (n = 32, 60 %). There were 509 discreet transmissions, which were categorized as follows: no arrhythmia episodes in the past 72 h and no out of range measurements (n = 174, 34 %); arrhythmia episodes in past 72 h but no out of range measurements (n = 170, 33 %); and further review recommended (n = 130, 26 %). (In 35 [7 %] instances, interrogation without analysis was requested.) The further review interrogations were then sub-divided into those of a non-urgent and urgent nature. Overall, only 53 (10 %) of the 509 transmissions were classified as urgent. Clinicians had access to full technical consultation in ≤15 min in 89 % of instances. Our data demonstrate the feasibility of a new diagnosis-only, remote interrogation device and remote evaluation process for the interrogation of CIEDs in an in-hospital environment.

  5. Performance of the Digital Science Partnership Remotely-Operated 0.5-Meter Corrected Dall-Kirkham Telescopes

    Science.gov (United States)

    Kielkopf, John F.; Carter, B.; Brown, C.; Hart, R.; Hay, J.; Waite, I.

    2007-12-01

    The Digital Science Partnership, a collaboration of the University of Louisville and the University of Southern Queensland, operates a pair of 0.5-meter telescopes for teaching, research, and informal education. The instruments were installed at sites near Toowoomba, Australia, and Louisville, Kentucky in 2006. The Planewave Instruments optical systems employ a unique Dall-Kirkham design incorporating a two-element corrector that demagnifies the image, flattens the focal plane, and reduces coma. These instruments have a moderately fast f/6.8 focal ratio and maintain image quality with little vignetting over a field 42 mm in diameter (0.7 degree). With a 9-micron pixel CCD such as the KAF-6303E, the image scale of 0.55 seconds of arc per pixel typically yields seeing-limited image quality at our sites. The telescopes and their enclosure are operated in a live remote observing mode through Linux-based software, including a dome-control system that uses RFID tags for absolute rotation encoding. After several months of testing and development we have examples of images and photometry from both sites that illustrate the performance of the system. We will discuss image quality, as well as practical matters such as pointing accuracy and field acquisition, auto-guiding, communication latency in large file transfer, and our experience with remote observing assisted by teleconferencing. Time-delay-integration (TDI) imaging, in which the telescope is stationary while the CCD is clocked to track in right ascension, is under study. The technique offers wide fields of view with very high signal-to-noise ratio, and can be implemented in robotically operated instruments used in monitoring, rapid-response, and educational programs. Results for conventional and TDI imaging from the dark site in Australia compared to the brighter suburban site in Kentucky show the benefits of access to dark sites through international partnerships that remote operation technology offers.

  6. 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

  7. High-performance technology for indexing of high volumes of Earth remote sensing data

    Science.gov (United States)

    Strotov, Valery V.; Taganov, Alexander I.; Kolesenkov, Aleksandr N.; Kostrov, Boris V.

    2017-10-01

    The present paper has suggested a technology for search, indexing, cataloging and distribution of aerospace images on the basis of geo-information approach, cluster and spectral analysis. It has considered information and algorithmic support of the system. Functional circuit of the system and structure of the geographical data base have been developed on the basis of the geographical online portal technology. Taking into account heterogeneity of information obtained from various sources it is reasonable to apply a geoinformation platform that allows analyzing space location of objects and territories and executing complex processing of information. Geoinformation platform is based on cartographic fundamentals with the uniform coordinate system, the geographical data base, a set of algorithms and program modules for execution of various tasks. The technology for adding by particular users and companies of images taken by means of professional and amateur devices and also processed by various software tools to the array system has been suggested. Complex usage of visual and instrumental approaches allows significantly expanding an application area of Earth remote sensing data. Development and implementation of new algorithms based on the complex usage of new methods for processing of structured and unstructured data of high volumes will increase periodicity and rate of data updating. The paper has shown that application of original algorithms for search, indexing and cataloging of aerospace images will provide an easy access to information spread by hundreds of suppliers and allow increasing an access rate to aerospace images up to 5 times in comparison with current analogues.

  8. Thought waves remotely affect the performance (output voltage) of photoelectric cells

    Science.gov (United States)

    Cao, Dayong; Cao, Daqing

    2012-02-01

    In our experiments, thought waves have been shown to be capable of changing (affecting) the output voltage of photovoltaic cells located from as far away as 1-3 meters. There are no wires between brain and photoelectric cell and so it is presumed only the thought waves act on the photoelectric cell. In continual rotations, the experiments tested different solar cells, measuring devices and lamps, and the experiments were done in different labs. The first experiment was conducted on Oct 2002. Tests are ongoing. Conclusions and assumptions include: 1) the slow thought wave has the energy of space-time as defined by C1.00007: The mass, energy, space and time systemic theory- MEST. Every process releases a field effect electrical vibration which be transmitted and focussed in particular paths; 2) the thought wave has the information of the order of tester; 3) the brain (with the physical system of MEST) and consciousness (with the spirit system of the mind, consciousness, emotion and desire-MECD) can produce the information (a part of them as the Genetic code); 4) through some algorithms such as ACO Ant Colony Optimization and EA Evolutionary Algorithm (or genetic algorithm) working in RAM, human can optimize the information. This Optimizational function is the intelligence; 5) In our experiments, not only can thought waves affect the voltage of the output photoelectric signals by its energy, but they can also selectively increase or decrease those photoelectric currents through remote consciousness interface and a conscious-brain information technology.

  9. 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

  10. Fabrication of a three-dimensional micro-manipulator by laser irradiation and electrochemical techniques and the effect of electrolytes on its performance

    Energy Technology Data Exchange (ETDEWEB)

    Kikuchi, T.; Akiyama, Y.; Ueda, M.; Sakairi, M.; Takahashi, H. [Graduate School of Engineering, Hokkaido University, N13, W8, Kita-Ku, Sapporo (Japan)

    2007-03-20

    Ribbon type and three-dimensional micro-actuators, consisting of three-layer structure of acrylic acid resin/Au/polypyrrole, were fabricated by aluminum anodizing, laser irradiation, and electrochemical techniques, and their performance was examined. Anodized aluminum specimens were irradiated with a pulsed Nd-YAG laser to remove anodic oxide films locally, and then an Au layer was deposited at the area where film had been removed. The subsequent electrophoretic deposition of acrylic acid resin on the Au layer, dissolution of anodic oxide film and the metal substrate, and deposition of polypyrrole on backside of Au layer by electro-polymerization enabled the fabrication of a three-layer actuator. Cyclic voltammetry of the ribbon type actuator in different electrolyte solutions showed that redox reactions of polypyrrole is accompanied with doping and dedoping of hydrated cations, and that the redox reaction strongly depends on the valency of cations in the solutions. The three-dimensional micro-actuator showed good performance as a manipulator, gripping and moving objects of several milligram in solutions. (author)

  11. David Adler Lectureship Award in the Field of Materials Physics: Racetrack Memory - a high-performance, storage class memory using magnetic domain-walls manipulated by current

    Science.gov (United States)

    Parkin, Stuart

    2012-02-01

    Racetrack Memory is a novel high-performance, non-volatile storage-class memory in which magnetic domains are used to store information in a ``magnetic racetrack'' [1]. The magnetic racetrack promises a solid state memory with storage capacities and cost rivaling that of magnetic disk drives but with much improved performance and reliability: a ``hard disk on a chip''. The magnetic racetrack is comprised of a magnetic nanowire in which a series of magnetic domain walls are shifted to and fro along the wire using nanosecond-long pulses of spin polarized current [2]. We have demonstrated the underlying physics that makes Racetrack Memory possible [3,4] and all the basic functions - creation, and manipulation of a train of domain walls and their detection. The physics underlying the current induced dynamics of domain walls will also be discussed. In particular, we show that the domain walls respond as if they have mass, leading to significant inertial driven motion of the domain walls over long times after the current pulses are switched off [3]. We also demonstrate that in perpendicularly magnetized nanowires there are two independent current driving mechanisms: one derived from bulk spin-dependent scattering that drives the domain walls in the direction of electron flow, and a second interfacial mechanism that can drive the domain walls either along or against the electron flow, depending on subtle changes in the nanowire structure. Finally, we demonstrate thermally induced spin currents are large enough that they can be used to manipulate domain walls. [4pt] [1] S.S.P. Parkin, US Patent 6,834,005 (2004); S.S.P. Parkin et al., Science 320, 190 (2008); S.S.P. Parkin, Scientific American (June 2009). [0pt] [2] M. Hayashi, L. Thomas, R. Moriya, C. Rettner and S.S.P. Parkin, Science 320, 209 (2008). [0pt] [3] L. Thomas, R. Moriya, C. Rettner and S.S.P. Parkin, Science 330, 1810 (2010). [0pt] [4] X. Jiang et al. Nat. Comm. 1:25 (2010) and Nano Lett. 11, 96 (2011).

  12. 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

  13. 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

  14. 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.

  15. Manipulating Carbohydrate Availability Between Twice-Daily Sessions of High-Intensity Interval Training Over 2 Weeks Improves Time-Trial Performance.

    Science.gov (United States)

    Cochran, Andrew J; Myslik, Frank; MacInnis, Martin J; Percival, Michael E; Bishop, David; Tarnopolsky, Mark A; Gibala, Martin J

    2015-10-01

    Commencing some training sessions with reduced carbohydrate (CHO) availability has been shown to enhance skeletal muscle adaptations, but the effect on exercise performance is less clear. We examined whether restricting CHO intake between twice daily sessions of high-intensity interval training (HIIT) augments improvements in exercise performance and mitochondrial content. Eighteen active but not highly trained subjects (peak oxygen uptake [VO2peak] = 44 ± 9 ml/kg/min), matched for age, sex, and fitness, were randomly allocated to two groups. On each of 6 days over 2 weeks, subjects completed two training sessions, each consisting of 5 × 4-min cycling intervals (60% of peak power), interspersed by 2 min of recovery. Subjects ingested either 195 g of CHO (HI-HI group: ~2.3 g/kg) or 17 g of CHO (HI-LO group: ~0.3 g/kg) during the 3-hr period between sessions. The training-induced improvement in 250-kJ time trial performance was greater (p = .02) in the HI-LO group (211 ± 66 W to 244 ± 75 W) compared with the HI-HI group (203 ± 53 W to 219 ± 60 W); however, the increases in mitochondrial content was similar between groups, as reflected by similar increases in citrate synthase maximal activity, citrate synthase protein content and cytochrome c oxidase subunit IV protein content (p > .05 for interaction terms). This is the first study to show that a short-term "train low, compete high" intervention can improve whole-body exercise capacity. Further research is needed to determine whether this type of manipulation can also enhance performance in highly-trained subjects.

  16. Heart rate kinetics during very heavy and severe exercise performed after dietary manipulation. DOI: 10.5007/1980-0037.2011v13n1p52

    Directory of Open Access Journals (Sweden)

    Carlos Rafaell Correia de Oliveira

    2011-12-01

    Full Text Available Little is known about heart rate (HR kinetics during exercise in the very heavy (VH and severe (SE intensity domains. The objective of this study was to describe mathematically the HR kinetics during exercise performed in these intensity domains and to compare the parameters derived from these models between situations of high (HCHO, low (LCHO and control (C carbohydrate availability. Twelve men performed three trials to exhaustion in the VH or SE domains after diet manipulation with HCHO, LCHO and C. The VH intensity was ΔLW75% (75% of the difference between VO2max and LL2 and SE was 115% of VO2max identified in a previous incremental test (20 W/3 min. HR responses were mathematically fitted by mono- and biexponential functions. In the VH domain, the residual sum of squares (RSS obtained with the biexponential model was significantly lower than that obtained with the monoexponential model (P 0.05. In the VH domain, there were no significant differences in biexponential parameters between the HCHO, LCHO and C conditions. In the SE domain, there were no significant differences in monoexponential parameters between the HCHO, LCHO and C conditions, although the time constant of the monoexponential model was significantly reduced in LCHO when compared to HCHO (51.5 ± 26.4 vs 65.4 ± 34.1 s; P < 0.05. The bi- and monoexponential mathematical models seem to be the best description of HR responses during exercise performed in the HV and SE intensity domains, respectively. In addition, carbohydrate availability only seems to affect HR kinetics during exercise performed at SE intensity.

  17. Heart rate kinetics during very heavy and severe exercise performed after dietary manipulation. DOI: 10.5007/1980-0037.2011v13n1p52

    Directory of Open Access Journals (Sweden)

    Maria Augusta Peduti Dal Molin Kiss

    2011-01-01

    Full Text Available Little is known about heart rate (HR kinetics during exercise in the very heavy (VH and severe (SE intensity domains. The objective of this study was to describe mathematically the HR kinetics during exercise performed in these intensity domains and to compare the parameters derived from these models between situations of high (HCHO, low (LCHO and control (C carbohydrate availability. Twelve men performed three trials to exhaustion in the VH or SE domains after diet manipulation with HCHO, LCHO and C. The VH intensity was ΔLW75% (75% of the difference between VO2max and LL2 and SE was 115% of VO2max identified in a previous incremental test (20 W/3 min. HR responses were mathematically fitted by mono- and biexponential functions. In the VH domain, the residual sum of squares (RSS obtained with the biexponential model was significantly lower than that obtained with the monoexponential model (P 0.05. In the VH domain, there were no significant differences in biexponential parameters between the HCHO, LCHO and C conditions. In the SE domain, there were no significant differences in monoexponential parameters between the HCHO, LCHO and C conditions, although the time constant of the monoexponential model was significantly reduced in LCHO when compared to HCHO (51.5 ± 26.4 vs 65.4 ± 34.1 s; P < 0.05. The bi- and monoexponential mathematical models seem to be the best description of HR responses during exercise performed in the HV and SE intensity domains, respectively. In addition, carbohydrate availability only seems to affect HR kinetics during exercise performed at SE intensity.

  18. 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)

  19. 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.

  20. 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

  1. 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....

  2. Diagnosis of regional evaporation by remote sensing to support irrigation performance assessment

    NARCIS (Netherlands)

    Bastiaanssen, W.G.M.; Wal, van der T.; Visser, T.N.M.

    1996-01-01

    Performance assessment indicators, being functions of evaporation, are useful tools to evaluate the actual functioning of an irrigation system. The spatial variability of evaporation in large irrigation schemes makes its determination with conventional point measurements almost impossible. A new

  3. 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

  4. 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...

  5. Linking student performance in Massachusetts elementary schools with the "greenness" of school surroundings using remote sensing.

    Science.gov (United States)

    Wu, Chih-Da; McNeely, Eileen; Cedeño-Laurent, J G; Pan, Wen-Chi; Adamkiewicz, Gary; Dominici, Francesca; Lung, Shih-Chun Candice; Su, Huey-Jen; Spengler, John D

    2014-01-01

    Various studies have reported the physical and mental health benefits from exposure to "green" neighborhoods, such as proximity to neighborhoods with trees and vegetation. However, no studies have explicitly assessed the association between exposure to "green" surroundings and cognitive function in terms of student academic performance. This study investigated the association between the "greenness" of the area surrounding a Massachusetts public elementary school and the academic achievement of the school's student body based on standardized tests with an ecological setting. Researchers used the composite school-based performance scores generated by the Massachusetts Comprehensive Assessment System (MCAS) to measure the percentage of 3rd-grade students (the first year of standardized testing for 8-9 years-old children in public school), who scored "Above Proficient" (AP) in English and Mathematics tests (Note: Individual student scores are not publically available). The MCAS results are comparable year to year thanks to an equating process. Researchers included test results from 2006 through 2012 in 905 public schools and adjusted for differences between schools in the final analysis according to race, gender, English as a second language (proxy for ethnicity and language facility), parent income, student-teacher ratio, and school attendance. Surrounding greenness of each school was measured using satellite images converted into the Normalized Difference Vegetation Index (NDVI) in March, July and October of each year according to a 250-meter, 500-meter, 1,000-meter, and 2000-meter circular buffer around each school. Spatial Generalized Linear Mixed Models (GLMMs) estimated the impacts of surrounding greenness on school-based performance. Overall the study results supported a relationship between the "greenness" of the school area and the school-wide academic performance. Interestingly, the results showed a consistently positive significant association between the

  6. Thematic Mapper Data Quality and Performance Assessment in Renewable Resources/agriculture/remote Sensing

    Science.gov (United States)

    Bizzell, R. M.; Prior, H. L.

    1985-01-01

    Analysis of the early thematic mapper (TM) data indicate the TM sensor and associated ground processing are performing equal to the high expectations and within advertised specifications. The overall TM system with improved resolution, together with additional and more optimumly placed spectral bands shows much promise for benefits in future analysis activities. By selecting man-made features of known dimensions (e.g., highways, airfields, buildings, and isolated water bodies), an assessment was made of the TM performance relative to the specified 30-meter (98-foot) resolution. The increase of spatial resolution of TM (30 m) over MSS (80 M) appears to be significant not only in resolving spectrally distinct classes that were previously undefinable but also in distinguishing within-field variability. An Important result of the early TM evaluation and pre-TM analyses was the development of an integrated system to receive LANDSAT-4 TM (as well as MSS) data and analyze the data via various approaches.

  7. Technology, Performance, and Market Report of Wind-Diesel Applications for Remote and Island Communities: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Baring-Gould, I.; Dabo, M.

    2009-02-01

    This paper describes the current status of wind-diesel technology and its applications, the current research activities, and the remaining system technical and commercial challenges. System architectures, dispatch strategies, and operating experience from a variety of wind-diesel systems will be discussed, as well as how recent development to explore distributed energy generation solutions for wind generation can benefit from the performance experience of operating systems. The paper also includes a detailed discussion of the performance of wind-diesel applications in Alaska, where 10 wind-diesel stations are operating and additional systems are currently being implemented. Additionally, because this application represents an international opportunity, a community of interest committed to sharing technical and operating developments is being formed. The authors hope to encourage this expansion while allowing communities and nations to investigate the wind-diesel option for reducing their dependence on diesel-driven energy sources.

  8. Technology, Performance, and Market Report of Wind-Diesel Applications for Remote and Island Communities: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Baring-Gould, I.; Dabo, M.

    2009-05-01

    This paper describes the current status of wind-diesel technology and its applications, the current research activities, and the remaining system technical and commercial challenges. System architectures, dispatch strategies, and operating experience from a variety of wind-diesel systems will be discussed, as well as how recent development to explore distributed energy generation solutions for wind generation can benefit from the performance experience of operating systems. The paper also includes a detailed discussion of the performance of wind-diesel applications in Alaska, where 10 wind-diesel stations are operating and additional systems are currently being implemented. Additionally, because this application represents an international opportunity, a community of interest committed to sharing technical and operating developments is being formed. The authors hope to encourage this expansion while allowing communities and nations to investigate the wind-diesel option for reducing their dependence on diesel-driven energy sources.

  9. Thematic mapper data quality and performance assessment in renewable resource/agricultural remote sensing

    Science.gov (United States)

    Erickson, J. D.; Macdonald, R. B. (Principal Investigator)

    1982-01-01

    A "quick look" investigation of the initial LANDSAT-4, thematic mapper (TM) scene received from Goddard Space Flight Center was performed to gain early insight into the characteristics of TM data. The initial scene, containing only the first four bands of the seven bands recorded by the TM, was acquired over the Detroit, Michigan, area on July 20, 1982. It yielded abundant information for scientific investigation. A wide variety of studies were conducted to assess all aspects of TM data. They ranged from manual analyses of image products to detect obvious optical, electronic, or mechanical defects to detailed machine analyses of the digital data content for evaluation of spectral separability of vegetative/nonvegetative classes. These studies were applied to several segments extracted from the full scene. No attempt was made to perform end-to-end statistical evaluations. However, the output of these studies do identify a degree of positive performance from the TM and its potential for advancing state-of-the-art crop inventory and condition assessment technology.

  10. 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

  11. Testing the performance of empirical remote sensing algorithms in the Baltic Sea waters with modelled and in situ reflectance data

    Directory of Open Access Journals (Sweden)

    Martin Ligi

    2017-01-01

    Full Text Available Remote sensing studies published up to now show that the performance of empirical (band-ratio type algorithms in different parts of the Baltic Sea is highly variable. Best performing algorithms are different in the different regions of the Baltic Sea. Moreover, there is indication that the algorithms have to be seasonal as the optical properties of phytoplankton assemblages dominating in spring and summer are different. We modelled 15,600 reflectance spectra using HydroLight radiative transfer model to test 58 previously published empirical algorithms. 7200 of the spectra were modelled using specific inherent optical properties (SIOPs of the open parts of the Baltic Sea in summer and 8400 with SIOPs of spring season. Concentration range of chlorophyll-a, coloured dissolved organic matter (CDOM and suspended matter used in the model simulations were based on the actually measured values available in literature. For each optically active constituent we added one concentration below actually measured minimum and one concentration above the actually measured maximum value in order to test the performance of the algorithms in wider range. 77 in situ reflectance spectra from rocky (Sweden and sandy (Estonia, Latvia coastal areas were used to evaluate the performance of the algorithms also in coastal waters. Seasonal differences in the algorithm performance were confirmed but we found also algorithms that can be used in both spring and summer conditions. The algorithms that use bands available on OLCI, launched in February 2016, are highlighted as this sensor will be available for Baltic Sea monitoring for coming decades.

  12. 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

  13. 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.

  14. 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...

  15. Remotely measuring the wind using turbine-mounted lidars: Application to power performance testing

    DEFF Research Database (Denmark)

    Borraccino, Antoine

    the so-called whitebox approach. It consists mainly in calibrating the lidar primary measurementsof line-of-sight velocities. The line-of-sight velocity is the projection of the wind vector onto the laser beam propagation path. The calibration is performed in situ, by comparing the lidar velocity...... measurements to a reference quantity itself traceable to the international standards of units. The uncertainty of the line-ofsight velocity measurements was assessed using a normative methodology (GUM) which is based on the law of propagation of uncertainties. The generic calibration procedure was applied...... to two commercially developed nacelle lidars systems, the Avent 5-beam Demonstrator and the ZephIR Dual Mode lidars. Further, the lineof-sight positioning quantities such as inclination angles or beam trajectory werealso calibrated and their uncertainties assessed. Calibration results were of high...

  16. Evaluating the performance of remotely sensed and reanalysed precipitation data over West Africa using HBV light

    Science.gov (United States)

    Poméon, Thomas; Jackisch, Dominik; Diekkrüger, Bernd

    2017-04-01

    Water is a crucial resource in West Africa, where large parts of the population rely on rainfed agriculture. Therefore, accurate knowledge of the water resources is of the utmost importance. Due to the declining number of rain gauging stations, the use of satellite and reanalysis precipitation datasets in hydrological modelling is steadily rising. However, accurate information on the benefits and deficits of these datasets is often lacking, especially in the West African subcontinent. For validation purposes, these products are commonly compared to freely available rain gauge data, which has in some cases already been used to bias correct the products in the first place. We therefore explored the possibility of a hydrological evaluation, where a model is calibrated for each dataset using streamflow as the observed variable. In this study, ten freely available satellite and reanalysis datasets (CFSR, CHIRPS, CMORPHv1.0 CRT, CMORPHv1.0 RAW, PERSIANN CDR, RFE 2.0, TAMSAT, TMPA 3B42v7, TMPA 3B42 RTv7 and GPCC FDDv1) were thus evaluated for six differently sized and located basins in West Africa. Results show that while performances differ, most datasets manage to somewhat accurately predict the observed streamflow in a given basin. Best results were achieved by datasets which use a multitude of input data, namely infrared and microwave satellite data, as well as observations from rain gauges (usually GPCC) for bias correction. If considering only the Nash Sutcliffe Efficiency averaged for all six basins during the calibration phase, best results were achieved by CMORPH CRT and PERSIANN CDR (both 0.66), followed by TAMSAT, CHIRPS and TMPA 3B42 (all three 0.64). Average results were achieved by RFE 2.0 (0.63), GPCC (0.61) and TMPA 3B42 RT (0.54). CMORPH RAW and CFSR performed worst (0.36 and -0.34 on average).

  17. 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.)

  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. Thematic Mapper Data Quality and Performance Assessment in Renewable Resources/agriculture Remote Sensing

    Science.gov (United States)

    Bizzell, R. M.; Prior, H. L.

    1984-01-01

    It is believed that the increased spatial resolution will provide solutions to proportion estimation error due to mixed pixels, and the increased spectral resolution will provide for the identification of important agricultural features such as crop stage, and condition. The results of analyses conducted relative to these hypothesis from sample segments extracted from the 4-band Detroit scene and the 7-band Mississippi County, Arkansas engineering test scene are described. Several studies were conducted to evaluate the geometric and radiometric performance of the TM to determine data viability for the more pertinent investigations of TM utility. In most cases this requirement was more than sufficiently satisfied. This allowed the opportunity to take advantage of detailed ground observations for several of the sample segments to assess class separability and detection of other important features with TM. The results presented regarding these TM characteristics show that not only is the increased definition of the within scene variance captured by the increased spatial and spectral resolution, but that the mid-IR bands (5 and 7) are necessary for optimum crop type classification. Both qualitative and quantitative results are presented that describe the improvements gained with the TM both relative to the MSS and on its own merit.

  20. Improving streamflow simulations and forecasting performance of SWAT model by assimilating remotely sensed soil moisture observations

    Science.gov (United States)

    Patil, Amol; Ramsankaran, RAAJ

    2017-12-01

    This article presents a study carried out using EnKF based assimilation of coarser-scale SMOS soil moisture retrievals to improve the streamflow simulations and forecasting performance of SWAT model in a large catchment. This study has been carried out in Munneru river catchment, India, which is about 10,156 km2. In this study, an EnkF based new approach is proposed for improving the inherent vertical coupling of soil layers of SWAT hydrological model during soil moisture data assimilation. Evaluation of the vertical error correlation obtained between surface and subsurface layers indicates that the vertical coupling can be improved significantly using ensemble of soil storages compared to the traditional static soil storages based EnKF approach. However, the improvements in the simulated streamflow are moderate, which is due to the limitations in SWAT model in reflecting the profile soil moisture updates in surface runoff computations. Further, it is observed that the durability of streamflow improvements is longer when the assimilation system effectively updates the subsurface flow component. Overall, the results of the present study indicate that the passive microwave-based coarser-scale soil moisture products like SMOS hold significant potential to improve the streamflow estimates when assimilating into large-scale distributed hydrological models operating at a daily time step.

  1. Remote maintenance design for Fusion Experimental Reactor (FER)

    International Nuclear Information System (INIS)

    Tachikawa, K.; Iida, H.; Nishio, S.; Tone, T.; Aota, T.; Iwamoto, T.; Niikura, S.; Nishizawa, H.

    1984-01-01

    Design of Fusion Experimental Reactor, FER, has been conducted by Japan Atomic Energy Research Institute (JAERI) since 1981. Two typical reactors can be classified in general from the viewpoints of remote maintenance among four design concepts of FER. In the case of the type 1 FER, the torus module consists of shield structure and blanket, and the connective joints between toruses provided at the outer region of the reactor. As for the type 2 FER, the shield structure is joined with the vacuum cryostat, and only the blanket module is allowed to move, but connection between toruses are located in the inner region of the reactor. Comparing type 1 with type 2 FER, this paper describes on the remote maintenance of FER including reactor configurations, work procedures, remote systems/equipments, repairing facility and future R and D problems. Reviewing design studies and investigation for the existing robotics technologies, R and D for FER remote maintenance technology should be performed under the reasonable long-term program. The main items of remote technology required to start urgently are multi-purpose manipulator system with performance of dextrousity, tele-viewing system which reduces operator fatigue and remote tests for commercially available components

  2. 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 ...

  3. A fully automatic tool to perform accurate flood mapping by merging remote sensing imagery and ancillary data

    Science.gov (United States)

    D'Addabbo, Annarita; Refice, Alberto; Lovergine, Francesco; Pasquariello, Guido

    2016-04-01

    Flooding is one of the most frequent and expansive natural hazard. High-resolution flood mapping is an essential step in the monitoring and prevention of inundation hazard, both to gain insight into the processes involved in the generation of flooding events, and from the practical point of view of the precise assessment of inundated areas. Remote sensing data are recognized to be useful in this respect, thanks to the high resolution and regular revisit schedules of state-of-the-art satellites, moreover offering a synoptic overview of the extent of flooding. In particular, Synthetic Aperture Radar (SAR) data present several favorable characteristics for flood mapping, such as their relative insensitivity to the meteorological conditions during acquisitions, as well as the possibility of acquiring independently of solar illumination, thanks to the active nature of the radar sensors [1]. However, flood scenarios are typical examples of complex situations in which different factors have to be considered to provide accurate and robust interpretation of the situation on the ground: the presence of many land cover types, each one with a particular signature in presence of flood, requires modelling the behavior of different objects in the scene in order to associate them to flood or no flood conditions [2]. Generally, the fusion of multi-temporal, multi-sensor, multi-resolution and/or multi-platform Earth observation image data, together with other ancillary information, seems to have a key role in the pursuit of a consistent interpretation of complex scenes. In the case of flooding, distance from the river, terrain elevation, hydrologic information or some combination thereof can add useful information to remote sensing data. Suitable methods, able to manage and merge different kind of data, are so particularly needed. In this work, a fully automatic tool, based on Bayesian Networks (BNs) [3] and able to perform data fusion, is presented. It supplies flood maps

  4. 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

  5. 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

  6. 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)

  7. 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)

  8. 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

  9. 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)

  10. Performance of a remote steering antenna for ECRH/ECCS applications using 4-wall corrugated square waveguide

    International Nuclear Information System (INIS)

    Kasparek, W.; Gantenbein, G.; Plaum, B.; Wacker, R.; Filipovic, E.; Chirkov, A.V.; Denisov, G.G.; Kuzikov, S.V.; Ohkubo, K.; Hollmann, F.; Wagner, D.

    2003-01-01

    For the upper ECW launcher on ITER, the use of a 'remote steering antenna' based on the imaging properties of rectangular waveguides is planned. To characterise launchers of this type, low-power experiments on a 4-side corrugated square waveguide with a scanning mirror at the input of the waveguide were performed in the frequency range of 140 to 160 GHz. It is shown, that elliptical polarisation needed for ECCD can be transmitted without depolarization. The usable steering range of the antenna is at least -10 angle < φ ≤ + 10 angle. Experiments with the scanning plane in the diagonal of the square waveguide led to a negligible increase the scanning range, and lobes in the upward and downward direction are detected at larger scanning angles. Mitre bends can be integrated into the waveguide without prohibitive extra loss, which is demonstrated by far-field measurements. Detailed calorimetric measurements for this set up confirm this statement for the polarisation perpendicular to the scanning plane, whereas extra loss is measured for the parallel polarisation. Results are discussed and are compared to theory. (authors)

  11. Glacier Remote Sensing Using Sentinel-2. Part I: Radiometric and Geometric Performance, and Application to Ice Velocity

    Directory of Open Access Journals (Sweden)

    Andreas Kääb

    2016-07-01

    Full Text Available With its temporal resolution of 10 days (five days with two satellites, and significantly more at high latitudes, its swath width of 290 km, and its 10 m and 20 m spatial resolution bands from the visible to the shortwave infrared, the European Sentinel-2 satellites have significant potential for glacier remote sensing, in particular mapping of glacier outlines and facies, and velocity measurements. Testing Level 1C commissioning and ramp-up phase data for initial sensor quality experiences, we find a high radiometric performance, but with slight striping effects under certain conditions. Through co-registration of repeat Sentinal-2 data we also find lateral offset patterns and noise on the order of a few metres. Neither of these issues will complicate most typical glaciological applications. Absolute geo-location of the data investigated was on the order of one pixel at the time of writing. The most severe geometric problem stems from vertical errors of the DEM used for ortho-rectifying Sentinel-2 data. These errors propagate into locally varying lateral offsets in the images, up to several pixels with respect to other georeferenced data, or between Sentinel-2 data from different orbits. Finally, we characterize the potential and limitations of tracking glacier flow from repeat Sentinel-2 data using a set of typical glaciers in different environments: Aletsch Glacier, Swiss Alps; Fox Glacier, New Zealand; Jakobshavn Isbree, Greenland; Antarctic Peninsula at the Larsen C ice shelf.

  12. Development Of Remote Hanford Connector Gasket Replacement Tooling For DWPF

    International Nuclear Information System (INIS)

    Krementz, D.; Coughlin, Jeffrey

    2009-01-01

    The Defense Waste Processing Facility (DWPF) requested the Savannah River National Laboratory (SRNL) to develop tooling and equipment to remotely replace gaskets in mechanical Hanford connectors to reduce personnel radiation exposure as compared to the current hands-on method. It is also expected that radiation levels will continually increase with future waste streams. The equipment is operated in the Remote Equipment Decontamination Cell (REDC), which is equipped with compressed air, two master-slave manipulators (MSM's) and an electro-mechanical manipulator (EMM) arm for operation of the remote tools. The REDC does not provide access to electrical power, so the equipment must be manually or pneumatically operated. The MSM's have a load limit at full extension of ten pounds, which limited the weight of the installation tool. In order to remotely replace Hanford connector gaskets several operations must be performed remotely, these include: removal of the spent gasket and retaining ring (retaining ring is also called snap ring), loading the new snap ring and gasket into the installation tool and installation of the new gasket into the Hanford connector. SRNL developed and tested tools that successfully perform all of the necessary tasks. Removal of snap rings from horizontal and vertical connectors is performed by separate air actuated retaining ring removal tools and is manipulated in the cell by the MSM. In order install a new gasket, the snap ring loader is used to load a new snap ring into a groove in the gasket installation tool. A new gasket is placed on the installation tool and retained by custom springs. An MSM lifts the installation tool and presses the mounted gasket against the connector block. Once the installation tool is in position, the gasket and snap ring are installed onto the connector by pneumatic actuation. All of the tools are located on a custom work table with a pneumatic valve station that directs compressed air to the desired tool and

  13. 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

  14. A historical perspective 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. The technology which we recognize today as remote technology has evolved over the last 45 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 largely due to the unsatisfactory performance of the protective-clothing approach in many hostile applications. Manipulation systems which have been developed include crane/impact wrench systems, unilateral power manipulators, mechanical master/slaves, and servomanipulators. Viewing systems have included periscopes, shield windows, and television systems. Experience over the past 45 years indicates that maintenance system flexibility is essential to typical repair tasks because they are usually not repetitive, structured, or planned. Fully remote design (manipulation, task provisions, remote tooling, and facility synergy) is essential to work task efficiency. Work for space applications has been primarily research oriented with relatively few successful space applications, although the shuttle's remote manipulator system has been quite successful. In the last decade, underwater applications have moved forward significantly, with the offshore oil industry and military applications providing the primary impetus

  15. 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)

  16. 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

  17. Mock-up tests of rail-mounted vehicle type in-vessel transporter/manipulator

    International Nuclear Information System (INIS)

    Oka, K.; Kakaudate, S.; Fukatsu, S.

    1995-01-01

    A rail-mounted vehicle system has been developed for remote maintenance of in-vessel components for fusion experimental reactor. In this system, a rail deploying/storing system is installed at outside of the reactor core and used to deploy a rail transporter and vehicle/manipulator for the in-vessel maintenance. A prototype of the rail deploying/storing system has been fabricated for mockup tests. This paper describes structural design of the prototypical rail deploying/storing system and results of the performance tests such as payload capacity, position control and rail deployment/storage performance

  18. 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

  19. 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

  20. 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)

  1. Remote helium leak test of the DUPIC fuel rod

    International Nuclear Information System (INIS)

    Kim, W. K; Kim, S. S.; Lim, S. P.; Lee, J. W.; Yang, M. S.

    1998-01-01

    DUPIC(Direct Use of spent PWR fuel In CANDU reactor) is one of dry reprocessing fuel cycles to reuse irradiated PWR fuel in CANDU power plant. DUPIC fuel is so radioactive that DUPIC fuel is remotely fabricated at hot cell such as IMEF hot cell in which radiation is shielded and remote operation is possible. In this study, Helium leakage has been tested for the simulated DUPIC fuel rod manufactured by Nd:YAG laser end-cap welding at simulated hot cell. The remote inspection technique has been developed to evaluate the soundness of DUPIC fuel fabricated through new processes. Vacuum chamber has been developed to be remotely operated by manipulators at hot cell. As the result of remote test, Helium leakage of DUPIC fuel rod is around background level, CANDU specification has been satisfied. In the result of the study, remote test has been successfully performed at the simulated hot cell, and the soundness of DUPIC fuel rod welded by Nd:YAG laser has been confirmed

  2. Remote tooling applications at the FFTF/IEM cell

    International Nuclear Information System (INIS)

    Webb, R.H.

    1990-01-01

    At the fast flux test facility, a US Government-owned 400-MW(thermal) sodium-cooled fast reactor, the interim examination and maintenance (IEM) cell is used for the remote disassembly of irradiated fuel and material experiments and remote maintenance operations. The IEM cell has been a challenging area both for maintenance and operation of remote equipment. Innovative tooling has been required to provide the reliability, strength and dexterity for performing myriad bolting, cutting, gripping, and other such functions. Over the years, a set of basic components that can be modified and adapted to several applications has been developed. These include torque multipliers, torque limiters, right-angle drives, and many common hand tools with fittings designed to be handled by master-slave manipulators (MSM) or electromechanical manipulator (EMM) hands. An example of such a system is the closed loop ex-vessel machine (CLEM) grapple change tool, which is designed for both hands-on use in a glove box and remote use in the IEM cell

  3. 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.

  4. 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)

  5. 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.

  6. 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

  7. System Integration for Real-time Mobile Manipulation

    OpenAIRE

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

    2014-01-01

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

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

    International Nuclear Information System (INIS)

    D.R. Jackson; G.R. Kiebel

    1999-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

    D.R. Jackson; G.R. Kiebel

    1999-08-24

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

  10. 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.

  11. 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.

  12. 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)

  13. 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

  14. 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)

  15. 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...

  16. 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.

  17. 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...

  18. 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.

  19. 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.

  20. Intraocular robotic interventional surgical system (IRISS): Mechanical design, evaluation, and master-slave manipulation.

    Science.gov (United States)

    Wilson, Jason T; Gerber, Matthew J; Prince, Stephen W; Chen, Cheng-Wei; Schwartz, Steven D; Hubschman, Jean-Pierre; Tsao, Tsu-Chin

    2018-02-01

    Since the advent of robotic-assisted surgery, the value of using robotic systems to assist in surgical procedures has been repeatedly demonstrated. However, existing technologies are unable to perform complete, multi-step procedures from start to finish. Many intraocular surgical steps continue to be manually performed. An intraocular robotic interventional surgical system (IRISS) capable of performing various intraocular surgical procedures was designed, fabricated, and evaluated. Methods were developed to evaluate the performance of the remote centers of motion (RCMs) using a stereo-camera setup and to assess the accuracy and precision of positioning the tool tip using an optical coherence tomography (OCT) system. The IRISS can simultaneously manipulate multiple surgical instruments, change between mounted tools using an onboard tool-change mechanism, and visualize the otherwise invisible RCMs to facilitate alignment of the RCM to the surgical incision. The accuracy of positioning the tool tip was measured to be 0.205±0.003 mm. The IRISS was evaluated by trained surgeons in a remote surgical theatre using post-mortem pig eyes and shown to be effective in completing many key steps in a variety of intraocular surgical procedures as well as being capable of performing an entire cataract extraction from start to finish. The IRISS represents a necessary step towards fully automated intraocular surgery and demonstrated accurate and precise master-slave manipulation for cataract removal and-through visual feedback-retinal vein cannulation. Copyright © 2017 John Wiley & Sons, Ltd.

  1. 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)

  2. 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.

  3. WORKSPACE DRAWING FROM A MANIPULATOR ARM WITH 6 DOF

    Directory of Open Access Journals (Sweden)

    NAIDIN Gigi

    2011-06-01

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

  4. 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.)

  5. Bridging the triple divide: performance and innovative multimedia in the service of behavioural health change in remote Indigenous settings.

    Science.gov (United States)

    Hunter, Ernest; Travers, Helen; Gibson, Julie; Campion, Jonathan

    2007-01-01

    The use of innovative information technology is now well established in health. However, while the gap in health status between Indigenous and other Australians is both significant and unchanging, there is limited application of these new approaches to addressing this national health priority. This may in part reflect the 'digital divide', which is another facet of Indigenous disadvantage. This paper describes an approach to address both issues in remote Indigenous settings. The Health Interactive Technology Network began as a proof-of-concept study of touchscreen technology in two Indigenous health settings. It has subsequently expanded to a number of remote Indigenous communities and developed new platforms and applications to respond to emerging health issues. In creating narrative, interactive approaches to address choices in relation to health behaviours, the community development and engagement effects of the creative process have been highlighted. These findings suggest that these approaches will be suited to further expansion in the area of mental health.

  6. Web tools concerning performance analysis and planning support for solar energy plants starting from remotely sensed optical images

    International Nuclear Information System (INIS)

    Morelli, Marco; Masini, Andrea; Ruffini, Fabrizio; Potenza, Marco Alberto Carlo

    2015-01-01

    We present innovative web tools, developed also in the frame of the FP7 ENDORSE (ENergy DOwnstReam SErvices) project, for the performance analysis and the support in planning of solar energy plants (PV, CSP, CPV). These services are based on the combination between the detailed physical model of each part of the plants and the near real-time satellite remote sensing of incident solar irradiance. Starting from the solar Global Horizontal Irradiance (GHI) data provided by the Monitoring Atmospheric Composition and Climate (GMES-MACC) Core Service and based on the elaboration of Meteosat Second Generation (MSG) satellite optical imagery, the Global Tilted Irradiance (GTI) or the Beam Normal Irradiance (BNI) incident on plant's solar PV panels (or solar receivers for CSP or CPV) is calculated. Combining these parameters with the model of the solar power plant, using also air temperature values, we can assess in near-real-time the daily evolution of the alternate current (AC) power produced by the plant. We are therefore able to compare this satellite-based AC power yield with the actually measured one and, consequently, to readily detect any possible malfunctions and to evaluate the performances of the plant (so-called “Controller” service). Besides, the same method can be applied to satellite-based averaged environmental data (solar irradiance and air temperature) in order to provide a Return on Investment analysis in support to the planning of new solar energy plants (so-called “Planner” service). This method has been successfully applied to three test solar plants (in North, Centre and South Italy respectively) and it has been validated by comparing satellite-based and in-situ measured hourly AC power data for several months in 2013 and 2014. The results show a good accuracy: the overall Normalized Bias (NB) is − 0.41%, the overall Normalized Mean Absolute Error (NMAE) is 4.90%, the Normalized Root Mean Square Error (NRMSE) is 7.66% and the overall

  7. Web tools concerning performance analysis and planning support for solar energy plants starting from remotely sensed optical images

    Energy Technology Data Exchange (ETDEWEB)

    Morelli, Marco, E-mail: marco.morelli1@unimi.it [Department of Physics, University of Milano, Via Celoria 16, 20133 Milano (Italy); Masini, Andrea, E-mail: andrea.masini@flyby.it [Flyby S.r.l., Via Puini 97, 57128 Livorno (Italy); Ruffini, Fabrizio, E-mail: fabrizio.ruffini@i-em.eu [i-EM S.r.l., Via Lampredi 45, 57121 Livorno (Italy); Potenza, Marco Alberto Carlo, E-mail: marco.potenza@unimi.it [Department of Physics, University of Milano, Via Celoria 16, 20133 Milano (Italy)

    2015-04-15

    We present innovative web tools, developed also in the frame of the FP7 ENDORSE (ENergy DOwnstReam SErvices) project, for the performance analysis and the support in planning of solar energy plants (PV, CSP, CPV). These services are based on the combination between the detailed physical model of each part of the plants and the near real-time satellite remote sensing of incident solar irradiance. Starting from the solar Global Horizontal Irradiance (GHI) data provided by the Monitoring Atmospheric Composition and Climate (GMES-MACC) Core Service and based on the elaboration of Meteosat Second Generation (MSG) satellite optical imagery, the Global Tilted Irradiance (GTI) or the Beam Normal Irradiance (BNI) incident on plant's solar PV panels (or solar receivers for CSP or CPV) is calculated. Combining these parameters with the model of the solar power plant, using also air temperature values, we can assess in near-real-time the daily evolution of the alternate current (AC) power produced by the plant. We are therefore able to compare this satellite-based AC power yield with the actually measured one and, consequently, to readily detect any possible malfunctions and to evaluate the performances of the plant (so-called “Controller” service). Besides, the same method can be applied to satellite-based averaged environmental data (solar irradiance and air temperature) in order to provide a Return on Investment analysis in support to the planning of new solar energy plants (so-called “Planner” service). This method has been successfully applied to three test solar plants (in North, Centre and South Italy respectively) and it has been validated by comparing satellite-based and in-situ measured hourly AC power data for several months in 2013 and 2014. The results show a good accuracy: the overall Normalized Bias (NB) is − 0.41%, the overall Normalized Mean Absolute Error (NMAE) is 4.90%, the Normalized Root Mean Square Error (NRMSE) is 7.66% and the overall

  8. 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

  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. 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)

  12. Atomic and molecular manipulation

    CERN Document Server

    Mayne, Andrew J

    2011-01-01

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

  13. 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

  14. 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

  15. Enhanced performance of the microalga Chlorella sorokiniana remotely induced by the plant growth-promoting bacteria Azospirillum brasilense and Bacillus pumilus

    Science.gov (United States)

    Amavizca, Edgar; Bashan, Yoav; Ryu, Choong-Min; Farag, Mohamed A.; Bebout, Brad M.; de-Bashan, Luz E.

    2017-01-01

    Remote effects (occurring without physical contact) of two plant growth-promoting bacteria (PGPB) Azospirillum brasilense Cd and Bacilus pumilus ES4 on growth of the green microalga Chlorella sorokiniana UTEX 2714 were studied. The two PGPB remotely enhanced the growth of the microalga, up to six-fold, and its cell volume by about three-fold. In addition to phenotypic changes, both bacteria remotely induced increases in the amounts of total lipids, total carbohydrates, and chlorophyll a in the cells of the microalga, indicating an alteration of the microalga’s physiology. The two bacteria produced large amounts of volatile compounds, including CO2, and the known plant growth-promoting volatile 2,3-butanediol and acetoin. Several other volatiles having biological functions in other organisms, as well as numerous volatile compounds with undefined biological roles, were detected. Together, these bacteria-derived volatiles can positively affect growth and metabolic parameters in green microalgae without physical attachment of the bacteria to the microalgae. This is a new paradigm on how PGPB promote growth of microalgae which may serve to improve performance of Chlorella spp. for biotechnological applications. PMID:28145473

  16. 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.

  17. Remote-operated systems for interventions in civil nuclear facilities

    International Nuclear Information System (INIS)

    Bonneville, A.

    1999-01-01

    This short paper is a presentation of the aerial and terrestrial means developed by the Intra Group specialized in interventions in the case of nuclear accidents and incidents. The aerial means consist in a airborne system called Helinuc and which can perform spectro-gamma measurements over surfaces of about 15 km 2 using an 'Ecureuil'-type helicopter. The terrestrial means comprise different types of robots for surveys, sampling, manipulation, various works etc.. and remote-controlled caterpillar tractors, shovels and dumper trucks. (J.S.)

  18. Development of simulator for remote handling system of ITER blanket

    International Nuclear Information System (INIS)

    Takeda, Nobukazu; Kakudate, Satoshi; Nakanhira, Masataka; Matsumoto, Yasuhiro; Shibanuma, K.

    2007-01-01

    The maintenance activity in the ITER has to be performed remotely because 14 MeV neutron caused by fusion reaction induces activation of structural material and emission of gamma ray. In general, it is one of the most critical issues to avoid collision between the remote maintenance system and in-vessel components. Therefore, the visual information in the vacuum vessel is required strongly to understand arrangement of these devices and components. However, there is a limitation of arrangement of viewing cameras in the vessel because of high intensity of gamma ray. It is expected that enough numbers of cameras and lights are not available because of arrangement restriction. Furthermore, visibility of the interested area such as the contacting part is frequently disturbed by the devices and components, thus it is difficult to recognize relative position between the devices and components only by visual information even if enough cameras and lights are equipped. From these reasons, the simulator to recognize the positions of each devices and components is indispensable for remote handling systems in fusion reactors. The authors have been developed a simulator for the remote maintenance system of the ITER blanket using a general 3D robot simulation software ''ENVISION''. The simulator is connected to the control system of the manipulator which was developed as a part of the blanket maintenance system in the EDA and can reconstruct the positions of the manipulator and the blanket module using the position data of the motors through the LAN. In addition, it can provide virtual visual information, such as the connecting operation behind the blanket module with making the module transparent on the screen. It can be used also for checking the maintenance sequence before the actual operation. The developed simulator will be modified further adding other necessary functions and finally completed as a prototype of the actual simulator for the blanket remote handling system

  19. 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)

  20. 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.

  1. 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…

  2. 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...

  3. 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

  4. 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.

  5. 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…

  6. Track-mounted remote handling system for the Tokamak Fusion Engineering Test

    International Nuclear Information System (INIS)

    Kelly, V.P.; Berger, J.D.; Daubert, R.L.; Yount, J.A.

    1982-01-01

    Concepts for remote handling machines (IVM) designed to transverse the interior of toroidal vessels with guidance and support from track systems have been developed for the proposed Tokamak Fusion Engineering Test (TFET). TFET has been proposed as an upgrade for the Tokamak Fusion Test Reactor (TFTR), currently nearing completion. The track-mounted IVMs were conceived to perform in-vessel remote maintenance for TFET, including removal and replacement of pump limiter blades and protective tiles as well as other maintenance-related tasks such as vessel wall inspection leak testing and interior cleanup. The conceptual IVMs consist of three manipulator arms mounted on a common frame member: a single power manipulator arm with high load carrying capacity and two lower-capacity servomanipulator arms. Descriptions of the IVM concepts, in-vessel track systems, and ex-vessel handling systems are presented

  7. Remote real time x-ray examination of fuel elements in a hot cell environment

    International Nuclear Information System (INIS)

    Yapuncich, F.L.

    1993-01-01

    This report discusses the Remote Real Time X-ray System which will allow for detailed examination of fuel elements. This task will be accomplished in a highly radioactive hot cell environment. Two remote handling systems win be utilized at the examination station. One handling system will transfer the fuel element to and from the shielded x-ray system. A second handling system will allow for vertical and rotational inspection of the fuel elements. The process win include removing a single nuclear fuel element from a element fabrication magazine(EFM), positioning the fuel element within the shielding envelope of the x-ray system and transferring the fuel element from the station manipulator to the x-ray system manipulator, performing the x-ray inspection, and then transferring the fuel element to either the element storage magazine(ESM) or a reject bin

  8. Capabilities of a remote work vehicle

    International Nuclear Information System (INIS)

    Whittaker, W.L.; Champeny, L.

    1987-01-01

    The remote work vehicle (RWV) is a mobile work system for recovery operations in radiological environments. A teleoperated, electrohydraulically powered system, the RWV features omnidirectional locomotion, a telescoping boom with a seven meter reach, a master/slave manipulator, ten cameras, a tether for sustained power, and an offboard console where three operators control vehicle functions. (The RWV is more fully described elsewhere see bibliography; capability is emphasized here). Capabilities of the base vehicle and specialized tooling allow the RWV to perform accident recovery tasks, including demolishing concrete and steel structures, decontaminating and sealing surfaces, removing water and sediment from flooded areas, emplacing shields, packaging and transporting materials, and performing general inspections. Aspirations for reliability have made the RWV an order of magnitude more complex than its predecessor recovery robots, and ambitions for task performance have made it two orders of magnitude more capable. In addition to nuclear recovery work, the RWV is a viable candidate for other remote work applications, including nuclear facility maintenance and decommissioning

  9. 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.

  10. 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.

  11. 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.

  12. Head-coupled remote stereoscopic camera system for telepresence applications

    Science.gov (United States)

    Bolas, Mark T.; Fisher, Scott S.

    1990-09-01

    The Virtual Environment Workstation Project (VIEW) at NASA's Ames Research Center has developed a remotely controlled stereoscopic camera system that can be used for telepresence research and as a tool to develop and evaluate configurations for head-coupled visual systems associated with space station telerobots and remote manipulation robotic arms. The prototype camera system consists of two lightweight CCD video cameras mounted on a computer controlled platform that provides real-time pan, tilt, and roll control of the camera system in coordination with head position transmitted from the user. This paper provides an overall system description focused on the design and implementation of the camera and platform hardware configuration and the development of control software. Results of preliminary performance evaluations are reported with emphasis on engineering and mechanical design issues and discussion of related psychophysiological effects and objectives.

  13. General concept of a remote multipurpose vehicle for nuclear applications

    International Nuclear Information System (INIS)

    Devresse, M.; Costa, L.; DeBuck, F.

    1984-01-01

    A remotely operated autonomous system is presently developed for inspection and intervention inside the reactor building of nuclear power plants. The vehicle is also suitable for other nuclear and non-nuclear energy related task areas where inspection and intervention operations are taking place in hazardous environment. The goal of this remote robot is to significantly reduce personnel exposure to radiation or other risks. The system consists of five major items: an autonomous motorized carrier, two slave manipulators mounted on an interface structure, optical and environmental sensors, the digital electronic control and communication module, the man-machine interface. Main design and performance characteristics of the system are described as well as a description of the evaluation and test program

  14. 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

  15. 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

  16. The potential performance of microwave remote sensing for the estimation of stratospheric aircraft effect on ozone layer

    Energy Technology Data Exchange (ETDEWEB)

    Kadygrov, E.; Sorokin, M.; Troitsky, A. [Central Aerological Observatory, Moscow (Russian Federation)

    1997-12-31

    A remote sensing capability is described for measurement of temperature fluctuation and some important gas species concentration at the wake vortex and wake dispersion regimes behind the supersonic aircraft at cruise altitude. The proposed new method of observation is based on the measurement of radio-brightness contrast between the ambient atmosphere and perturbed area behind the aircraft by using millimeter or submillimeter wave scanning spectroradiometers with specially selected spectral parameters. The qualitative estimation of the sensitivity of measurement to temperature fluctuation, changing concentration of ozone, water vapour, nitrogen oxide and sulfur dioxide were calculated. The preliminary test of a new equipment were conducted from high-altitude balloon (temperature profiles and fluctuation and ozone concentrations) and from the ground (sulfur dioxide relative concentration) measurement. (author) 9 refs.

  17. The potential performance of microwave remote sensing for the estimation of stratospheric aircraft effect on ozone layer

    Energy Technology Data Exchange (ETDEWEB)

    Kadygrov, E; Sorokin, M; Troitsky, A [Central Aerological Observatory, Moscow (Russian Federation)

    1998-12-31

    A remote sensing capability is described for measurement of temperature fluctuation and some important gas species concentration at the wake vortex and wake dispersion regimes behind the supersonic aircraft at cruise altitude. The proposed new method of observation is based on the measurement of radio-brightness contrast between the ambient atmosphere and perturbed area behind the aircraft by using millimeter or submillimeter wave scanning spectroradiometers with specially selected spectral parameters. The qualitative estimation of the sensitivity of measurement to temperature fluctuation, changing concentration of ozone, water vapour, nitrogen oxide and sulfur dioxide were calculated. The preliminary test of a new equipment were conducted from high-altitude balloon (temperature profiles and fluctuation and ozone concentrations) and from the ground (sulfur dioxide relative concentration) measurement. (author) 9 refs.

  18. 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.

  19. 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

  20. 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.

  1. 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.)

  2. Professional responsibility in relation to cervical spine manipulation.

    Science.gov (United States)

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

    2002-01-01

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

  3. DETAILS OF OPERATIONS PERFORMED BY THE REMOTE CONTROL ROBOT (CONCEPT TO THE HORIZONTAL FUEL CHANNEL DURING DECOMMISSIONING PHASE OF NUCLEAR REACTOR CALANDRIA STRUCTURE. PART II: INSIDE OPERATIONS

    Directory of Open Access Journals (Sweden)

    Constantin POPESCU

    2017-05-01

    Full Text Available The authors contribution to this paper is to present a concept solution of a remote control robot (RCR used for decommissioning of the horizontal fuel channels pressure tube in the CANDU nuclear reactor. In this paper the authors highlight few details of geometry, operations, constraints by kinematics and dynamics of the robot movement inside of the reactor fuel channel. Inside operations performed has as the main steps of dismantling process the followings: unblock and extract the channel closure plug (from End Fitting - EF, unblock and extract the channel shield plug (from Lattice Tube - LT, cut the ends of the pressure tube, extract the pressure tube and cut it in small parts, sorting and storage extracted items in the safe robot container. All steps are performed in automatic mode. The remote control robot (RCR represents a safety system controlled by sensors and has the capability to analyze any error registered and decide next activities or abort the inside decommissioning procedure in case of any risk rise in order to ensure the environmental and workers protection.

  4. 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.

  5. Ex-vessel remote maintenance design 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) imposes a requirement for remote handling technology for ex-vessel maintenance operations on auxiliary machine components. These operations consist of repairing and replacing components such as diagnostic, radio-frequency (rf) heating, and fueling systems using remotely operated maintenance equipment in the test cell. In addition, ex-vessel maintenance design also includes developing hot cell facilities for equipment decontamination, repair, and solid radioactive waste handling. The test cell maintenance philosophy is markedly influenced by the neutron/gamma shield surrounding the machine that allows personal access into the test cell one day after shutdown. Hence, maintenance operations can be performed hands-on in the test cell with the shield intact and must be remotely performed when the shield is disassembled for machine access. The constricted access to the auxiliary components of the machine affect the design requirements for the maintenance equipment and impose major spatial constraints. Several major areas of the maintenance system design are being addressed in fiscal year 1987. These include conceptual design of the manipulator system, preliminary remote equipment research and development, and definition of the hot cell, decontamination, and equipment repair facility requirements. The manipulator work includes investigating transporters and viewing/lighting subsystems. 2 figs

  6. 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

  7. Experimental Evaluation of Performance of Constant Power Prime-Mover Driven Isolated 3-φ SEIG for Pico-Hydro Power Generation System in Remote Mountainous Region of Himalayas

    Directory of Open Access Journals (Sweden)

    Rathore Umesh C.

    2016-01-01

    Full Text Available This paper presents the experimental evaluation of the performance of 3-φ self-excited induction generator (SEIG suitable for pico-hydro power generation system feeding domestic load in remote mountainous region. The use of induction generators is most suitable for renewable energy conversion systems due to their enormous advantages over conventional synchronous generators. Important features of induction generators include the simplicity in construction, ruggedness, simplified control, ease in maintenance and small size per generated kW. The performance characteristics of 3-φ SEIG feeding isolated load are evaluated using MATLAB-Simulink model based on the prevalent renewable energy sources inputs and loading conditions in mountainous terrain of Himalayas. The results are validated using an experimental set-up comprising of 3-φ, 3 HP induction motor run as 3- φ induction generator driven by 5HP, 4-pole DC shunt motor acting as prime-mover.

  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. Feasibility of a 2{sup nd} generation MR-compatible manipulator for transrectal prostate biopsy guidance

    Energy Technology Data Exchange (ETDEWEB)

    Bomers, J.G.R.; Yakar, D. [Radboud University Nijmegen Medical Center, Department of Radiology, route 766, P.O Box 9101, Nijmegen (Netherlands); Bosboom, D.G.H. [Radboud University Nijmegen Medical Center, Department of Radiology, route 766, P.O Box 9101, Nijmegen (Netherlands); Soteria Medical, Arnhem (Netherlands); Tigelaar, G.H.; Sabisch, J. [Soteria Medical, Arnhem (Netherlands); Fuetterer, J.J. [Radboud University Nijmegen Medical Center, Department of Radiology, route 766, P.O Box 9101, Nijmegen (Netherlands); University of Twente, MIRA Institute for Biomedical Technology and Technical Medicine, Enschede (Netherlands)

    2017-04-15

    To assess the feasibility of a 2{sup nd} generation MR-compatible, remote-controlled manipulator (RCM) as an aid to perform MR-guided transrectal prostate biopsy in males with suspicion of prostate cancer (PCa). This prospective phase I study was approved by the local ethical committee and written informed consent was obtained from each patient. Twenty patients with ≥1 cancer suspicious region (CSR) with a PI-RADS score of ≥3 detected on the diagnostic multi-parametric MRI and no prior prostate treatment underwent MR-guided biopsy with the aid of the RCM. Complications were classified according to the modified Clavien system for reporting surgical complications. For evaluation of the workflow, procedure- and manipulation times were recorded. All CSR's (n=20) were reachable with the MR-compatible RCM and the cancer detection rate was 70 %. The median procedure time was 36:44 minutes (range, 23 - 61 minutes) and the median manipulation time for needle guide movement was 5:48 minutes (range, 1:15 - 18:35 minutes). Two Clavien grade 1 complications were reported. It is feasible and safe to perform transrectal MR-guided prostate biopsy using a MR-compatible RCM as an aid. It is a fast and efficient way to biopsy suspicious prostate lesions with a minimum number of biopsies per patient. (orig.)

  10. 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

  11. 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)

  12. 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

  13. COMPACT HYPERSPECTRAL IMAGING SYSTEM (COSI FOR SMALL REMOTELY PILOTED AIRCRAFT SYSTEMS (RPAS – SYSTEM OVERVIEW AND FIRST PERFORMANCE EVALUATION RESULTS

    Directory of Open Access Journals (Sweden)

    A. A. Sima

    2016-06-01

    Full Text Available This paper gives an overview of the new COmpact hyperSpectral Imaging (COSI system recently developed at the Flemish Institute for Technological Research (VITO, Belgium and suitable for remotely piloted aircraft systems. A hyperspectral dataset captured from a multirotor platform over a strawberry field is presented and explored in order to assess spectral bands co-registration quality. Thanks to application of line based interference filters deposited directly on the detector wafer the COSI camera is compact and lightweight (total mass of 500g, and captures 72 narrow (FWHM: 5nm to 10 nm bands in the spectral range of 600-900 nm. Covering the region of red edge (680 nm to 730 nm allows for deriving plant chlorophyll content, biomass and hydric status indicators, making the camera suitable for agriculture purposes. Additionally to the orthorectified hypercube digital terrain model can be derived enabling various analyses requiring object height, e.g. plant height in vegetation growth monitoring. Geometric data quality assessment proves that the COSI camera and the dedicated data processing chain are capable to deliver very high resolution data (centimetre level where spectral information can be correctly derived. Obtained results are comparable or better than results reported in similar studies for an alternative system based on the Fabry–Pérot interferometer.

  14. Controlled soil warming powered by alternative energy for remote field sites.

    Science.gov (United States)

    Johnstone, Jill F; Henkelman, Jonathan; Allen, Kirsten; Helgason, Warren; Bedard-Haughn, Angela

    2013-01-01

    Experiments using controlled manipulation of climate variables in the field are critical for developing and testing mechanistic models of ecosystem responses to climate change. Despite rapid changes in climate observed in many high latitude and high altitude environments, controlled manipulations in these remote regions have largely been limited to passive experimental methods with variable effects on environmental factors. In this study, we tested a method of controlled soil warming suitable for remote field locations that can be powered using alternative energy sources. The design was tested in high latitude, alpine tundra of southern Yukon Territory, Canada, in 2010 and 2011. Electrical warming probes were inserted vertically in the near-surface soil and powered with photovoltaics attached to a monitoring and control system. The warming manipulation achieved a stable target warming of 1.3 to 2 °C in 1 m(2) plots while minimizing disturbance to soil and vegetation. Active control of power output in the warming plots allowed the treatment to closely match spatial and temporal variations in soil temperature while optimizing system performance during periods of low power supply. Active soil heating with vertical electric probes powered by alternative energy is a viable option for remote sites and presents a low-disturbance option for soil warming experiments. This active heating design provides a valuable tool for examining the impacts of soil warming on ecosystem processes.

  15. Controlled soil warming powered by alternative energy for remote field sites.

    Directory of Open Access Journals (Sweden)

    Jill F Johnstone

    Full Text Available Experiments using controlled manipulation of climate variables in the field are critical for developing and testing mechanistic models of ecosystem responses to climate change. Despite rapid changes in climate observed in many high latitude and high altitude environments, controlled manipulations in these remote regions have largely been limited to passive experimental methods with variable effects on environmental factors. In this study, we tested a method of controlled soil warming suitable for remote field locations that can be powered using alternative energy sources. The design was tested in high latitude, alpine tundra of southern Yukon Territory, Canada, in 2010 and 2011. Electrical warming probes were inserted vertically in the near-surface soil and powered with photovoltaics attached to a monitoring and control system. The warming manipulation achieved a stable target warming of 1.3 to 2 °C in 1 m(2 plots while minimizing disturbance to soil and vegetation. Active control of power output in the warming plots allowed the treatment to closely match spatial and temporal variations in soil temperature while optimizing system performance during periods of low power supply. Active soil heating with vertical electric probes powered by alternative energy is a viable option for remote sites and presents a low-disturbance option for soil warming experiments. This active heating design provides a valuable tool for examining the impacts of soil warming on ecosystem processes.

  16. Remote Fiber Laser Cutting System for Dismantling Glass Melter - 13071

    Energy Technology Data Exchange (ETDEWEB)

    Mitsui, Takashi; Miura, Noriaki [IHI Corporation, 1 Shin-Nakahara-cho, Isogo-ku, Yokohama, Kanagawa (Japan); Oowaki, Katsura; Kawaguchi, Isao [IHI Inspection and Instrumentation Co., Ltd, 1 Shin-Nakahara-cho, Isogo-ku, Yokohama, Kanagawa (Japan); Miura, Yasuhiko; Ino, Tooru [Japan Nuclear Fuel Limited, 4-108, Aza Okitsuke, Oaza Obuchi, Rokkasho-Mura, Kamikita-gun, Aomori (Japan)

    2013-07-01

    Since 2008, the equipment for dismantling the used glass melter has been developed in High-level Liquid Waste (HLW) Vitrification Facility in the Japanese Rokkasho Reprocessing Plant (RRP). Due to the high radioactivity of the glass melter, the equipment requires a fully-remote operation in the vitrification cell. The remote fiber laser cutting system was adopted as one of the major pieces of equipment. An output power of fiber laser is typically higher than other types of laser and so can provide high-cutting performance. The fiber laser can cut thick stainless steel and Inconel, which are parts of the glass melter such as casings, electrodes and nozzles. As a result, it can make the whole of the dismantling work efficiently done for a shorter period. Various conditions of the cutting test have been evaluated in the process of developing the remote fiber cutting system. In addition, the expected remote operations of the power manipulator with the laser torch have been fully verified and optimized using 3D simulations. (authors)

  17. Performance of ceramic disk filter coated with nano ZnO for removing Escherichia coli from water in small rural and remote communities of developing regions.

    Science.gov (United States)

    Huang, Jing; Huang, Guohe; An, Chunjiang; He, Yuan; Yao, Yao; Zhang, Peng; Shen, Jian

    2018-03-12

    Global water safety is facing great challenges due to increased population and demand. There is an urgent need to develop suitable water treatment strategy for small rural and remote communities in low-income developing countries. In order to find a low-cost solution, the reduction of E. coli using ceramic water disk coated with nano ZnO was investigated in this study. The performance of modified ceramic disk filters was influenced by several factors in the filter production process. Based on the factorial analysis, the pore size of the disk filters was the most significant factor for influencing E. coli removal efficiency and the clay content was the most significant one for influencing flow rate of modified disk filters. The coating of nano ZnO led to the change of disk filter surface and porosity. The reduction of E. coli could be attributed to both filter retention and photocatalytic antibacterial activity of nano ZnO. The effects of filter operation factors including initial E. coli concentration, illumination time and lamp power on E. coli removal effectiveness were also revealed. The results can help find a safe and cost-effective approach to solve drinking water problems in small rural and remote communities of developing regions. Copyright © 2018 Elsevier Ltd. All rights reserved.

  18. Particle manipulation techniques in AEgIS

    Energy Technology Data Exchange (ETDEWEB)

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

    2011-07-15

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

  19. 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.

  20. 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.

  1. Dynamic whole-body robotic manipulation

    Science.gov (United States)

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

    2013-05-01

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

  2. 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).

  3. 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.

  4. 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.

  5. 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.

  6. Manipulation of reproductive performance of lactating buffaloes using melatonin and controlled internal drug release device treatment during out-of-breeding season under tropical conditions.

    Science.gov (United States)

    Ramadan, T A; Sharma, R K; Phulia, S K; Balhara, A K; Ghuman, S S; Singh, I

    2016-09-01

    Twelve lactating Murrah buffalo, divided into control and treatment group of six animals each, were used to study the effect of melatonin and controlled internal drug release (CIDR) device treatment on the resumption of ovarian activity during out-of-breeding season (summer solstice). Treated group implanted with melatonin (18-mg melatonin/50-kg body weight) for 45 days and then animals of both groups received CIDR for 9 days. All animals received intramuscular 500 IU eCG, at day before CIDR removal, and 10-μg GnRH at day after CIDR withdrawal. All animals were subjected to estrus detection daily. Blood samples in conjunction with transrectal ultrasonography were performed once a week to determine serum concentrations of melatonin, progesterone, and antioxidant enzyme activities, as well as to monitor the ovarian activity. Melatonin treatment resulted in an increase (P Day 21 and Day 30 after artificial insemination and achieved higher percentage of conception rate than control. In conclusion, the CIDR treatment preceded by melatonin improved the reproductive performance in lactating buffaloes during out-of-breeding season under tropical conditions. Copyright © 2016 Elsevier Inc. All rights reserved.

  7. Low Health System Performance, Indigenous Status and Antivenom Underdosage Correlate with Spider Envenoming Severity in the Remote Brazilian Amazon.

    Directory of Open Access Journals (Sweden)

    Vanderson Souza Sampaio

    Full Text Available A better knowledge of the burden and risk factors associated with severity due to spider bites would lead to improved management with a reduction of sequelae usually seen for this neglected health problem, and would ensure proper use of antivenoms in remote localities in the Brazilian Amazon. The aim of this study was to analyze the profile of spider bites reported in the state of Amazonas in the Western Brazilian Amazon, and to investigate potential risk factors associated with severity of envenomation.We used a case-control study in order to identify factors associated with spider bite severity in the Western Brazilian Amazon from 2007 to 2014. Patients evolving to any severity criteria were considered cases and those with non-severe bites were included in the control group. All variables were retrieved from the official Brazilian reporting systems. Socioeconomical and environmental components were also included in a multivariable analysis in order to identify ecological determinants of incidence and severity. A total of 1,181 spider bites were recorded, resulting in an incidence of 4 cases per 100,000 person/year. Most of the spider bites occurred in males (65.8%. Bites mostly occurred in rural areas (59.5%. The most affected age group was between 16 and 45 years old (50.9%. A proportion of 39.7% of the bites were related to work activities. Antivenom was prescribed to 39% of the patients. Envenomings recorded from urban areas [Odds ratio (OR = 0.40 (95%CI = 0.30-0.71; pmedian [OR = 0.64 (95%CI = 0.39-0.75; p300 km away from the state capital Manaus [OR = 1.90 (95%CI = 1.28-2.40; p300 km away from the state capital Manaus [OR = 1.53 (95%CI = 1.15-2.02; p = 0.003] and living in a municipality with a MHSPI 300 km away from the state capital Manaus could be contributing factors to higher severity of spider envenomings in this area, as well as to antivenom underdosage.

  8. The risk associated with spinal manipulation

    DEFF Research Database (Denmark)

    Nielsen, Sabrina Mai; Tarp, Simon; Christensen, Robin

    2017-01-01

    BACKGROUND: Spinal manipulative therapy (SMT) is a widely used manual treatment, but many reviews exist with conflicting conclusions about the safety of SMT. We performed an overview of reviews to elucidate and quantify the risk of serious adverse events (SAEs) associated with SMT. METHODS: We...

  9. Temperature manipulation during layer chick embryogenesis

    NARCIS (Netherlands)

    Walstra, I.; Napel, ten J.; Kemp, B.; Brand, van den H.

    2010-01-01

    The current study investigated the effects of temperature manipulation (TM) during late embryogenesis on temperature preference, response to high environmental temperature, behavior, and performance in young layer chicks. Control (CC) embryos (n = 96) were incubated at 37.8°C eggshell temperature

  10. Interactive data manipulation program. FAWTEK user guide

    International Nuclear Information System (INIS)

    Boyer, W.B.; Sauer, S.

    1980-02-01

    This report describes the interactive data acquisition and manipulation program FAWTEK.'The program allows users of the electron beam data acquisition facility to control the R7912 digitizers and to perform a variety of mathematical operations on data arrays. Commands are entered in a high level language via a Tektronix 4010 terminal console. Each command directive and associated parameters is described in detail

  11. Manipulation of magnetic particles in microfluidic volumes

    NARCIS (Netherlands)

    Gao, Y.; Reenen, van A.; Hulsen, M.A.; Jong, de A.M.; Prins, M.W.J.; Toonder, den J.M.J.

    2013-01-01

    This paper reports various ways of field-based manipulation of magnetic colloidal particles to enhance biochemical reactions in lab-on-chip systems [1]. For one (I), we show the possibility to assemble the suspended magnetic micro-particles as tunable re-formable micro-stirrers capable of performing

  12. 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

  13. 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.

  14. 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.

  15. Sports Tournament Predictions Using Direct Manipulation.

    Science.gov (United States)

    Vuillemot, Romain; Perin, Charles

    2016-01-01

    An advanced interface for sports tournament predictions uses direct manipulation to allow users to make nonlinear predictions. Unlike previous interface designs, the interface helps users focus on their prediction tasks by enabling them to first choose a winner and then fill out the rest of the bracket. In real-world tests of the proposed interface (for the 2014 FIFA World Cup tournament and 2015/2016 UEFA Champions League), the authors validated the use of direct manipulation as an alternative to widgets. Using visitor interaction logs, they were able to determine the strategies people use to perform predictions and identify potential areas of improvement for further prediction interfaces.

  16. 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....

  17. Remote RF Battery Charging

    NARCIS (Netherlands)

    Visser, H.J.; Pop, V.; Op het Veld, J.H.G.; Vullers, R.J.M.

    2011-01-01

    The design of a remote RF battery charger is discussed through the analysis and design of the subsystems of a rectenna (rectifying antenna): antenna, rectifying circuit and loaded DC-to-DC voltage (buck-boost) converter. Optimum system power generation performance is obtained by adopting a system

  18. Development of remote handling technology for nuclear fuel cycle facilities in Japan

    International Nuclear Information System (INIS)

    Maekawa, Hiromichi; Sakai, Akira; Miura, Noriaki; Kozaka, Tetsuo; Hamada, Takashi

    2015-01-01

    Remote handling technology has been systematically developed for nuclear fuel cycle facilities in Japan since 1970s, primarily in parallel with the development of reprocessing and HLLW (High Level Liquid Waste) vitrification process. In case of reprocessing and vitrification process to handle highly radioactive and hazardous materials, the most of components are installed in the radiation shielded hot cells and operators are not allowed to enter the work area in the cells for operation and maintenance. Therefore, a completely remote handling system is adopted for the cells to reduce radiation doses of operators and increase the availability of the facility. The hot cells are generally designed considering the scale of components (laboratory, demonstration, or full-scale), the function of the systems (chemical process, material handling, dismantling, decontamination, or chemical analysis), and the environmental conditions (radiation dose rate, airborne concentration, surface contamination, or fume/mist/dust). Throughout our domestic development work for remote handling technology, the concept of the large scale integrated cell has been adopted rather than a number of small scale separated cells, for the reasons to reduce the total installation space and the number of remote handling equipment required for the each cell as much as possible. In our domestic remote maintenance design, several new concepts have been developed, tested, and demonstrated in the Tokai Virtrification Facility (TVF) and the Rokkasho HLLW Vitrification and Storage Facility (K-facility). Layout in the hot cells, the performance of remote handling equipment, and the structure of the in-cell components are important factors for remote maintenance design. In case of TVF (hot tests started in 1995), piping and vessels are prefabricated in the rack modules and installed in two lines on both sides of the cell. These modules are designed to be remotely replaced in the whole rack. Two overhead cranes

  19. [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.

  20. 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.

  1. 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.

  2. 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

  3. 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)

  4. A digital joint controller for manipulators

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  5. A Multi-purpose Rescue Vehicle and a human–robot interface architecture for remote assistance in ITER

    International Nuclear Information System (INIS)

    Soares, João; Vale, Alberto; Ventura, Rodrigo

    2015-01-01

    Highlights: • Design of an omnidirectional vehicle equipped with cameras and laser range finders. • Two robotic manipulators that slide over the vehicle's body to perform independent tasks. • Architecture to connect the control system, communication, power, navigation and HMI. • An immersive interface HMI with augmented reality features with head mounted display. - Abstract: The remote handling (RH) plays an important role in nuclear test facilities, such as in ITER, for in-vessel and ex-vessel maintenance operations. Unexpected situations may occur when RH devices fail. Since no human being is allowed during the RH operations, a Multi-purpose Rescue Vehicle (MPRV) must be required for providing support in site. This paper proposes a design of a MPRV, i.e., a mobile platform equipped with different sensors and two manipulators with different sets of end-effectors. A human–machine interface is also proposed to remotely operate the MPRV and to carry out rescue and recovery operations.

  6. 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.

  7. Sistem kontrol gerak kinematika robot gripper manipulator

    Directory of Open Access Journals (Sweden)

    Wayan Widhiada

    2018-01-01

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

  8. Design of jet manipulator for sludge lancing for steam generators

    International Nuclear Information System (INIS)

    Kumar, Kundan; Nathani, D.K.; Kayal, J.N.; Rupani, B.B.

    2006-01-01

    The sludge accumulation in secondary side of mushroom type steam generators of Indian Pressurised Heavy Water Reactors (PHWRs) may lead to loss of thermal efficiency and corrosion. Sludge removal is required to minimise such effects for safe and enhanced operating life of the steam generators. A sludge lancing system has been developed for sludge removal from the secondary side of the steam generators. Jet Manipulator is one of the various modules of the sludge lancing system. The JM consists of three modules namely walker, elevator and nozzle heads. Each module is designed to pass through hand hole, having 180 mm diameter and 100 mm wide gap between steam generator shell and shroud. These three modules are connected to each other by quick connecting type joints and are having their specific functions. The walker crawls by step of single pitch of the tube along the central no-tube lane of the steam generator by taking lateral supports on the nearest tubes. The elevator is capable of lifting the nozzle head to a suitable height required for lancing operation of entire tube sheet of the steam generator. The nozzle head directs the multiple jets along the narrow inter tube lanes having 3 mm width, on both sides of the central no-tube lane. The nozzle can be set to move at different elevations such that the multiple jets will graze along the narrow tube lane to create the sludge lancing action. The provision exists for movement of JM in both directions, i.e. forward and reverse. This paper highlights the objective, design and development, selection of nozzles, qualification and performance evaluation of JM. The manipulator is remotely operable by compressed air in the forward and reverse direction in the central no-tube lane to position the nozzle head in the horizontal direction. (author)

  9. 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.

  10. 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

  11. Design and Transmission Analysis of an Asymmetrical Spherical Parallel Manipulator

    DEFF Research Database (Denmark)

    Wu, Guanglei; Caro, Stéphane; Wang, Jiawei

    2015-01-01

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

  12. Manipulating stored phonological input during verbal working memory

    Science.gov (United States)

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

    2016-01-01

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

  13. Academic performance in the high school mathematics standardized test at metropolitan and remote areas of Costa Rica schools in 2013

    Directory of Open Access Journals (Sweden)

    Mario Castillo-Sánchez

    2016-01-01

    Full Text Available This article describes the academic performance of students from urban and distant areas in the national mathematics test corresponding to the completion of secondary education, considering the specific test and according to the different types of schools: daytime (daytime scientific, daytime humanistic, nighttime, technical or integrated centers for education of young people and adults (CINDEA, in its Spanish acronym.  The main objective is to describe the students academic performance in the national mathematics test issued to complete high-school level, for the year 2013 and according to the country educational areas.  For the analysis of such information, the main source used was the High-School Education National Report, issued by the Ministry of Public Education for 2013 standardized tests.  One of the conclusions from this study is the need to carry out a historical analysis of the performance of educational institutions which have recently obtained the highest and lowest average grades in the high-school diploma tests, in order to be able to delve into the causes of those performances.

  14. Feasibility of Remote Real-Time Guidance of a Cardiac Examination Performed by Novices Using a Pocket-Sized Ultrasound Device

    Directory of Open Access Journals (Sweden)

    Tuan V. Mai

    2013-01-01

    Full Text Available Background. The potential of pocket-sized ultrasound devices (PUDs to improve global healthcare delivery is limited by the lack of a suitable imaging protocol and trained users. Therefore, we investigated the feasibility of performing a brief, evidence-based cardiac limited ultrasound exam (CLUE through wireless guidance of novice users. Methods. Three trainees applied PUDs on 27 subjects while directed by an off-site cardiologist to obtain a CLUE to screen for LV systolic dysfunction (LVSD, LA enlargement (LAE, ultrasound lung comets (ULC+, and elevated CVP (eCVP. Real-time remote audiovisual guidance and interpretation by the cardiologist were performed using the iPhone 4/iPod (FaceTime, Apple, Inc. attached to the PUD and transmitted data wirelessly. Accuracy and technical quality of transmitted images were compared to on-site, gold-standard echo thresholds. Results. Novice versus sonographer imaging yielded technically adequate views in 122/135 (90% versus 130/135 (96% (. CLUE’s combined SN, SP, and ACC were 0.67, 0.96, and 0.90. Technical adequacy (% and accuracy for each abnormality ( were LVSD (85%, 0.93, , LAE (89%, 0.74, , ULC+ (100%, 0.94, , and eCVP (78%, 0.91, . Conclusion. A novice can perform the CLUE using PUD when wirelessly guided by an expert. This method could facilitate PUD use for off-site bedside medical decision making and triaging of patients.

  15. Emission measurement of diesel vehicles in Hong Kong through on-road remote sensing: Performance review and identification of high-emitters.

    Science.gov (United States)

    Huang, Yuhan; Organ, Bruce; Zhou, John L; Surawski, Nic C; Hong, Guang; Chan, Edward F C; Yam, Yat Shing

    2018-06-01

    A two-year remote sensing measurement program was carried out in Hong Kong to obtain a large dataset of on-road diesel vehicle emissions. Analysis was performed to evaluate the effect of vehicle manufacture year (1949-2015) and engine size (0.4-20 L) on the emission rates and high-emitters. The results showed that CO emission rates of larger engine size vehicles were higher than those of small vehicles during the study period, while HC and NO were higher before manufacture year 2006 and then became similar levels between manufacture years 2006 and 2015. CO, HC and NO of all vehicles showed an unexpectedly increasing trend during 1998-2004, in particular ≥6001 cc vehicles. However, they all decreased steadily in the last decade (2005-2015), except for NO of ≥6001 cc vehicles during 2013-2015. The distributions of CO and HC emission rates were highly skewed as the dirtiest 10% vehicles emitted much higher emissions than all the other vehicles. Moreover, this skewness became more significant for larger engine size or newer vehicles. The results indicated that remote sensing technology would be very effective to screen the CO and HC high-emitters and thus control the on-road vehicle emissions, but less effective for controlling NO emissions. No clear correlation was observed between the manufacture year and percentage of high-emitters for ≤3000 cc vehicles. However, the percentage of high-emitters decreased with newer manufacture year for larger vehicles. In addition, high-emitters of different pollutants were relatively independent, in particular NO emissions, indicating that high-emitter screening criteria should be defined on a CO-or-HC-or-NO basis, rather than a CO-and-HC-and-NO basis. Copyright © 2018 Elsevier Ltd. All rights reserved.

  16. 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

  17. 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.

  18. 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.

  19. Modeling of Continuum Manipulators Using Pythagorean Hodograph Curves.

    Science.gov (United States)

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

    2018-05-10

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

  20. 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....

  1. Remote sampling and analysis of highly radioactive samples in shielded boxes

    International Nuclear Information System (INIS)

    Kirpikov, D.A.; Miroshnichenko, I.V.; Pykhteev, O.Yu.

    2010-01-01

    The sampling procedure used for highly radioactive coolant water is associated with high risk of personnel irradiation and uncontrolled radioactive contamination. Remote sample manipulation with provision for proper radiation shielding is intended for safety enhancement of the sampling procedure. The sampling lines are located in an isolated compartment, a shielded box. Various equipment which enables remote or automatic sample manipulation is used for this purpose. The main issues of development of the shielded box equipment intended for a wider ranger of remote chemical analyses and manipulation techniques for highly radioactive water samples are considered in the paper. There were three principal directions of work: Transfer of chemical analysis performed in the laboratory inside the shielded box; Prevalence of computer-aided and remote techniques of highly radioactive sample manipulation inside the shielded box; and, Increase in control over sampling and determination of thermal-hydraulic parameters of the coolant water in the sampling lines. The developed equipment and solutions enable remote chemical analysis in the restricted volume of the shielded box by using ion-chromatographic, amperometrical, fluorimetric, flow injection, phototurbidimetric, conductometric and potentiometric methods. Extent of control performed in the shielded box is determined taking into account the requirements of the regulatory documents as well as feasibility and cost of the technical adaptation of various methods to the shielded box conditions. The work resulted in highly precise determination of more than 15 indexes of the coolant water quality performed in on-line mode in the shielded box. It averages to 80% of the total extent of control performed at the prototype reactor plants. The novel solutions for highly radioactive sample handling are implemented in the shielded box (for example, packaging, sample transportation to the laboratory, volume measurement). The shielded box is

  2. REMOTE IN-CELL SAMPLING IMPROVEMENTS PROGRAM AT THESAVANNAH RIVER SITE (SRS) DEFENSE WASTE PROCESSING FACILITY (DWPF)

    International Nuclear Information System (INIS)

    Marzolf, A

    2007-01-01

    Remote Systems Engineering (RSE) of the Savannah River National Lab (SRNL) in combination with the Defense Waste Processing Facility(DWPF) Engineering and Operations has evaluated the existing equipment and processes used in the facility sample cells for 'pulling' samples from the radioactive waste stream and performing equipment in-cell repairs/replacements. RSE has designed and tested equipment for improving remote in-cell sampling evolutions and reducing the time required for in-cell maintenance of existing equipment. The equipment within the present process tank sampling system has been in constant use since the facility start-up over 17 years ago. At present, the method for taking samples within the sample cells produces excessive maintenance and downtime due to frequent failures relative to the sampling station equipment and manipulator. Location and orientation of many sampling stations within the sample cells is not conducive to manipulator operation. The overextension of manipulators required to perform many in-cell operations is a major cause of manipulator failures. To improve sampling operations and reduce downtime due to equipment maintenance, a Portable Sampling Station (PSS), wireless in-cell cameras, and new commercially available sampling technology has been designed, developed and/or adapted and tested. The uniqueness of the design(s), the results of the scoping tests, and the benefits relative to in-cell operation and reduction of waste are presented

  3. Development of a Remote Handling System in an Integrated Pyroprocessing Facility

    Directory of Open Access Journals (Sweden)

    Hyo Jik Lee

    2013-10-01

    Full Text Available Over the course of a decade-long research programme, the Korea Atomic Energy Research Institute (KAERI has developed several remote handling systems for use in pyroprocessing research facilities. These systems are now used successfully for the operation and maintenance of processing equipment. The most recent remote handling system is the bridge-transported dual arm servo-manipulator system (BDSM, which is used for remote operation at the world's largest pyroprocess integrated inactive demonstration facility (PRIDE. Accurate and reliable servo-control is the basic requirement for the BDSM to accomplish any given tasks successfully in a hotcell environment. To achieve this end, the hardware and software of a digital signal processor-based remote control system were fully custom-developed and implemented to control the BDSM. To reduce the residual vibration of the BDSM, several input profiles, including input shaping, were carefully chosen and evaluated. Furthermore, a time delay controller was employed to achieve good tracking performance and systematic gain tuning. The experimental results demonstrate that the applied control algorithms are more effective than conventional approaches. The BDSM successfully completed its performance tests at a mock-up and was installed at PRIDE for real-world operation. The remote handling system at KAERI is expected to advance the actualization of pyroprocessing.

  4. Linking Student Performance in Massachusetts Elementary Schools with the “Greenness” of School Surroundings Using Remote Sensing

    Science.gov (United States)

    Wu, Chih-Da; McNeely, Eileen; Cedeño-Laurent, J. G.; Pan, Wen-Chi; Adamkiewicz, Gary; Dominici, Francesca; Lung, Shih-Chun Candice; Su, Huey-Jen; Spengler, John D.

    2014-01-01

    Various studies have reported the physical and mental health benefits from exposure to “green” neighborhoods, such as proximity to neighborhoods with trees and vegetation. However, no studies have explicitly assessed the association between exposure to “green” surroundings and cognitive function in terms of student academic performance. This study investigated the association between the “greenness” of the area surrounding a Massachusetts public elementary school and the academic achievement of the school’s student body based on standardized tests with an ecological setting. Researchers used the composite school-based performance scores generated by the Massachusetts Comprehensive Assessment System (MCAS) to measure the percentage of 3rd-grade students (the first year of standardized testing for 8–9 years-old children in public school), who scored “Above Proficient” (AP) in English and Mathematics tests (Note: Individual student scores are not publically available). The MCAS results are comparable year to year thanks to an equating process. Researchers included test results from 2006 through 2012 in 905 public schools and adjusted for differences between schools in the final analysis according to race, gender, English as a second language (proxy for ethnicity and language facility), parent income, student-teacher ratio, and school attendance. Surrounding greenness of each school was measured using satellite images converted into the Normalized Difference Vegetation Index (NDVI) in March, July and October of each year according to a 250-meter, 500-meter, 1,000-meter, and 2000-meter circular buffer around each school. Spatial Generalized Linear Mixed Models (GLMMs) estimated the impacts of surrounding greenness on school-based performance. Overall the study results supported a relationship between the “greenness” of the school area and the school-wide academic performance. Interestingly, the results showed a consistently positive significant

  5. 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

  6. Evaluation the effectiveness of remote blood pressure monitoring technology in patients with hypertension on the basis of clinical recommendations performance measures

    Directory of Open Access Journals (Sweden)

    Posnenkova O.M.

    2015-06-01

    Material and Methods ― Remote BP monitoring was organized on the basis of computer system which automatically in text messages send requests about BP level to Htn patients. Obtained BP results were stored in the system and automatically worked. A doctor corrected a patient’s therapy if necessary based on this information. To evaluate the effectiveness of a new technology one year observation of 97 Htn patients was organized (54.6% – male aged 49±11 years. Patients regularly responded to automated SMS requests the computer system about the level of blood pressure. The effectiveness was evaluated with the help of the following hypertension guidelines performance measures: 1 a part of patients with four or more BP results during the previous 12 months; 2 a part of patients with BP above the goal level who prescribed two or more antihypertensive drugs on the last visit during the previous 12 months; 3 a part of patients with BP above the goal level 140/90 mm Hg who prescribed two or more antihypertensive drugs on the last visit during the previous 12 months; 4 a part of patients with goal blood pressure (less than 140/90 mmHg on the last visit during the previous 12 months. To evaluate a performance of these measures before BP monitoring the data extracted from patients’ ambulatory cards were used. Results ― 62 patients completed one-year BP monitoring A part of patients with four or more BP results during the previous 12 months increased from 21% to 100% (p<0.001. From 70% to 82% increased the part of patients who were prescribed two or more antihypertensive drugs (p=0.091. From 31% to 15% reduced the part of hypertensives with uncontrolled BP who were prescribed less than two antihypertensive drugs on the last visit (p=0.044. After one-year monitoring a goal BP was registered in 77% of Htn patients versus 13% at the start of the observation (p<0.001. Conclusion ― Htn guidelines performance measures allowed evaluate quantitatively the positive influence

  7. Summary of Conceptual Models and Data Needs to Support the INL Remote-Handled Low-Level Waste Disposal Facility Performance Assessment and Composite Analysis

    International Nuclear Information System (INIS)

    Sondrup, A. Jeff; Schafter, Annette L.; Rood, Arthur S.

    2010-01-01

    An overview of the technical approach and data required to support development of the performance assessment, and composite analysis are presented for the remote handled low-level waste disposal facility on-site alternative being considered at Idaho National Laboratory. Previous analyses and available data that meet requirements are identified and discussed. Outstanding data and analysis needs are also identified and summarized. The on-site disposal facility is being evaluated in anticipation of the closure of the Radioactive Waste Management Complex at the INL. An assessment of facility performance and of the composite performance are required to meet the Department of Energy's Low-Level Waste requirements (DOE Order 435.1, 2001) which stipulate that operation and closure of the disposal facility will be managed in a manner that is protective of worker and public health and safety, and the environment. The corresponding established procedures to ensure these protections are contained in DOE Manual 435.1-1, Radioactive Waste Management Manual (DOE M 435.1-1 2001). Requirements include assessment of (1) all-exposure pathways, (2) air pathway, (3) radon, and (4) groundwater pathway doses. Doses are computed from radionuclide concentrations in the environment. The performance assessment and composite analysis are being prepared to assess compliance with performance objectives and to establish limits on concentrations and inventories of radionuclides at the facility and to support specification of design, construction, operation and closure requirements. Technical objectives of the PA and CA are primarily accomplished through the development of an establish inventory, and through the use of predictive environmental transport models implementing an overarching conceptual framework. This document reviews the conceptual model, inherent assumptions, and data required to implement the conceptual model in a numerical framework. Available site-specific data and data sources

  8. 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.

  9. 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.

  10. 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.

  11. 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.)

  12. Remote Lab for Robotics Applications

    Directory of Open Access Journals (Sweden)

    Robinson Jiménez

    2018-01-01

    Full Text Available This article describes the development of a remote lab environment used to test and training sessions for robotics tasks. This environment is made up of the components and devices based on two robotic arms, a network link, Arduino card and Arduino shield for Ethernet, as well as an IP camera. The remote laboratory is implemented to perform remote control of the robotic arms with visual feedback by camera, of the robots actions, where, with a group of test users, it was possible to obtain performance ranges in tasks of telecontrol of up to 92%.

  13. 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.

  14. Computerised training improves cognitive performance in chronic pain: a participant-blinded randomised active-controlled trial with remote supervision.

    Science.gov (United States)

    Baker, Katharine S; Georgiou-Karistianis, Nellie; Lampit, Amit; Valenzuela, Michael; Gibson, Stephen J; Giummarra, Melita J

    2018-04-01

    Chronic pain is associated with reduced efficiency of cognitive performance, and few studies have investigated methods of remediation. We trialled a computerised cognitive training protocol to determine whether it could attenuate cognitive difficulties in a chronic pain sample. Thirty-nine adults with chronic pain (mean age = 43.3, 61.5% females) were randomised to an 8-week online course (3 sessions/week from home) of game-like cognitive training exercises, or an active control involving watching documentary videos. Participants received weekly supervision by video call. Primary outcomes were a global neurocognitive composite (tests of attention, speed, and executive function) and self-reported cognition. Secondary outcomes were pain (intensity; interference), mood symptoms (depression; anxiety), and coping with pain (catastrophising; self-efficacy). Thirty participants (15 training and 15 control) completed the trial. Mixed model intention-to-treat analyses revealed significant effects of training on the global neurocognitive composite (net effect size [ES] = 0.43, P = 0.017), driven by improved executive function performance (attention switching and working memory). The control group reported improvement in pain intensity (net ES = 0.65, P = 0.022). Both groups reported subjective improvements in cognition (ES = 0.28, P = 0.033) and catastrophising (ES = 0.55, P = 0.006). Depression, anxiety, self-efficacy, and pain interference showed no change in either group. This study provides preliminary evidence that supervised cognitive training may be a viable method for enhancing cognitive skills in persons with chronic pain, but transfer to functional and clinical outcomes remains to be demonstrated. Active control results suggest that activities perceived as relaxing or enjoyable contribute to improved perception of well-being. Weekly contact was pivotal to successful program completion.

  15. Remote data monitoring for CDF

    International Nuclear Information System (INIS)

    Kippenhan, H.A. Jr.; Lidinsky, W.; Roediger, G.

    1995-11-01

    Remote data monitoring from the physicists' home institutions has become an important issue in large international experiments to ensure high performance of the detectors and high quality of data and scientific results. The CDF experiment is a collaboration of 450 physicists from 36 institutions in the U.S., Japan, Canada, Italy and Taiwan. Future experiments at Fermilab, CERN and elsewhere will be even larger, and will be performed over a period of order 10 years. The ability of collaborators at remote sites to monitor the increasingly complex detectors and feed the results back into the data acquisition process will be of great importance We report on the status and performance of remote monitoring from Japan of the CDF experiment in Batavia Illinois. We also discuss feasibilities for modest Remote Control Rooms

  16. Kinematically Optimal Robust Control of Redundant Manipulators

    Science.gov (United States)

    Galicki, M.

    2017-12-01

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

  17. 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.

  18. 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.)

  19. 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

  20. 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.

  1. 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.

  2. 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

  3. Control and applications of cooperating disparate robotic manipulators relevant to nuclear waste management

    Science.gov (United States)

    Lew, Jae Young; Book, Wayne J.

    1991-01-01

    Remote handling in nuclear waste management requires a robotic system with precise motion as well as a large workspace. The concept of a small arm mounted on the end of a large arm may satisfy such needs. However, the performance of such a serial configuration lacks payload capacity which is a crucial factor for handling a massive object. Also, this configuration induces more flexibility on the structure. To overcome these problems, the topology of bracing the tip of the small arm (not the large arm) and having an end effector in the middle of the chain is proposed in this paper. Also, control of these cooperating disparate manipulators is accomplished in computer simulations. Thus, this robotic system can have the accuracy of the small arm, and at the same time, it can have the payload capacity and large workspace of the large arm.

  4. 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

  5. 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 ...

  6. Interactive data manipulation program FAWTEK user guide

    International Nuclear Information System (INIS)

    Boyer, W.B.

    1977-02-01

    The interactive data acquisitio and manipulation program FAWTEK is described. The program allows users of the electron beam data acquisition facility to control the R7912 digitizers and to perform a variety of mathematical operations on data arrays. Commands are entered in a high-level language via a Tektronix 4010 terminal console. Each command directive, aling with its associated parameters, is described in detail

  7. 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

  8. 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)

  9. Feasibility of a 2"n"d generation MR-compatible manipulator for transrectal prostate biopsy guidance

    International Nuclear Information System (INIS)

    Bomers, J.G.R.; Yakar, D.; Bosboom, D.G.H.; Tigelaar, G.H.; Sabisch, J.; Fuetterer, J.J.

    2017-01-01

    To assess the feasibility of a 2"n"d generation MR-compatible, remote-controlled manipulator (RCM) as an aid to perform MR-guided transrectal prostate biopsy in males with suspicion of prostate cancer (PCa). This prospective phase I study was approved by the local ethical committee and written informed consent was obtained from each patient. Twenty patients with ≥1 cancer suspicious region (CSR) with a PI-RADS score of ≥3 detected on the diagnostic multi-parametric MRI and no prior prostate treatment underwent MR-guided biopsy with the aid of the RCM. Complications were classified according to the modified Clavien system for reporting surgical complications. For evaluation of the workflow, procedure- and manipulation times were recorded. All CSR's (n=20) were reachable with the MR-compatible RCM and the cancer detection rate was 70 %. The median procedure time was 36:44 minutes (range, 23 - 61 minutes) and the median manipulation time for needle guide movement was 5:48 minutes (range, 1:15 - 18:35 minutes). Two Clavien grade 1 complications were reported. It is feasible and safe to perform transrectal MR-guided prostate biopsy using a MR-compatible RCM as an aid. It is a fast and efficient way to biopsy suspicious prostate lesions with a minimum number of biopsies per patient. (orig.)

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

    International Nuclear Information System (INIS)

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

    2014-01-01

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

  11. Peak performance: remote memory revisited

    NARCIS (Netherlands)

    Mühleisen, H.; Gonçalves, R.; Kersten, M.; Johnson, R.; Kemper, A.

    2013-01-01

    Many database systems share a need for large amounts of fast storage. However, economies of scale limit the utility of extending a single machine with an arbitrary amount of memory. The recent broad availability of the zero-copy data transfer protocol RDMA over low-latency and high-throughput

  12. 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

  13. 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...

  14. Synthetic viewing: Comprehensive work representation making remote work more transparent to the operator

    International Nuclear Information System (INIS)

    Leinemann, K.; Katz, F.; Knueppel, H.

    1994-01-01

    To support the operator remote handling a number of well-developed techniques is available like transmission of forces, movements, and dexterous skills in general using masterslave manipulators equipped with special tools. In addition several types of transporters are available to position manipulators and tools. But there is a serious bottle-neck in viewing: the number of cameras is restricted and the cameras may in most cases not be positioned as to provide sufficient information. In order to improve this situation an integration of closed-loop TV and artificial viewing by sensor controlled computer graphics has been introduced successfully by KfK at JET. This integrated viewing subsystem combines not only those two techniques by providing the two views but also enhances the conventional camera control by a computer graphics model-based control. Practical experience has shown that the concept of viewing needs to be extended. Just seeing where things are is insufficient for the operators to perform their remote handling task properly. More information is required about the status of all equipment pieces involved and about the status of the entire handling task. Viewing for remote handling applications needs to include the display of such status information in a suitable form

  15. A Geometry Deformation Model for Braided Continuum Manipulators

    Directory of Open Access Journals (Sweden)

    S. M. Hadi Sadati

    2017-06-01

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

  16. 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.

  17. How Verbal and Spatial Manipulation Networks Contribute to Calculation: An fMRI Study

    Science.gov (United States)

    Zago, Laure; Petit, Laurent; Turbelin, Marie-Renee; Andersson, Frederic; Vigneau, Mathieu; Tzourio-Mazoyer, Nathalie

    2008-01-01

    The manipulation of numbers required during calculation is known to rely on working memory (WM) resources. Here, we investigated the respective contributions of verbal and/or spatial WM manipulation brain networks during the addition of four numbers performed by adults, using functional magnetic resonance imaging (fMRI). Both manipulation and…

  18. 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

  19. Acoustic Resonator Optimisation for Airborne Particle Manipulation

    Science.gov (United States)

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

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

  20. Manipulating Quantum Coherence in Solid State Systems

    CERN Document Server

    Flatté, Michael E; The NATO Advanced Study Institute "Manipulating Quantum Coherence in Solid State Systems"

    2007-01-01

    The NATO Advanced Study Institute "Manipulating Quantum Coherence in Solid State Systems", in Cluj-Napoca, Romania, August 29-September 9, 2005, presented a fundamental introduction to solid-state approaches to achieving quantum computation. This proceedings volume describes the properties of quantum coherence in semiconductor spin-based systems and the behavior of quantum coherence in superconducting systems. Semiconductor spin-based approaches to quantum computation have made tremendous advances in the past several years. Coherent populations of spins can be oriented, manipulated and detected experimentally. Rapid progress has been made towards performing the same tasks on individual spins (nuclear, ionic, or electronic) with all-electrical means. Superconducting approaches to quantum computation have demonstrated single qubits based on charge eigenstates as well as flux eigenstates. These topics have been presented in a pedagogical fashion by leading researchers in the fields of semiconductor-spin-based qu...

  1. Manipulating affective state influences conditioned appetitive responses.

    Science.gov (United States)

    Arnaudova, Inna; Krypotos, Angelos-Miltiadis; Effting, Marieke; Kindt, Merel; Beckers, Tom

    2017-10-06

    Affective states influence how individuals process information and behave. Some theories predict emotional congruency effects (e.g. preferential processing of negative information in negative affective states). Emotional congruency should theoretically obstruct the learning of reward associations (appetitive learning) and their ability to guide behaviour under negative mood. Two studies tested the effects of the induction of a negative affective state on appetitive Pavlovian learning, in which neutral stimuli were associated with chocolate (Experiment 1) or alcohol (Experiment 2) rewards. In both experiments, participants showed enhanced approach tendencies towards predictors of reward after a negative relative to a positive performance feedback manipulation. This increase was related to a reduction in positive affect in Experiment 1 only. No effects of the manipulation on conditioned reward expectancies, craving, or consumption were observed. Overall, our findings support the idea of counter-regulation, rather than emotional congruency effects. Negative affective states might therefore serve as a vulnerability factor for addiction, through increasing conditioned approach tendencies.

  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. A fiber optic link for the remote handling in nuclear environment

    International Nuclear Information System (INIS)

    Breuze, G.; Carnet, B.; Friant, A.; Blanc, F.; Lordet, J.; Boisde, G.

    1988-01-01

    At CEA a R/D program is running to improve performances of servomanipulators used in nuclear fuel reprocessing plants. Present work gives the main environmental parameters (gamma rays exposition, temperature) and shows the basis of the digital link designed to remote-handle such a manipulator. Up to 10 5 Gy behavior of optical fibers and electronic components was studied. Two different optical cables were built, one for the long link (100 m), the second to set in an especially designed winding unwinding wheel. Six way permanent or remote-handle connectors were developed to connect optical interfaces and a leaktight penetration. Measured budget of the link taking into account efficient photoblesching of the pure silica core fiber and influence of gamma rays on the slave interface is presented [fr

  5. Influência do assento da cadeira adaptada na execução de uma tarefa de manuseio Influence of the seat surface of an adapted chair on the performance of a manipulation task

    Directory of Open Access Journals (Sweden)

    Lígia Maria Presumido Braccialli

    2008-04-01

    Full Text Available Este estudo teve como objetivo verificar a influência da flexibilidade da superfície de assento da cadeira na velocidade e no tempo despendido por alunos com paralisia cerebral espástica durante a execução de uma tarefa de manuseio de um objeto na posição sentada. Participaram do estudo 11 alunos, de ambos os gêneros, com diagnóstico de paralisia cerebral espástica, que tinham algum controle de tronco e membros superiores. A quantificação da análise cinemática foi realizada em duas situações experimentais: 1 execução de uma tarefa acadêmica de encaixe, com o indivíduo posicionado em um mobiliário adaptado com assento de lona; 2 execução de uma tarefa acadêmica de encaixe, com o participante posicionado em um mobiliário adaptado com assento de madeira. Os dados obtidos foram submetidos à análise estatística descritiva e não-paramétrica por meio do teste de Wilcoxon. Os resultados indicaram que: 1 a velocidade média de execução das tarefas não foi influenciada pelo tipo de assento utilizado 2 o tempo de execução da tarefa foi influenciada pelo tipo de assento utilizado. A utilização do assento de lona aumentou o tempo de realização da tarefa. Conclui-se que o assento de um mobiliário escolar para um aluno com paralisia cerebral espástica não deve ser confeccionado com um material muito flexível. Este tipo de assento fornecerá uma base instável que dificultará o desempenho do aluno durante atividades realizadas com os membros superiores.The objective of this study was to verify the influence of the flexibility of the seat surface of a chair on the speed and time expended by students with spastic cerebral palsy during the performance of a task involving the manipulation an object while in a seated position. Eleven students of both genders participated in the study; all were diagnosed with spastic cerebral palsy, and all had some control of trunk and upper limbs. The quantification of the kinematics

  6. Protecting worker health and safety using remote handling systems

    International Nuclear Information System (INIS)

    Dennison, D.K.; Merrill, R.D.; Reed, R.K.

    1995-03-01

    Lawrence Livermore National Laboratory (LLNL) is currently developing and installing two large-scale, remotely controlled systems for use in improving worker health and safety by minimizing exposure to hazardous and radioactive materials. The first system is a full-scale liquid feed system for use in delivering chemical reagents to LLNL's existing aqueous low-level radioactive and mixed waste treatment facility (Tank Farm). The Tank Farm facility is used to remove radioactive and toxic materials in aqueous wastes prior to discharge to the City of Livermore Water Reclamation Plant (LWRP), in accordance with established discharge limits. Installation of this new reagent feed system improves operational safety and process efficiency by eliminating the need to manually handle reagents used in the treatment processes. This was done by installing a system that can inject precisely metered amounts of various reagents into the treatment tanks and can be controlled either remotely or locally via a programmable logic controller (PLC). The second system uses a robotic manipulator to remotely handle, characterize, process, sort, and repackage hazardous wastes containing tritium. This system uses an IBM-developed gantry robot mounted within a special glove box enclosure designed to isolate tritiated wastes from system operators and minimize the potential for release of tritium to the atmosphere. Tritiated waste handling is performed remotely, using the robot in a teleoperational mode for one-of-a-kind functions and in an autonomous mode for repetitive operations. The system is compatible with an existing portable gas cleanup unit designed to capture any gas-phase tritium inadvertently released into the glove box during waste handling

  7. 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

  8. 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)

  9. Automatic stabilization of underwater robots in the time manipulation operations

    International Nuclear Information System (INIS)

    Filaretov, V.F.; Koval, E.V.

    1994-01-01

    When carrying out underwater technical works by means of an underwater vehicles having a manipulator it is desirable to perform manipulation operations in the regime of the underwater vehicle hovering above the object without durable and complicated operations up its rigid fixation. Underwater vehicle stabilization is achieved by compensation all the effects on the vehicle caused by the operating manipulator in water medium. This automatic stabilization is formed due to input of the required control signals into corresponding vehicle propellers proportional to calculated components of the generalized forces and moments. The propellers should form stops reacting against effects

  10. Control system for the Fermilab Master-Slave servo manipulator

    International Nuclear Information System (INIS)

    Ducar, R.J.

    1977-01-01

    A control system for the Fermilab Master-Slave servo manipulator was developed. This new system offers a significant improvement in operational performance over the extant servo design with additional emphasis on simplicity of operation and maintainability. The servo manipulator is force-reflecting in each of the seven independent bilateral motions. Master force multiplication is automatically increased as the slave force is increased to its fifty pound capacity. The design incorporates triac control of the low inertia two-phase servomotors and makes extensive use of digital circuits in the servo loops. The manipulator is utilized in servicing radioactive beam-line targeting equipment

  11. Manipulating structured light

    CSIR Research Space (South Africa)

    Dudley, Angela

    2016-07-01

    Full Text Available SINGULARITY ZERO INTENSITY GAUSSIAN BEAM LAGUERRE-GAUSSIAN BEAM u(r,θ,z) = u0(r,z)exp(ilθ) Our favorite structured light field – has a helical wavefront 10/10/2016 6 Many unique measurement techniques are available for structured light NJP 13, 093014 (2011...). PRL 105(15), 153601 (2010).Nature 412, 314-316 (2001). PRL 105(5), 053904 (2010). PRL 88(25), 257901 (2002). 6? � � � ��Ψ� � �� c1 c2 c3 ∫ ∫ Ψ=Ψ== dxdyUUic nnnnn * ,)exp( φρ Create these modesPerform this integral Modal decomposition expands...

  12. 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

  13. A Study of Accuracy and Time Delay for Bilateral Master-Slave Industrial Robotic Arm Manipulator System

    Directory of Open Access Journals (Sweden)

    Mansor Nuratiqa Natrah

    2018-01-01

    Full Text Available Bilateral master-slave industrial robotic arm manipulator system is an advanced technology used to help human to interact with environments that are unreachable to human, due to its remoteness or perilous. The system has been used in different areas such as tele-surgery, autonomous tele-operation for sea and space operation and handling explosive or high radiation operation fields. It is beneficial both for science and society. Remarkably, the system is not common and generally used in Malaysia. Likewise, the number of research conducted that focused about this technology in our country manufacturing industry are not yet discovered and existent. The implementation of this bilateral manipulator system in an industrial robot could be useful for industrial imminent and development over our country and people, specifically for production yield size and human operative. Hence, the study of bilateral robotic arm manipulator system in an industrial robot and analyzation of its performance and time delay in 3 differ controllers will be discussed to attest the efficiency and its effectiveness on the said design system. The experiment conducted was on KUKA youBot arm in V-Rep simulation with three different controllers (P, PD, PID.

  14. Control issues related to bilateral teleoperation of long-reach, flexible manipulators

    International Nuclear Information System (INIS)

    Love, L.J.

    1997-01-01

    A challenging problem presently being addressed by the Department of Energy (DOE) is the extraction of large volumes of hazardous waste from underground waste storage facilities. The nature of the material requires the use of robotic and teleoperated systems. Furthermore, the constraints of the storage tanks require the use of long reach manipulators. These robots are characterized by their large workspace and reduced mass. Unfortunately, this reduction in mass increases structural compliance, making these robots susceptible to vibration. Until recently, no attempt has been made to provide the operator any type of force reflection due to the compliance of the slave robot. This paper addresses the control of bilateral teleoperation systems that use long-reach, flexible manipulators. Analysis and experiments show that the compliance of the slave robot directly affects the stability of the teleoperation system. This study suggests that this may be controlled by increasing the damping on the master robot. However, this increase in target damping increases the energy an operator must exert during the execution of a task. A new teleoperation strategy adapts the target impedance of the master robot to variations in the identified impedance of the remote environment coupled to the slave robot. Experiments show increased performance due to a decrease in the energy the operator must provide during task execution

  15. HERMIES-3: A step toward autonomous mobility, manipulation, and perception

    Science.gov (United States)

    Weisbin, C. R.; Burks, B. L.; Einstein, J. R.; Feezell, R. R.; Manges, W. W.; Thompson, D. H.

    1989-01-01

    HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omni-directional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information.

  16. Robotic design analysis based on teleoperated manipulator data collection

    International Nuclear Information System (INIS)

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

    1985-01-01

    Extensive data collection was performed on a servomanipulator system (TeleOperator Systems SM-229) to determine the motion range and mechanical power usage of the manipulator under direct human control. More than 50 hours of various manipulation operations were performed while joint positions and motor currents were recorded. Reduction of these data yielded histograms of the manipulator usage patterns revealing areas where future manipulator motion ranges and drive systems could be optimized. This report develops a graphical representation of mechanical power usage that relates torque and velocity to the total usage time. Methods of interpreting this representation are discussed and generalized for use in analyzing robotic systems. The resulting technique will allow designers to reevaluate an operating system and determine how to improve that system's design

  17. 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...

  18. 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

  19. 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

  20. 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

  1. 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

  2. Manipulators inspired by the tongue of the chameleon

    International Nuclear Information System (INIS)

    Debray, Alexis

    2011-01-01

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

  3. Manipulators inspired by the tongue of the chameleon.

    Science.gov (United States)

    Debray, Alexis

    2011-06-01

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

  4. Manipulators inspired by the tongue of the chameleon

    Energy Technology Data Exchange (ETDEWEB)

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

    2011-06-15

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

  5. 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.

  6. 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…

  7. 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

  8. 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

  9. Remote repair appliance

    International Nuclear Information System (INIS)

    Heumann, F.K.; Wilkinson, J.C.; Wooding, D.R.

    1997-01-01

    A remote appliance for supporting a tool for performing work at a work site on a substantially circular bore of a work piece and for providing video signals of the work site to a remote monitor comprises: a base plate having an inner face and an outer face; a plurality of rollers, wherein each roller is rotatably and adjustably attached to the inner face of the base plate and positioned to roll against the bore of the work piece when the base plate is positioned against the mouth of the bore such that the appliance may be rotated about the bore in a plane substantially parallel to the base plate; a tool holding means for supporting the tool, the tool holding means being adjustably attached to the outer face of the base plate such that the working end of the tool is positioned on the inner face side of the base plate; a camera for providing video signals of the work site to the remote monitor; and a camera holding means for supporting the camera on the inner face side of the base plate, the camera holding means being adjustably attached to the outer face of the base plate. In a preferred embodiment, roller guards are provided to protect the rollers from debris and a bore guard is provided to protect the bore from wear by the rollers and damage from debris. 5 figs

  10. Precision spectral manipulation: A demonstration using a coherent optical memory

    Energy Technology Data Exchange (ETDEWEB)

    Sparkes, B. M.; Cairns, C.; Hosseini, M.; Higginbottom, D.; Campbell, G. T.; Lam, P. K.; Buchler, B. C. [Centre for Quantum Computation and Communication Technology, The Australian National University, Canberra (Australia)

    2014-12-04

    The ability to coherently spectrally manipulate quantum information has the potential to improve qubit rates across quantum channels and find applications in optical quantum computing. Here we present experiments that use a multi-element solenoid combined with the three-level gradient echo memory scheme to perform precision spectral manipulation of optical pulses. If applied in a quantum information network, these operations would enable frequency-based multiplexing of qubits.

  11. Manipulating quantum information on the controllable systems or subspaces

    OpenAIRE

    Zhang, Ming; Xi, Zairong; Wei, Jia-Hua

    2010-01-01

    In this paper, we explore how to constructively manipulate qubits by rotating Bloch spheres. It is revealed that three-rotation and one-rotation Hamiltonian controls can be constructed to steer qubits when two tunable Hamiltonian controls are available. It is demonstrated in this research that local-wave function controls such as Bang-Bang, triangle-function and quadratic function controls can be utilized to manipulate quantum states on the Bloch sphere. A new kind of time-energy performance ...

  12. Acoustic manipulation: Bessel beams and active carriers

    Science.gov (United States)

    Rajabi, Majid; Mojahed, Alireza

    2017-10-01

    In this paper, we address the interaction of zero-order acoustic Bessel beams as an acoustic manipulation tool, with an active spherical shell, as a carrier in drug, agent, or material delivery systems, in order to investigate the controllability of exerted acoustic radiation force as the driver. The active body is comprised of a spherical elastic shell stimulated in its monopole mode of vibrations with the same frequency as the incident wave field via an internally bonded and spatially uniformly excited piezoelectric actuator. The main aim of this work is to examine the performance of a nondiffracting and self-reconstructing zero-order Bessel beam to obtain the full manipulability condition of active carriers in comparison with the case of a plane wave field. The results unveil some unique potentials of the Bessel beams in the company of active carriers, with emphasis on the consumed power of the actuation system. This paper will widen the path toward the single-beam robust acoustic manipulation techniques and may lead to the prospect of combined tweezers and fields, with applications in delivery systems, microswimmers, and trapper designs.

  13. Soft Manipulators and Grippers: A Review

    Directory of Open Access Journals (Sweden)

    Josie Hughes

    2016-11-01

    Full Text Available Soft robotics is a growing area of research which utilises the compliance and adaptability of soft structures to develop highly adaptive robotics for soft interactions. One area in which soft robotics has the ability to make significant impact is in the development of soft grippers and manipulators. With an increased requirement for automation, robotics systems are required to perform task in unstructured and not well defined environments; conditions which conventional rigid robotics are not best suited. This requires a paradigm shift in the methods and materials used to develop robots such that they can adapt to and work safely in human environments. One solution to this is soft robotics, which enables soft interactions with the surroundings whilst maintaining the ability to apply significant force. This review paper assess the current materials and methods, actuation methods and sensors which are used in the development of soft manipulators. The achievements and shortcomings of recent technology in these key areas are evaluated, and this paper concludes with a discussion on the potential impacts of soft manipulators on industry and society.

  14. 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.

  15. 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 ...

  16. 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

  17. Development of spent fuel remote handling technology

    International Nuclear Information System (INIS)

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

    2001-03-01

    Since the amount of the spent fuel rapidly increases, the current R and D activities are focused on the technology development related with the storage and utilization of the spent fuel. In this research, to provide such a technology, the mechanical head-end process has been developed. In detail, the swing and shock-free crane and the RCGLUD(Remote Cask Grappling and Lid Unbolting Device) were developed for the safe transportation of the spent fuel assembly, the LLW drum and the transportation cask. Also, the disassembly devices required for the head-end process were developed. This process consists of an assembly downender, a rod extractor, a rod cutter, a fuel decladding device, a skeleton compactor, a force-rectifiable manipulator for the abnormal spent fuel disassembly, and the gantry type telescopic transporter, etc. To provide reliability and safety of these devices, the 3 dimensional graphic design system is developed. In this system, the mechanical devices are modelled and their operation is simulated in the virtual environment using the graphic simulation tools. So that the performance and the operational mal-function can be investigated prior to the fabrication of the devices. All the devices are tested and verified by using the fuel prototype at the mockup facility

  18. Project Plan 7930 Cell G PaR Remote Handling System Replacement

    International Nuclear Information System (INIS)

    Kinney, Kathryn A.

    2009-01-01

    For over 40 years the US Department of Energy (DOE) and its predecessors have made Californium-252 ( 252 Cf) available for a wide range of industries including medical, nuclear fuels, mining, military and national security. The Radiochemical Engineering Development Center (REDC) located within the Oak Ridge National Laboratory (ORNL) processes irradiated production targets from the High Flux Isotope Reactor (HFIR). Operations in Building 7930, Cell G provide over 70% of the world's demand for 252 Cf. Building 7930 was constructed and equipped in the mid-1960s. Current operations for 252 Cf processing in Building 7930, Cell G require use of through-the-wall manipulators and the PaR Remote Handling System. Maintenance and repairs for the manipulators is readily accomplished by removal of the manipulator and relocation to a repair shop where hands-on work can be performed in glove boxes. Contamination inside cell G does not currently allow manned entry and no provisions were created for a maintenance area inside the cell. There has been no maintenance of the PaR system or upgrades, leaving operations vulnerable should the system have a catastrophic failure. The Cell G PaR system is currently being operated in a run to failure mode. As the manipulator is now 40+ years old there is significant risk in this method of operation. In 2006 an assessment was completed that resulted in recommendations for replacing the manipulator operator control and power centers which are used to control and power the PaR manipulator in Cell G. In mid-2008 the chain for the bridge drive failed and subsequent examinations indicated several damaged links (see Figure 1). To continue operations the PaR manipulator arm is being used to push and pull the bridge as a workaround. A retrieval tool was fabricated, tested and staged inside Cell G that will allow positioning of the bridge and manipulator arm for removal from the cell should the PaR system completely fail. A fully functioning and

  19. 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)

  20. 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)

  1. 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...

  2. 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.

  3. Remote inspection system for nuclear power plants

    International Nuclear Information System (INIS)

    Inagaki, K.; Fujii, M.; Doi, A.; Harima, T.

    1977-01-01

    A remote inspection system for nuclear power plants was constructed based on an analysis of inspections performed by an operator on patrol. This system consists of an operator's console and a remote station. The remote station, equipped with five kinds of sensors, is steered along the inspection route by a photoelectric guiding system or may be manually controlled from an operator's console in a main control room. Signals for control and inspection data are multiplexed and transmitted through a coaxial cable

  4. 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)

  5. 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.)

  6. 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

  7. An Investigation of Information Technology-Enabled Remote Management and Remote Work Issues

    Directory of Open Access Journals (Sweden)

    D. Sandy Staples

    1997-05-01

    Full Text Available A two phase research study was done to investigate remote work and remote management issues. In Phase 1, focus groups were carried out with remote managers and remote employees to identify key issues. The most common key issues dealt with communications, information technology, leadership and coaching, teamwork, building trust, and performance management. In the second phase, a questionnaire was used to test hypotheses developed from phase 1. The findings supported that higher trust leads to higher job satisfaction and lower job stress, and that more communication between the manager and the remote employee develops higher levels of employee organizational commitment.

  8. 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...

  9. 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.

  10. 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…

  11. 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

  12. 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)

  13. The use of virtual reality for preparation and implementation of JET remote handling operations

    International Nuclear Information System (INIS)

    Sanders, S.; Rolfe, A.C.

    2003-01-01

    The use of real time 3-D computer graphic models for preparation and support of remote handling operations on JET has been in use since the mid 1980s. A complete review has been undertaken of the functional requirements and benefits of VR for remote handling and a subsequent market survey of the present state-of-the-art of VR systems has resulted in the implementation of a new system for JET. The VR system is used in two discrete modes: in on-line mode the remote handling equipment Electro-mechanical hardware is connected to the VR system and provides input for the VR system to update a real time 3-D display of the equipment inside the torus. This mode supplements the video camera system and assists with camera control and warnings of impending or potential collisions. In Off-line mode the operator manipulates the VR system model with no connections to the remote handling equipment. This mode is used during preparation of RH operational strategies, checking of operational feasibility and operations procedures. Various VR systems were evaluated against a detailed technical specification that covered visualisation function and performance, user interface design and base model input/creation capabilities. The cheapest of those systems that satisfied the technical requirements was selected

  14. 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

  15. 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

  16. 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

  17. Haptic rendering for simulation of fine manipulation

    CERN Document Server

    Wang, Dangxiao; Zhang, Yuru

    2014-01-01

    This book introduces the latest progress in six degrees of freedom (6-DoF) haptic rendering with the focus on a new approach for simulating force/torque feedback in performing tasks that require dexterous manipulation skills. One of the major challenges in 6-DoF haptic rendering is to resolve the conflict between high speed and high fidelity requirements, especially in simulating a tool interacting with both rigid and deformable objects in a narrow space and with fine features. The book presents a configuration-based optimization approach to tackle this challenge. Addressing a key issue in man

  18. 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.

  19. Fast and accurate edge orientation processing during object manipulation

    Science.gov (United States)

    Flanagan, J Randall; Johansson, Roland S

    2018-01-01

    Quickly and accurately extracting information about a touched object’s orientation is a critical aspect of dexterous object manipulation. However, the speed and acuity of tactile edge orientation processing with respect to the fingertips as reported in previous perceptual studies appear inadequate in these respects. Here we directly establish the tactile system’s capacity to process edge-orientation information during dexterous manipulation. Participants extracted tactile information about edge orientation very quickly, using it within 200 ms of first touching the object. Participants were also strikingly accurate. With edges spanning the entire fingertip, edge-orientation resolution was better than 3° in our object manipulation task, which is several times better than reported in previous perceptual studies. Performance remained impressive even with edges as short as 2 mm, consistent with our ability to precisely manipulate very small objects. Taken together, our results radically redefine the spatial processing capacity of the tactile system. PMID:29611804

  20. 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.