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Sample records for replacement manipulator modularization

  1. 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.

  2. Intelligent modular manipulation for mobile robots

    Science.gov (United States)

    Culbertson, John

    2008-04-01

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

  3. Modelling and control for position-controlled modular robot manipulators

    OpenAIRE

    Shao, Zilong; Zheng, Gang; Efimov, Denis; Perruquetti, Wilfrid

    2015-01-01

    International audience; Modular Robot Manipulators are user-configurable manipulators which provide rapid design and inexpensive implementation. To be easy-use, smart actuators embedded with position input and position feedback controller are adopted, these local controllers render the manipulators position controlled, but also result in limited performance and precision. This paper targets the case that the built-in controller does not provide desirable precision for set-point regulation. Fi...

  4. Modular endoprosthetic replacement for metastatic tumours of the proximal femur

    Directory of Open Access Journals (Sweden)

    Carter Simon R

    2008-11-01

    Full Text Available Abstract Background and aims Endoprosthetic replacements of the proximal femur are commonly required to treat destructive metastases with either impending or actual pathological fractures at this site. Modular prostheses provide an off the shelf availability and can be adapted to most reconstructive situations for proximal femoral replacements. The aim of this study was to assess the clinical and functional outcomes following modular tumour prosthesis reconstruction of the proximal femur in 100 consecutive patients with metastatic tumours and to compare them with the published results of patients with modular and custom made endoprosthetic replacements. Methods 100 consecutive patients who underwent modular tumour prosthetic reconstruction of the proximal femur for metastases using the METS system from 2001 to 2007 were studied. The patient, tumour and treatment factors in relation to overall survival, local control, implant survival and complications were analysed. Functional scores were obtained from surviving patients. Results and conclusion There were 45 male and 55 female patients. The mean age was 60.2 years. The indications were metastases. Seventy five patients presented with pathological fracture or with failed fixation and 25 patients were at a high risk of developing a fracture. The mean follow up was 15.9 months [range 0–77]. Three patients died within 2 weeks following surgery. 69 patients have died and 31 are alive. Of the 69 patients who were dead 68 did not need revision surgery indicating that the implant provided single definitive treatment which outlived the patient. There were three dislocations (2/5 with THR and 1/95 with unipolar femoral heads. 6 patients had deep infections. The estimated five year implant survival (Kaplan-Meier analysis was 83.1% with revision as end point. The mean TESS score was 64% (54%–82%. We conclude that METS modular tumour prosthesis for proximal femur provides versatility; low implant related

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

    Energy Technology Data Exchange (ETDEWEB)

    Salerno, R. J.

    1994-06-01

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

  6. Outline of a Hardware Reconfiguration Framework for Modular Industrial Mobile Manipulators

    DEFF Research Database (Denmark)

    Schou, Casper; Bøgh, Simon; Madsen, Ole

    2014-01-01

    This paper presents concepts and ideas of a hard- ware reconfiguration framework for modular industrial mobile manipulators. Mobile manipulators pose a highly flexible pro- duction resource due to their ability to autonomously navigate between workstations. However, due to this high flexibility new...

  7. Inertial measurement unit–based iterative pose compensation algorithm for low-cost modular manipulator

    Directory of Open Access Journals (Sweden)

    Yunhan Lin

    2016-01-01

    Full Text Available It is a necessary mean to realize the accurate motion control of the manipulator which uses end-effector pose correction method and compensation method. In this article, first, we established the kinematic model and error model of the modular manipulator (WUST-ARM, and then we discussed the measurement methods and precision of the inertial measurement unit sensor. The inertial measurement unit sensor is mounted on the end-effector of modular manipulator, to get the real-time pose of the end-effector. At last, a new inertial measurement unit–based iterative pose compensation algorithm is proposed. By applying this algorithm in the pose compensation experiment of modular manipulator which is composed of low-cost rotation joints, the results show that the inertial measurement unit can obtain a higher precision when in static state; it will accurately feedback to the control system with an accurate error compensation angle after a brief delay when the end-effector moves to the target point, and after compensation, the precision errors of roll angle, pitch angle, and yaw angle are reached at 0.05°, 0.01°, and 0.27° respectively. It proves that this low-cost method provides a new solution to improve the end-effector pose of low-cost modular manipulator.

  8. Shortand medium-term results of knee replacement with modular eddoprothesis in maligant tumors of knee

    Directory of Open Access Journals (Sweden)

    P. Y. Zasul'skiy

    2013-01-01

    Full Text Available The purpose - to evaluate the short- and medium-term results of treatment patients with knee tumors using modular endoprostheses GMRS (Stryker and OSS (Biomet. Matherial and methods. The article presents the experience of use in clinical practice in patients with malignant tumors of the knee modular endoprosthesis (Global Modular Replacement System (Stryker and Oncology Salvage System (Biomet. Also the results of analysis of these implant systems in primary total knee replacement in 63 patients. Results. Overall 5-year survival of patients of the study group was 87.3%, 5-year disease-free survival - 92.1%. Average follow-up was 4 years. Immediate and medium-term good and satisfactory results were achieved orthopedic in 51 (80.9% patients; complications were noted in 5 (8.8% cases.

  9. Mag-muBots: Magnetic micro-robots capable of mobility, manipulation, and modularity

    Science.gov (United States)

    Pawashe, Chytra Shashikant

    Micro-robots are mobile devices that operate in micro-scale environments, and have future applications, such as being used to manipulate or construct micro-devices, and being used as diagnostic and analysis tools in biological systems. Being sub-millimeter in size, micro-robots require very different approaches to fabricating, powering, and controlling them. As opposed to conventional large-scale robots, it is infeasible to integrate conventional-style motors, actuators, and power sources into micro-scale devices. In this work, the Magnetic Micro-Robot (Mag-muBot) is presented, which is a versatile permanent magnet-based mobile robot under 1 mm in all dimensions. External magnetic fields are employed to successfully deliver power and control to the Mag-muBot, which is mobile and can operate in both gases and liquids, and on unstructured surfaces. Its motion is achieved by oscillating magnetic fields, which induces a stick-slip walking behavior; these dynamics are modeled into a simulation that compares favorably to experiments. The mechanisms for the manipulation of micro-objects are also explored, where the Mag-muBot can directly push micro-objects by contact-manipulation, or generate fluid boundary layers to manipulate micro-objects without direct contact. Examples of micro-object manipulation are also provided, where objects from 50 mum to 900 mum are shown to be manipulated. Additionally, control topics are explored such as addressing multiple Mag-muBots on a surface, which is accomplished by utilizing electrostatic forces generated by a specialized surface that selectively immobilizes individual Mag-muBots, allowing for decoupled serial locomotion of multiple Mag-muBots. Furthermore, autonomous control algorithms are developed such that the Mag-muBot can autonomously be positioned in the workspace, plan around obstacles, and efficiently manipulate micro-objects in the environment. Finally, a micro-scale reconfigurable modular robotic system is developed, based

  10. Corrosion on the acetabular liner taper from retrieved modular metal-on-metal total hip replacements.

    Science.gov (United States)

    Gascoyne, Trevor C; Dyrkacz, Richard M; Turgeon, Thomas R; Burnell, Colin D; Wyss, Urs P; Brandt, Jan-M

    2014-10-01

    Eight retrieved metal-on-metal total hip replacements displayed corrosion damage along the cobalt-chromium alloy liner taper junction with the Ti alloy acetabular shell. Scanning electron microscopy indicated the primary mechanism of corrosion to be grain boundary and associated crevice corrosion, which was likely accelerated through mechanical micromotion and galvanic corrosion resulting from dissimilar alloys. Coordinate measurements revealed up to 4.3mm(3) of the cobalt-chromium alloy taper surface was removed due to corrosion, which is comparable to previous reports of corrosion damage on head-neck tapers. The acetabular liner-shell taper appears to be an additional source of metal corrosion products in modular total hip replacements. Patients with these prostheses should be closely monitored for signs of adverse reaction towards corrosion by-products.

  11. Pain syndrome in patient after hip replacement with a dual-modular femoral component (case report

    Directory of Open Access Journals (Sweden)

    R. M. Tikhilov

    2014-01-01

    Full Text Available Total hip replacements with dualmodular femoral components (stemneck interface allow optimization of hip joint biomechanics via selective restoration of femoral anteversion, offset, and limb length theoretically improving muscle function and stability. Potential disadvantages are the additional stemneck interface and the possible generation of metal ions and debris by fretting and crevice corrosion. The authors reported a case of patient with dualmodular stem presenting with pain and decreased function. Earlyonset adverse inflammatory tissue reactions developed as a result of corrosion at the stemneck interface of a dualmodular implant, requiring subsequent revision of wellfixed components with an extended trochanteric osteotomy. Additional examinations excluded infection. We consider that patients with a modular stem and neck junction and presenting with pain should be suspected on corrosion at the stemneck interface and adverse inflammatory tissue reaction after infection exclusion.

  12. Modular titanium alloy neck failure in total hip replacement: analysis of a relapse case.

    Science.gov (United States)

    Ceretti, Marco; Falez, Francesco

    2016-04-29

    Modular neck hip prosthesis born in the 1990 with the aim of allowing the surgeon to modify CCD angle, offset and femoral anteversion intra-operatively restoring patient's original biomechanics. In order to achieve the best biomechanics of the reconstructed hip, preoperative planning is essential. In the last few years modularity has been questioned and an argument made for the return to mono block stems due to events of breakage or disconnection of modular components. Fretting or crevice corrosion may lead to failure of such modular device due to the contamination inside the modular coupling or to high loads. We present a case of repetitive modular femoral neck prosthesis fracture.

  13. Modularly assembled designer TAL effector nucleases for targeted gene knockout and gene replacement in eukaryotes.

    Science.gov (United States)

    Li, Ting; Huang, Sheng; Zhao, Xuefeng; Wright, David A; Carpenter, Susan; Spalding, Martin H; Weeks, Donald P; Yang, Bing

    2011-08-01

    Recent studies indicate that the DNA recognition domain of transcription activator-like (TAL) effectors can be combined with the nuclease domain of FokI restriction enzyme to produce TAL effector nucleases (TALENs) that, in pairs, bind adjacent DNA target sites and produce double-strand breaks between the target sequences, stimulating non-homologous end-joining and homologous recombination. Here, we exploit the four prevalent TAL repeats and their DNA recognition cipher to develop a 'modular assembly' method for rapid production of designer TALENs (dTALENs) that recognize unique DNA sequence up to 23 bases in any gene. We have used this approach to engineer 10 dTALENs to target specific loci in native yeast chromosomal genes. All dTALENs produced high rates of site-specific gene disruptions and created strains with expected mutant phenotypes. Moreover, dTALENs stimulated high rates (up to 34%) of gene replacement by homologous recombination. Finally, dTALENs caused no detectable cytotoxicity and minimal levels of undesired genetic mutations in the treated yeast strains. These studies expand the realm of verified TALEN activity from cultured human cells to an intact eukaryotic organism and suggest that low-cost, highly dependable dTALENs can assume a significant role for gene modifications of value in human and animal health, agriculture and industry.

  14. Modularly assembled designer TAL effector nucleases for targeted gene knockout and gene replacement in eukaryotes

    Energy Technology Data Exchange (ETDEWEB)

    Li, T; Huang, S; Zhao, XF; Wright, DA; Carpenter, S; Spalding, MH; Weeks, DP; Yang, B

    2011-08-08

    Recent studies indicate that the DNA recognition domain of transcription activator-like (TAL) effectors can be combined with the nuclease domain of FokI restriction enzyme to produce TAL effector nucleases (TALENs) that, in pairs, bind adjacent DNA target sites and produce double-strand breaks between the target sequences, stimulating non-homologous end-joining and homologous recombination. Here, we exploit the four prevalent TAL repeats and their DNA recognition cipher to develop a 'modular assembly' method for rapid production of designer TALENs (dTALENs) that recognize unique DNA sequence up to 23 bases in any gene. We have used this approach to engineer 10 dTALENs to target specific loci in native yeast chromosomal genes. All dTALENs produced high rates of site-specific gene disruptions and created strains with expected mutant phenotypes. Moreover, dTALENs stimulated high rates (up to 34%) of gene replacement by homologous recombination. Finally, dTALENs caused no detectable cytotoxicity and minimal levels of undesired genetic mutations in the treated yeast strains. These studies expand the realm of verified TALEN activity from cultured human cells to an intact eukaryotic organism and suggest that low-cost, highly dependable dTALENs can assume a significant role for gene modifications of value in human and animal health, agriculture and industry.

  15. Modular titanium alloy neck failure in total hip replacement: analysis of a relapse case

    Directory of Open Access Journals (Sweden)

    Ceretti Marco

    2016-01-01

    Full Text Available Modular neck hip prosthesis born in the 1990 with the aim of allowing the surgeon to modify CCD angle, offset and femoral anteversion intra-operatively restoring patient’s original biomechanics. In order to achieve the best biomechanics of the reconstructed hip, preoperative planning is essential. In the last few years modularity has been questioned and an argument made for the return to mono block stems due to events of breakage or disconnection of modular components. Fretting or crevice corrosion may lead to failure of such modular device due to the contamination inside the modular coupling or to high loads. We present a case of repetitive modular femoral neck prosthesis fracture.

  16. Modular titanium alloy neck failure in total hip replacement: analysis of a relapse case

    OpenAIRE

    Ceretti Marco; Falez Francesco

    2016-01-01

    Modular neck hip prosthesis born in the 1990 with the aim of allowing the surgeon to modify CCD angle, offset and femoral anteversion intra-operatively restoring patient’s original biomechanics. In order to achieve the best biomechanics of the reconstructed hip, preoperative planning is essential. In the last few years modularity has been questioned and an argument made for the return to mono block stems due to events of breakage or disconnection of modular components. Fretting or crevice cor...

  17. Retrieval analysis of 240 metal-on-metal hip components, comparing modular total hip replacement with hip resurfacing.

    Science.gov (United States)

    Matthies, A; Underwood, R; Cann, P; Ilo, K; Nawaz, Z; Skinner, J; Hart, A J

    2011-03-01

    This study compared component wear rates and pre-revision blood metal ions levels in two groups of failed metal-on-metal hip arthroplasties: hip resurfacing and modular total hip replacement (THR). There was no significant difference in the median rate of linear wear between the groups for both acetabular (p = 0.4633) and femoral (p = 0.0872) components. There was also no significant difference in the median linear wear rates when failed hip resurfacing and modular THR hips of the same type (ASR and Birmingham hip resurfacing (BHR)) were compared. Unlike other studies of well-functioning hips, there was no significant difference in pre-revision blood metal ion levels between hip resurfacing and modular THR. Edge loading was common in both groups, but more common in the resurfacing group (67%) than in the modular group (57%). However, this was not significant (p = 0.3479). We attribute this difference to retention of the neck in resurfacing of the hip, leading to impingement-type edge loading. This was supported by visual evidence of impingement on the femur. These findings show that failed metal-on-metal hip resurfacing and modular THRs have similar component wear rates and are both associated with raised pre-revision blood levels of metal ions.

  18. Safety aspects in surgical treatment of pathological fractures of the proximal femur – modular endoprosthetic replacement vs. intramedullary nailing

    OpenAIRE

    Fakler, Johannes KM; Hase, Franziska; Böhme, Jörg; Josten, Christoph

    2013-01-01

    Background Pathologic fractures of the femoral intertrochanteric and subtrochanteric region require special consideration in terms of biomechanically stable fixation and durability of the implant. In addition, the type of surgery might also influence patient survival. We conducted this retrospective study to evaluate the safety of modular proximal femur replacement compared to intramedullary nailing with patient survival being the primary and complications the secondary endpoint. Methods We r...

  19. Evaluating component migration after modular stem fixed-bearing total ankle replacement.

    Science.gov (United States)

    Brigido, Stephen A; Wobst, Garrett M; Galli, Melissa M; Bleazey, Scott T; Protzman, Nicole M

    2015-01-01

    To date, no studies have evaluated implant migration after implantation of a modular stem fixed-bearing total ankle replacement. The purpose of the present report was to determine the inter-rater and intrarater reliability of our proposed measurement technique and to assess implant migration over time. Twenty consecutive patients (aged 59.3 ± 12.2 years) who had undergone implantation with this modern, third-generation prosthetic were included. To assess implant migration, measurements were made from non-weightbearing, postoperative radiographs immediately after surgery and again at 1 year and 2 years. Implant migration was defined as a change in implant location from the immediate postoperative radiograph. The proposed measurement technique appears to be a reliable method of assessing implant migration, evidenced by the high inter-rater reliability and intrarater reliability (intraclass correlation [2,1] 0.993 and intraclass correlation [1,1] 0.997, respectively). The mean implant migration was 0.7 mm at 1 year and 1.0 mm at 2 years. Time (r = 0.42) and gender (r = 0.31) were significant predictors of implant migration (R(2) = 0.27, p = .008). Therefore, we confirmed our hypothesis that implant migration would significantly increase over time and discovered that implant migration was greater in males (1.2 ± 1.1 mm) than females (0.1 ± 0.8 mm). Given the gross stability of the implant and lack of revision within the follow-up period, the measurements obtained could serve as clinical guidelines for acceptable implant migration in the short term. To determine the thresholds correlated with implant failure, future studies with long-term follow-up are warranted.

  20. Modular titanium alloy neck adapter failures in hip replacement - failure mode analysis and influence of implant material

    Directory of Open Access Journals (Sweden)

    Bloemer Wilhelm

    2010-01-01

    Full Text Available Abstract Background Modular neck adapters for hip arthroplasty stems allow the surgeon to modify CCD angle, offset and femoral anteversion intraoperatively. Fretting or crevice corrosion may lead to failure of such a modular device due to high loads or surface contamination inside the modular coupling. Unfortunately we have experienced such a failure of implants and now report our clinical experience with the failures in order to advance orthopaedic material research and joint replacement surgery. The failed neck adapters were implanted between August 2004 and November 2006 a total of about 5000 devices. After this period, the titanium neck adapters were replaced by adapters out of cobalt-chromium. Until the end of 2008 in total 1.4% (n = 68 of the implanted titanium alloy neck adapters failed with an average time of 2.0 years (0.7 to 4.0 years postoperatively. All, but one, patients were male, their average age being 57.4 years (36 to 75 years and the average weight 102.3 kg (75 to 130 kg. The failures of neck adapters were divided into 66% with small CCD of 130° and 60% with head lengths of L or larger. Assuming an average time to failure of 2.8 years, the cumulative failure rate was calculated with 2.4%. Methods A series of adapter failures of titanium alloy modular neck adapters in combination with a titanium alloy modular short hip stem was investigated. For patients having received this particular implant combination risk factors were identified which were associated with the occurence of implant failure. A Kaplan-Meier survival-failure-analysis was conducted. The retrieved implants were analysed using microscopic and chemical methods. Modes of failure were simulated in biomechanical tests. Comparative tests included modular neck adapters made of titanium alloy and cobalt chrome alloy material. Results Retrieval examinations and biomechanical simulation revealed that primary micromotions initiated fretting within the modular tapered neck

  1. Modular Approach to Heterogenous Catalysis. Manipulation of Cross-Coupling Catalyst Activity.

    Science.gov (United States)

    Stibingerova, Iva; Voltrova, Svatava; Kocova, Sarka; Lindale, Matthew; Srogl, Jiri

    2016-01-15

    A new type of robust, heterogeneous, modular Pd catalyst with metal embedded in the gel matrix is presented. The regulatory element of its catalytic activity has been introduced via chemical changes in the gel. The concept is illustrated in a series of Suzuki-Miyaura cross-coupling reactions. The demonstrated catalyst activity variations depend on the structure of the gel.

  2. The modular endoprosthesis for mandibular body replacement. Part 1: Mechanical testing of the reconstruction

    NARCIS (Netherlands)

    Wong, R.C.; Tideman, H.; Merkx, M.A.W.; Jansen, J.A.; Goh, S.M.

    2012-01-01

    INTRODUCTION: In this paper we present the results of the mechanical testing of a new generation modular endoprosthesis, which has been designed to improve the results of mandibular reconstruction. MATERIALS AND METHODS: The new cementless endoprosthesis consists of a male part, a female part (both

  3. Modular stem fixed-bearing total ankle replacement: prospective results of 23 consecutive cases with 3-year follow-up.

    Science.gov (United States)

    Brigido, Stephen A; Galli, Melissa M; Bleazey, Scott T; Protzman, Nicole M

    2014-01-01

    In the present report, the 3-year outcomes of 23 consecutive patients treated with a modular stem fixed-bearing total ankle replacement are described. Pain, functional impairment, and disability were assessed annually using a visual analog scale. Complications and additional procedures also were recorded. Compared with preoperative pain (8.4 ± 1.4), functional impairment (8.7 ± 2.3), and disability (3.0 ± 2.5), there were statistically significant postoperative improvements at 1 year (pain, 2.6 ± 1.6; functional impairment, 3.1 ± 2.1; disability, 0.9 ± 1.2), 2 years (pain, 1.5 ± 1.3; functional impairment, 1.9 ± 1.4; disability, 0.6 ± 1.4), and 3 years (pain, 1.3 ± 1.3; functional impairment, 1.9 ± 1.9; disability, 0.4 ± 0.9; p ≤ .001). Pain, function, and disability significantly improved postoperatively from 1 to 2 years (p ≤ .008) and from 1 to 3 years (p ≤ .008). The reductions in pain, functional impairment, and disability were maintained from 2 to 3 years (p ≥ .08). Nine complications (39.1%) were encountered: 1 deep infection, 2 pulmonary embolisms, 3 wounds, 1 ectopic bone formation, 1 stiff joint, and 1 talar subsidence. In the 3-year follow-up period, 3 patients (13.0%) required additional procedures after the immediate postoperative phase. Our results have demonstrated that modular stem fixed-bearing prostheses can be implanted in a predictable and consistent fashion with resultant improvements in pain, function, and disability. Future studies evaluating the clinical outcomes after modular stem fixed-bearing total ankle replacement are warranted.

  4. The contact mechanics and occurrence of edge loading in modular metal-on-polyethylene total hip replacement during daily activities.

    Science.gov (United States)

    Hua, Xijin; Li, Junyan; Jin, Zhongmin; Fisher, John

    2016-06-01

    The occurrence of edge loading in hip joint replacement has been associated with many factors such as prosthetic design, component malposition and activities of daily living. The present study aimed to quantify the occurrence of edge loading/contact at the articulating surface and to evaluate the effect of cup angles and edge loading on the contact mechanics of a modular metal-on-polyethylene (MoP) total hip replacement (THR) during different daily activities. A three-dimensional finite element model was developed based on a modular MoP bearing system. Different cup inclination and anteversion angles were modelled and six daily activities were considered. The results showed that edge loading was predicted during normal walking, ascending and descending stairs activities under steep cup inclination conditions (≥55°) while no edge loading was observed during standing up, sitting down and knee bending activities. The duration of edge loading increased with increased cup inclination angles and was affected by the cup anteversion angles. Edge loading caused elevated contact pressure at the articulating surface and substantially increased equivalent plastic strain of the polyethylene liner. The present study suggested that correct positioning the component to avoid edge loading that may occur during daily activities is important for MoP THR in clinical practice.

  5. Improved Laser Manipulation for On-chip Fabricated Microstructures Based on Solution Replacement and Its Application in Single Cell Analysis

    Directory of Open Access Journals (Sweden)

    Tao Yue

    2014-02-01

    Full Text Available In this paper, we present the fabrication and assembly of microstructures inside a microfluidic device based on a photocrosslinkable resin and optical tweezers. We also report a method of solution replacement inside the microfluidic channel in order to improve the manipulation performance and apply the assembled microstructures for single cell cultivation. By the illumination of patterned ultraviolet (UV through a microscope, microstructures of arbitrary shape were fabricated by the photocrosslinkable resin inside a microfluidic channel. Based on the microfluidic channel with both glass and polydimethylsiloxane (PDMS surfaces, immovable and movable microstructures were fabricated and manipulated. The microstructures were fabricated at the desired places and manipulated by the optical tweezers. A rotational microstructure including a microgear and a rotation axis was assembled and rotated in demonstrating this technique. The improved laser manipulation of microstructures was achieved based on the on-chip solution replacement method. The manipulation speed of the microstructures increased when the viscosity of the solvent decreased. The movement efficiency of the fabricated microstructures inside the lower viscosity solvent was evaluated and compared with those microstructures inside the former high viscosity solvent. A novel cell cage was fabricated and the cultivation of a single yeast cell (w303 was demonstrated in the cell cage, inside the microfluidic device.

  6. Precise Manipulation of Chromosomes in Vivo Enables Genome-Wide Codon Replacement

    Science.gov (United States)

    Isaacs, Farren J.; Carr, Peter A.; Wang, Harris H.; Lajoie, Marc J.; Sterling, Bram; Kraal, Laurens; Tolonen, Andrew C.; Gianoulis, Tara A.; Goodman, Daniel B.; Reppas, Nikos B.; Emig, Christopher J.; Bang, Duhee; Hwang, Samuel J.; Jewett, Michael C.; Jacobson, Joseph M.; Church, George M.

    2016-01-01

    We present genome engineering technologies that are capable of fundamentally reengineering genomes from the nucleotide to the megabase scale. We used multiplex automated genome engineering (MAGE) to site-specifically replace all 314 TAG stop codons with synonymous TAA codons in parallel across 32 Escherichia coli strains. This approach allowed us to measure individual recombination frequencies, confirm viability for each modification, and identify associated phenotypes. We developed hierarchical conjugative assembly genome engineering (CAGE) to merge these sets of codon modifications into genomes with 80 precise changes, which demonstrate that these synonymous codon substitutions can be combined into higher-order strains without synthetic lethal effects. Our methods treat the chromosome as both an editable and an evolvable template, permitting the exploration of vast genetic landscapes. PMID:21764749

  7. Limb salvage after infected knee arthroplasty with bone loss and extensor mechanism deficiency using a modular segmental replacement system.

    Science.gov (United States)

    Namdari, Surena; Milby, Andrew H; Garino, Jonathan P

    2011-09-01

    Multiple total knee arthroplasty revisions pose significant surgical challenges, such as bone loss and soft tissue compromise. For patients with bone loss and extensor mechanism insufficiency after total knee arthroplasty, arthrodesis is a treatment option for the avoidance of amputation. However, arthrodesis is both difficult to achieve in situations with massive bone loss and potentially undesirable due to the dramatic shortening that follows. Although intramedullary nailing for knee arthrodesis has been widely reported, this technique has traditionally relied on the achievement of bony union. We report a case of a patient with massive segmental bone loss in which a modular intercalary prosthesis was used for arthrodesis to preserve limb length without bony union.

  8. Replacement

    Directory of Open Access Journals (Sweden)

    S. Radhakrishnan

    2014-03-01

    Full Text Available The fishmeal replaced with Spirulina platensis, Chlorella vulgaris and Azolla pinnata and the formulated diet fed to Macrobrachium rosenbergii postlarvae to assess the enhancement ability of non-enzymatic antioxidants (vitamin C and E, enzymatic antioxidants (superoxide dismutase (SOD and catalase (CAT and lipid peroxidation (LPx were analysed. In the present study, the S. platensis, C. vulgaris and A. pinnata inclusion diet fed groups had significant (P < 0.05 improvement in the levels of vitamins C and E in the hepatopancreas and muscle tissue. Among all the diets, the replacement materials in 50% incorporated feed fed groups showed better performance when compared with the control group in non-enzymatic antioxidant activity. The 50% fishmeal replacement (best performance diet fed groups taken for enzymatic antioxidant study, in SOD, CAT and LPx showed no significant increases when compared with the control group. Hence, the present results revealed that the formulated feed enhanced the vitamins C and E, the result of decreased level of enzymatic antioxidants (SOD, CAT and LPx revealed that these feeds are non-toxic and do not produce any stress to postlarvae. These ingredients can be used as an alternative protein source for sustainable Macrobrachium culture.

  9. Modular robotics overview of the `state of the art`

    Energy Technology Data Exchange (ETDEWEB)

    Kress, R.L.; Jansen, J.F.; Hamel, W.R.

    1996-08-01

    The design of a robotic arm processing modular components and reconfigurable links is the general goal of a modular robotics development program. The impetus behind the pursuit of modular design is the remote engineering paradigm of improved reliability and availability provided by the ability to remotely maintain and repair a manipulator operating in a hazardous environment by removing and replacing worn or failed modules. Failed components can service off- line and away from hazardous conditions. The desire to reconfigure an arm to perform different tasks is also an important driver for the development of a modular robotic manipulator. In order to bring to fruition a truly modular manipulator, an array of technical challenges must be overcome. These range from basic mechanical and electrical design considerations such as desired kinematics, actuator types, and signal and transmission types and routings, through controls issues such as the need for control algorithms capable of stable free space and contact control, to computer and sensor design issues like consideration of the use of embedded processors and redundant sensors. This report presents a brief overview of the state of the art of technical issues relevant of modular robotic arm design. The focus is on breadth of coverage, rather than depth, in order to provide a reference frame for future development.

  10. The tele-robotics system MT200-TAO replaces mechanical tele-manipulators in COGEMA/AREVA-La Hague hot cells

    Energy Technology Data Exchange (ETDEWEB)

    Garrec, Philippe; Lamy-Perbal, Sylvie; Friconneau, Jean-Pierre [CEA France (France); Piolain, Gerard [COGEMA/AREVA-Hague (France)

    2006-07-01

    We present here for the first time the tele-robotics system for hot-cells MT200-TAO (TAO stands for Teleoperation Assistee par Ordinateur or Computer Assisted Tele-robotics), able to replace a conventional telescopic medium tele-manipulator (extension 4 m; capacity 20 kg). The system is currently under evaluation in COGEMA/AREVA- La Hague hot-cells. (authors)

  11. Defining Modules, Modularity and Modularization

    DEFF Research Database (Denmark)

    Miller, Thomas Dedenroth; Pedersen, Per Erik Elgård

    The paper describes the evolution of the concept of modularity in a historical perspective. The main reasons for modularity are: create variety, utilize similarities, and reduce complexity. The paper defines the terms: Module, modularity, and modularization.......The paper describes the evolution of the concept of modularity in a historical perspective. The main reasons for modularity are: create variety, utilize similarities, and reduce complexity. The paper defines the terms: Module, modularity, and modularization....

  12. Optimization criteria for the design of orbital replacement units (ORUs)

    Science.gov (United States)

    Schulze, Manfred W.

    A reduction of life cycle costs of spacecraft or Space Station elements can be achieved by a modular build up which allows an in orbit replacement, maintenance, and service of functional units named Orbital Replacement Units (ORUs). The criteria for an optimal design for an ORU is presented. Requirements involving the user spacecraft configuration, the servicing vehicle, the handling by astronauts and remote manipulator system are considered.

  13. Manipulator Arms by using Infrared Collision Avoidance System to Replace Human Interface for an Automated Prescription Dispensing System

    National Research Council Canada - National Science Library

    Dr. Rafie Hamidpour; Sina Pourjabar; Roxanna Hamidpour; Sam Hamidpour

    2015-01-01

    A collision avoidance system for a manipulator arm such as a robot arm includes a plurality of infrared sources and sensors distributed about the periphery of a mounting block coupled with the assembly...

  14. Influence of geometry and materials on the axial and torsional strength of the head-neck taper junction in modular hip replacements: A finite element study.

    Science.gov (United States)

    Fallahnezhad, Khosro; Farhoudi, Hamidreza; Oskouei, Reza H; Taylor, Mark

    2016-07-01

    The assembly force is important in establishing the mechanical environment at the head-neck taper junction of modular hip replacements. Previous experimental results of the assembled taper junctions with different material combinations (Co-28Cr-6Mo and Ti-6Al-4V) reported similar axial strengths (pull-off loads), but lower torsional strengths (twist-off moments) for the CoCr/CoCr junction. However, mechanics of the junction and the strength behaviour have not been understood yet. A three dimensional finite element model of an isolated femoral head-neck junction was developed to explore the assembly and disassembly procedures, particularly the axial and torsional strengths for different material combinations and geometries. Under the same assembly load, the contacting length between the CoCr head and titanium neck was greater than that of in CoCr/CoCr. The contact length in the titanium neck was more sensitive to the assembly force when compared to the CoCr neck. For instance, with increasing the assembly force from 1890 to 3700N, the contact length increased by 88% for CoCr/Ti and 59% for CoCr/CoCr junctions. The torsional strength of the junction was related to the lateral deformation of the neck material due to the applied moment. The angular mismatch existing between the head and neck components was found to play the main role in the torsional strength of the junction. The smaller mismatch angle the higher torsional strength. It is suggested to consider reducing the mismatch angle, particularly in CoCr/CoCr junctions, and ensure a sufficiently high assembly force is applied by impaction for this combination.

  15. Service Modularity

    DEFF Research Database (Denmark)

    Avlonitis, Viktor; Hsuan, Juliana

    2015-01-01

    The purpose of this research is to investigate the studies on service modularity with a goal of informing service science and advancing contemporary service systems research. Modularity, a general systems property, can add theoretical underpinnings to the conceptual development of service science...... in general and service systems in particular. Our research is guided by the following question: how can modularity theory inform service system design? We present a review of the modularity literature and associated concepts. We then introduce the contemporary service science and service system discourse...

  16. Modular Entanglement

    CERN Document Server

    Gualdi, Giulia; Illuminati, Fabrizio

    2010-01-01

    We introduce and discuss the concept of modular entanglement. This is the entanglement that is established between the end points of modular systems composed by sets of interacting blocks of arbitrarily fixed size. We show that end-to-end modular entanglement scales in the thermodynamic limit and rapidly saturates with the number of constituent blocks. We clarify the mechanisms underlying the onset of entanglement between distant and non-interacting quantum systems and its optimization for applications to quantum repeaters and entanglement distribution and sharing.

  17. Modular entanglement.

    Science.gov (United States)

    Gualdi, Giulia; Giampaolo, Salvatore M; Illuminati, Fabrizio

    2011-02-04

    We introduce and discuss the concept of modular entanglement. This is the entanglement that is established between the end points of modular systems composed by sets of interacting moduli of arbitrarily fixed size. We show that end-to-end modular entanglement scales in the thermodynamic limit and rapidly saturates with the number of constituent moduli. We clarify the mechanisms underlying the onset of entanglement between distant and noninteracting quantum systems and its optimization for applications to quantum repeaters and entanglement distribution and sharing.

  18. Backside nonconformity and locking restraints affect liner/shell load transfer mechanisms and relative motion in modular acetabular components for total hip replacement.

    Science.gov (United States)

    Kurtz, S M; Ochoa, J A; White, C V; Srivastav, S; Cournoyer, J

    1998-05-01

    Nonconformity between the polyethylene liner and the metal shell may exist in modular acetabular components by design, due to manufacturing tolerances, or from locking mechanisms that attach the polyethylene liner to the metal shell. Relative motion at the liner/shell interface has been associated with backside wear, which may contribute to osteolysis which has been clinically observed near screw holes. The purpose of this study was to investigate the effect of nonconformity and locking restraints on the liner/shell relative motion and load transfer mechanisms in a commercially available, metal-backed acetabular component with a polar fenestration. The finite element method was used to explore the hypothesis that backside nonconformity and locking restraints play important roles in long-term surface damage mechanisms that are unique to modular components, such as backside wear and liner extrusion through screw holes. The three-body quasi-static contact problem was solved using a commercially available explicit finite element code, which modeled contact between the femoral head, polyethylene liner, and the metal shell. Four sets of liner boundary conditions were investigated: no restraints, rim restraints, equatorial restraints, and both rim and equatorial restraints. The finite element model with a conforming shell predicted between 8.5 and 12.8 microm of incremental extrusion of the polyethylene through the polar fenestration, consistent with in vitro experiments of the same design under identical loading conditions. Furthermore, idealized rim and/or equatorial liner restraints were found to share up to 71% of the load across the liner/shell interface. Consequently, the results of this study demonstrate that backside nonconformity and locking restraints substantially influence backside relative motion as well as load transfer at the liner/shell interface.

  19. Manipulation hardware for microgravity research

    Energy Technology Data Exchange (ETDEWEB)

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

    1990-01-01

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

  20. Total hip replacement revision with a fluted, tapered, modular stem%采用锥形沟槽式股骨组配柄假体行股骨侧翻修

    Institute of Scientific and Technical Information of China (English)

    骆园; 孙俊英; 李永旺; 杨茂伟

    2011-01-01

    背景:组配式股骨柄翻修假体在理论上被认为能够克服骨水泥固定型股骨柄假体或生物学固定型非组配式股骨柄假体存在的各类缺点,一些文献也初步证实这类假体能取得更为满意的疗效.目的:回顾性分析采用锥形沟槽式股骨组配柄假体行全髋股骨侧翻修的效果.方法:2000-05/2005-08苏州大学附属第一医院收治全髋股骨侧翻修患者19例(21髋).翻修前诊断均为股骨柄假体合并臼杯假体的无菌性松动.股骨侧骨缺损按Paprosky标准,诊断为Ⅱ型缺损者4髋,Ⅲa型缺损者14髋,Ⅲb缺损者3髋.全部患者的股骨侧翻修均采用利马锥形沟槽式股骨组配柄假体,股骨柄假体为钛合金制造.对翻修效果进行随访观察.结果与结论:所有假体均获初始稳定,未发生感染、脱位等并发症.随访5~10年,末次随访Harris评分维持在(92.2±3.5)分.X射线片显示翻修柄获广泛骨长入达骨性稳定者20髋(95%),纤维性稳定者1髋(5%).所有患者的近段骨缺损植骨区均显示广泛性骨修复.翻修柄在正、侧位X射线片上的髓内充填率分别达80%和70%以上者18髋(86%),< 80%和70%者3髋(14%),全组假体平均下沉2.4 mm.至今未见因假体松动或其他原因需行再翻修治疗患者.提示采用锥形沟槽式股骨组配柄假体行全髋股骨侧翻修,必须注重手动扩髓等方法预防骨折,合理的髓内充填和近段组件调整以预防假体下沉和脱位,以及锥形连接处近段的植骨重建等技术关键,才能取得更为满意的效果.%BACKGROUND: Modular femoral stem revision prosthesis is theoretically considered to overcome disadvantages of cemented femoral stem or biological fixed non-modular femoral stem. Some studies report favorable effect of modular femoral stem.OBJECTIVE: To summarize the experience on the revision total hip replacement with a fluted, tapered, modular stem.METHODS: From May 2000 to August 2005, 19 patients (21 hips

  1. Metric modular spaces

    CERN Document Server

    Chistyakov, Vyacheslav

    2015-01-01

    Aimed toward researchers and graduate students familiar with elements of functional analysis, linear algebra, and general topology; this book contains a general study of modulars, modular spaces, and metric modular spaces. Modulars may be thought of as generalized velocity fields and serve two important purposes: generate metric spaces in a unified manner and provide a weaker convergence, the modular convergence, whose topology is non-metrizable in general. Metric modular spaces are extensions of metric spaces, metric linear spaces, and classical modular linear spaces. The topics covered include the classification of modulars, metrizability of modular spaces, modular transforms and duality between modular spaces, metric  and modular topologies. Applications illustrated in this book include: the description of superposition operators acting in modular spaces, the existence of regular selections of set-valued mappings, new interpretations of spaces of Lipschitzian and absolutely continuous mappings, the existe...

  2. A MODULAR ACTUATOR ARCHITECTURE FOR ROBOTIC APPLICATIONS

    Energy Technology Data Exchange (ETDEWEB)

    None

    2001-07-01

    .'s (ARM) modular robotic manipulator technology developed for DOE EM operations, which addresses many of the issues discussed in the previous section. This manipulator system has the capability of custom configurations, which accommodate common glovebox tasks such as materials repackaging. The modular nature and quick connects of this system simplify installations into ''hot'' boxes and any potential modifications or repair therein. In the field of automation and robotics, a very common element is one used to generate motion for precise positioning of loads. One example of such an automation component would be an individual joint within an industrial robotic manipulator. This component consists of a tightly integrated package containing an electric motor, gear train, output support bearings, position sensors, brake, servo-amplifier and communications controller. Within the context of this paper, this key building block is referred to as an actuator module. With regard to the needs of the EM, [8] and [9] have shown that while each focus area has unique requirements for robotic automation at a system or manipulator level, their requirements at the actuator level are very similar. Thereby, a modular approach to automation which utilizes a small set of versatile actuator modules can be used to construct a broad range of robotic systems and automation cells suited to EM applications. By providing a pre-engineered, pre-integrated motion system to different robotics users within the DOE, new automation systems can be more quickly created without extensive expertise in motion control or the expense of building custom equipment.

  3. Understanding Socio Technical Modularity

    DEFF Research Database (Denmark)

    Thuesen, Christian Langhoff; Kudsk, Anders; Hvam, Lars

    2011-01-01

    Modularity has gained an increasing popularity as a central concept for exploring product structure, process structure, organization structure and supply chain structure. With the offset in system theory the predominant understanding of modularity however faces difficulties in explaining the social...... Theory in particular. By formulating modularity from an ANT perspective covering social, material and process aspects, the modularity of a socio-technical system can be understood as an entanglement of product, process, organizational and institutional modularity. The theoretical framework is illustrated...

  4. Mechanisms by which a lack of germinal vesicle (GV) material causes oocyte meiotic defects: a study using oocytes manipulated to replace GV with primary spermatocyte nuclei.

    Science.gov (United States)

    Zhang, Jie; Cui, Wei; Li, Qing; Wang, Tian-Yang; Sui, Hong-Shu; Wang, Jun-Zuo; Luo, Ming-Jiu; Tan, Jing-He

    2013-10-01

    Oocytes with germinal vesicles (GVs) replaced with somatic nuclei exhibit meiotic abnormalities. Although this suggests an exclusive role for GV material in meiosis, mechanisms by which a lack of GV material causes meiotic defects are unknown. Knowledge of these mechanisms will help us to understand meiotic control, nuclear-cytoplasmic interactions, and cellular reprogramming. This study showed that although oocytes with prometaphase I chromosomes replaced with primary spermatocyte nuclei (PSN) did not, oocytes with GV replaced with PSN (PSG oocytes) did display meiotic defects. Among the defects, insufficient chromosome condensation with chromosome bridges was associated with spindle abnormalities. Abnormal spindle migration, cortical nonpolarization, and the aberrant spindle caused randomly positioning of cleavage furrows, leading to large first polar bodies (PB1) and unequal allocation of chromosomes and mitogen-activated protein kinases (MAPK) between oocyte and PB1. Spindle assembly checkpoint was activated but did not stop the incorrect division. The unequal MAPK allocation resulted in differences in pronuclear formation and PB1 degeneration; oocytes receiving more MAPK were more capable of forming pronuclear rudiments, whereas PB1 receiving more MAPK degenerated sooner than those that received less. Because none of the PSG oocytes or the enucleated GV oocytes injected with sperm heads showed cortical polarization in spite of chromosome localization close to the oolemma and because the PSG oocytes receiving more MAPK could form only pronuclear rudiments and not normal pronuclei, we suggest that the GV material plays essential roles in polarization and pronuclear formation on top of those played by chromosomes or MAPK. In conclusion, using PSG oocytes as models, this study has revealed the primary pathways by which a lack of GV material cause meiotic defects, laying a foundation for future research on the role of GV material in oocyte meiotic control.

  5. Complexity in Managing Modularization

    DEFF Research Database (Denmark)

    Hansen, Poul H. Kyvsgård; Sun, Hongyi

    2011-01-01

    In general, the phenomenon of managing modularization is not well known. The cause-effect relationships between modularization and realized benefits are complex and comprehensive. Though a number of research works have contributed to the study of the phenomenon of efficient and effective modulari......In general, the phenomenon of managing modularization is not well known. The cause-effect relationships between modularization and realized benefits are complex and comprehensive. Though a number of research works have contributed to the study of the phenomenon of efficient and effective...... modularization management it is far from clarified. Recognizing the need for further empirical research, we have studied 40 modularity cases in various companies. The studies have been designed as long-term studies leaving time for various types of modularization benefits to emerge. Based on these studies we...... have developed a framework to support the heuristic and iterative process of planning and realizing modularization benefits....

  6. Modularity and Economic Organization

    DEFF Research Database (Denmark)

    Sanchez, Ron; Mahoney, Joseph T.

    This paper addresses modularity as a basis for organizing economic activity. We first define the key concepts of architecture and of modularity as a special form of architecture. We then suggest how modular systems of all types may exhibit several properties of fundamental importance...... to the organization of economic activities, including greater adaptability and evolvability than systems that lack modular properties. We draw extensively on our original 1996 paper on modularity and subsequent research to suggest broad theoretical implications of modularity for (i) firms' product strategies...... and the nature of product market competition, (ii) the organization designs firms may adopt and the industry structures that can result when significant numbers of firms adopt modular product architectures, and (iii) learning processes and knowledge structures at the firm and industry levels in modular product...

  7. Understanding Socio Technical Modularity

    DEFF Research Database (Denmark)

    Thuesen, Christian Langhoff; Kudsk, Anders; Hvam, Lars

    2011-01-01

    Modularity has gained an increasing popularity as a central concept for exploring product structure, process structure, organization structure and supply chain structure. With the offset in system theory the predominant understanding of modularity however faces difficulties in explaining the social...... dimension of modularity like irrational behaviors, cultural differences, learning processes, social organization and institutional influences on modularity. The paper addresses this gab offering a reinterpretation of the modularity concept from a socio-technical perspective in general and Actor Network...... Theory in particular. By formulating modularity from an ANT perspective covering social, material and process aspects, the modularity of a socio-technical system can be understood as an entanglement of product, process, organizational and institutional modularity. The theoretical framework is illustrated...

  8. Conditionals and Modularity in General Logics

    CERN Document Server

    Gabbay, Dov M

    2011-01-01

    This text centers around three main subjects. The first is the concept of modularity and independence in classical logic and nonmonotonic and other nonclassical logic, and the consequences on syntactic and semantical interpolation and language change. In particular, we will show the connection between interpolation for nonmonotonic logic and manipulation of an abstract notion of size. Modularity is essentially the ability to put partial results achieved independently together for a global result. The second aspect of the book is the authors' uniform picture of conditionals, including many-valu

  9. Complexity in Managing Modularization

    DEFF Research Database (Denmark)

    Hansen, Poul H. Kyvsgård; Sun, Hongyi

    2011-01-01

    modularization management it is far from clarified. Recognizing the need for further empirical research, we have studied 40 modularity cases in various companies. The studies have been designed as long-term studies leaving time for various types of modularization benefits to emerge. Based on these studies we......In general, the phenomenon of managing modularization is not well known. The cause-effect relationships between modularization and realized benefits are complex and comprehensive. Though a number of research works have contributed to the study of the phenomenon of efficient and effective...

  10. Modularity and Economic Organization

    DEFF Research Database (Denmark)

    Sanchez, Ron; Mahoney, Joseph T.

    and the nature of product market competition, (ii) the organization designs firms may adopt and the industry structures that can result when significant numbers of firms adopt modular product architectures, and (iii) learning processes and knowledge structures at the firm and industry levels in modular product...... markets. We also discuss an evolutionary perspective on modularity as an emergent phenomenon in firms and industries. We explain how modularity as a relatively new field of strategy and economic research may provide a new theoretical perspective on economic organizing that has significant potential......This paper addresses modularity as a basis for organizing economic activity. We first define the key concepts of architecture and of modularity as a special form of architecture. We then suggest how modular systems of all types may exhibit several properties of fundamental importance...

  11. Product Architecture Modularity Strategies

    DEFF Research Database (Denmark)

    Mikkola, Juliana Hsuan

    2003-01-01

    The focus of this paper is to integrate various perspectives on product architecture modularity into a general framework, and also to propose a way to measure the degree of modularization embedded in product architectures. Various trade-offs between modular and integral product architectures...... and how components and interfaces influence the degree of modularization are considered. In order to gain a better understanding of product architecture modularity as a strategy, a theoretical framework and propositions are drawn from various academic literature sources. Based on the literature review......, the following key elements of product architecture are identified: components (standard and new-to-the-firm), interfaces (standardization and specification), degree of coupling, and substitutability. A mathematical function, termed modularization function, is introduced to measure the degree of modularization...

  12. Modular Isotopic Thermoelectric Generator

    Energy Technology Data Exchange (ETDEWEB)

    Schock, Alfred

    1981-04-03

    Advanced RTG concepts utilizing improved thermoelectric materials and converter concepts are under study at Fairchild for DOE. The design described here is based on DOE's newly developed radioisotope heat source, and on an improved silicon-germanium material and a multicouple converter module under development at Syncal. Fairchild's assignment was to combine the above into an attractive power system for use in space, and to assess the specific power and other attributes of that design. The resultant design is highly modular, consisting of standard RTG slices, each producing ~24 watts at the desired output voltage of 28 volt. Thus, the design could be adapted to various space missions over a wide range of power levels, with little or no redesign. Each RTG slice consists of a 250-watt heat source module, eight multicouple thermoelectric modules, and standard sections of insulator, housing, radiator fins, and electrical circuit. The design makes it possible to check each thermoelectric module for electrical performance, thermal contact, leaktightness, and performance stability, after the generator is fully assembled; and to replace any deficient modules without disassembling the generator or perturbing the others. The RTG end sections provide the spring-loaded supports required to hold the free-standing heat source stack together during launch vibration. Details analysis indicates that the design offers a substantial improvement in specific power over the present generator of RTGs, using the same heat source modules. There are three copies in the file.

  13. Modular Robotic Wearable

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2009-01-01

    In this concept paper we trace the contours and define a new approach to robotic systems, composed of interactive robotic modules which are somehow worn on the body. We label such a field as Modular Robotic Wearable (MRW). We describe how, by using modular robotics for creating wearable....... Finally, by focusing on the intersection of the combination modular robotic systems, wearability, and bodymind we attempt to explore the theoretical characteristics of such approach and exploit the possible playware application fields....

  14. A Modular Telerobot Control System for Accident Response

    Energy Technology Data Exchange (ETDEWEB)

    Anderson, Robert J.; Shirey, David L.

    1999-07-20

    The Accident Response Mobile Manipulator System (ARMMS) is a teleoperated emergency response vehicle that deploys two hydraulic manipulators, five cameras, and an array of sensors to the scene of an incident. It is operated from a remote base station that can be situated up to four kilometers away from the site. Recently, a modular telerobot control architecture called SMART (Sandia's Modular Architecture for Robotic and Teleoperation) was applied to ARMMS to improve the precision, safety, and operability of the manipulators on board. Using SMART, a prototype manipulator control system was developed in a couple of days, and an integrated working system was demonstrated within a couple of months. New capabilities such as camera teleoperation, autonomous tool changeout and dual manipulator control have been incorporated. The final system incorporates twenty-two separate modules and implements eight different behavior modes. This paper describes the integration of SMART into the ARMMS system.

  15. Designing Modular Robotic Playware

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Marti, Patrizia

    2009-01-01

    In this paper, we explore the design of modular robotic objects that may enhance playful experiences. The approach builds upon the development of modular robotics to create a kind of playware, which is flexible in both set-up and activity building for the end-user to allow easy creation of games....... Key features of this design approach are modularity, flexibility, and construction, immediate feedback to stimulate engagement, activity design by end-users, and creative exploration of play activities. These features permit the use of such modular playware by a vast array of users, including disabled...

  16. Modular Forms and Weierstrass Mock Modular Forms

    Directory of Open Access Journals (Sweden)

    Amanda Clemm

    2016-02-01

    Full Text Available Alfes, Griffin, Ono, and Rolen have shown that the harmonic Maass forms arising from Weierstrass ζ-functions associated to modular elliptic curves “encode” the vanishing and nonvanishing for central values and derivatives of twisted Hasse-Weil L-functions for elliptic curves. Previously, Martin and Ono proved that there are exactly five weight 2 newforms with complex multiplication that are eta-quotients. In this paper, we construct a canonical harmonic Maass form for these five curves with complex multiplication. The holomorphic part of this harmonic Maass form arises from the Weierstrass ζ-function and is referred to as the Weierstrass mock modular form. We prove that the Weierstrass mock modular form for these five curves is itself an eta-quotient or a twist of one. Using this construction, we also obtain p-adic formulas for the corresponding weight 2 newform using Atkin’s U-operator.

  17. A dictionary of modular threefolds

    OpenAIRE

    Meyer, Christian

    2005-01-01

    The thesis deals with the modularity conjecture for three-dimensional Calabi-Yau varieties. This is a generalization of the work of A. Wiles and others on modularity of elliptic curves. Modularity connects the number of points on varieties with coefficients of certain modular forms. In chapter 1 we collect the basics on arithmetic on Calabi-Yau manifolds, including general modularity results and strategies for modularity proofs. In chapters 2, 3, 4 and 5 we investigate exa...

  18. Supercongruences via modular forms

    CERN Document Server

    Osburn, Robert

    2009-01-01

    We prove two supercongruences for the coefficients of power series expansions in t of modular forms where t is a modular function. As a result, we settle two recent conjectures of Chan, Cooper and Sica. Additionally, we provide a table of supercongruences for numbers which appear in similar power series expansions and in the study of integral solutions of Apery-like differential equations.

  19. Modular Tree Automata

    DEFF Research Database (Denmark)

    Bahr, Patrick

    2012-01-01

    Tree automata are traditionally used to study properties of tree languages and tree transformations. In this paper, we consider tree automata as the basis for modular and extensible recursion schemes. We show, using well-known techniques, how to derive from standard tree automata highly modular r...

  20. Small Modular Biomass Systems

    Energy Technology Data Exchange (ETDEWEB)

    None

    2002-12-01

    This fact sheet provides information about modular biomass systems. Small modular biomass systems can help supply electricity to rural areas, businesses, and the billions of people who live without power worldwide. These systems use locally available biomass fuels such as wood, crop waste, animal manures, and landfill gas.

  1. Modular tree automata

    DEFF Research Database (Denmark)

    Bahr, Patrick

    2012-01-01

    Tree automata are traditionally used to study properties of tree languages and tree transformations. In this paper, we consider tree automata as the basis for modular and extensible recursion schemes. We show, using well-known techniques, how to derive from standard tree automata highly modular...

  2. Modular Abelian Varieties of Odd Modular Degree

    OpenAIRE

    Yazdani, Soroosh

    2009-01-01

    In this paper, we will study modular Abelian varieties with odd congruence numbers by examining the cuspidal subgroup of $J_0(N)$. We will show that the conductor of such Abelian varieties must be of a special type. For example, if $N$ is the conductor of an absolutely simple modular Abelian variety with an odd congruence number, then $N$ has at most two prime divisors, and if $N$ is odd, then $N=p^\\alpha$ or $N=pq$ for some prime $p$ and $q$. In the second half of this paper, we will focus o...

  3. Modularity Induced Gating and Delays in Neuronal Networks.

    Science.gov (United States)

    Shein-Idelson, Mark; Cohen, Gilad; Ben-Jacob, Eshel; Hanein, Yael

    2016-04-01

    Neural networks, despite their highly interconnected nature, exhibit distinctly localized and gated activation. Modularity, a distinctive feature of neural networks, has been recently proposed as an important parameter determining the manner by which networks support activity propagation. Here we use an engineered biological model, consisting of engineered rat cortical neurons, to study the role of modular topology in gating the activity between cell populations. We show that pairs of connected modules support conditional propagation (transmitting stronger bursts with higher probability), long delays and propagation asymmetry. Moreover, large modular networks manifest diverse patterns of both local and global activation. Blocking inhibition decreased activity diversity and replaced it with highly consistent transmission patterns. By independently controlling modularity and disinhibition, experimentally and in a model, we pose that modular topology is an important parameter affecting activation localization and is instrumental for population-level gating by disinhibition.

  4. Modular Implementation of Programming Languages and a Partial-Order Approach to Infinitary Rewriting

    DEFF Research Database (Denmark)

    Bahr, Patrick

    2012-01-01

    In this dissertation we investigate two independent areas of research. In the first part, we develop techniques for implementing programming languages in a modular fashion. Within this problem domain, we focus on operations on typed abstract syntax trees with the goal of developing a framework...... that facilitates the definition, manipulation and composition of such operations. The result of our work is a comprehensive combinator library that provides these facilities. What sets our approach apart is the use of recursion schemes derived from tree automata in order to implement operations on abstract syntax...... trees. The second part is concerned with infinitary rewriting, a field that studies transfinite rewrite sequences. We extend the established theory of infinitary rewriting in two ways: (1) a novel approach to convergence in infinitary rewriting that replaces convergence in a metric space with the limit...

  5. The Modular Robots Kinematics

    Directory of Open Access Journals (Sweden)

    Claudiu Pozna

    2007-08-01

    Full Text Available The present paper intention is to develop a kinematical foundation for our nextworks in industrial robots (IR modular design. The goal of this works is todevelop cheap and improved robots which are adapted to the costumer needs. Inorder to achieve the mentioned goal, in [43], we have started a bibliographicalresearch of the main modular design aspects. The mentioned analyze of the actualresults in modular robots design gives us the possibility to establish our researchprogram. The idea of this paper is to develop a kinematical formalism which willbe use in the next dedicated to this subject.

  6. Exploring Modularity in Services

    DEFF Research Database (Denmark)

    Avlonitis, Viktor; Hsuan, Juliana

    2017-01-01

    Purpose The purpose of this paper is to examine how modularity manifests in the design of services. The study brings new insights on the organization of service firms by empirically exploring and theoretically advancing the intersection of modularity and service design. Design/methodology/approac......Purpose The purpose of this paper is to examine how modularity manifests in the design of services. The study brings new insights on the organization of service firms by empirically exploring and theoretically advancing the intersection of modularity and service design. Design...... concept), intra-firm organization (service delivery system), and inter-firm relationships (service network). They posit that service architectures require the examination of different analytical levels due to the complex and dynamic nature of service business. Additionally, the analysis provides new...

  7. Successful Modular Cosmology

    CERN Document Server

    Kadota, K; Kadota, Kenji; Stewart, Ewan D.

    2003-01-01

    We present a modular cosmology scenario where the difficulties encountered in conventional modular cosmology are solved in a self-consistent manner, with definite predictions to be tested by observation. Notably, the difficulty of the dilaton finding its way to a precarious weak coupling minimum is made irrelevant by having eternal modular inflation at the vacuum supersymmetry breaking scale after the dilaton is stabilised. Neither this eternal inflation nor the subsequent non-slow-roll modular inflation destabilise the dilaton from its precarious minimum due to the low energy scale of the inflation and consequent small back reaction on the dilaton potential. The observed flat CMB spectrum is obtained from fluctuations in the angular component of a modulus near a symmetric point, which are hugely magnified by the roll down of the modulus to Planckian values, allowing them to dominate the final curvature perturbation. We also give precise calculations of the spectral index and its running.

  8. Service Modularity and Architecture

    DEFF Research Database (Denmark)

    Brax, Saara A.; Bask, Anu; Hsuan, Juliana

    2017-01-01

    Purpose: Services are highly important in a world economy which has increasingly become service driven. There is a growing need to better understand the possibilities for, and requirements of, designing modular service architectures. The purpose of this paper is to elaborate on the roots of the e......Purpose: Services are highly important in a world economy which has increasingly become service driven. There is a growing need to better understand the possibilities for, and requirements of, designing modular service architectures. The purpose of this paper is to elaborate on the roots...... of the emerging research stream on service modularity, provide a concise overview of existing work on the subject, and outline an agenda for future research on service modularity and architecture. The articles in the special issue offer four diverse sets of research on service modularity and architecture. Design....../methodology/approach: The paper is built on a literature review mapping the current body of literature on the topic and developing future research directions in service modularity and architecture. Findings: The growing focus on services has triggered needs to investigate the suitability and implementation of physical...

  9. Autonomous vehicle platforms from modular robotic components

    Science.gov (United States)

    Schonlau, William J.

    2004-09-01

    A brief survey of current autonomous vehicle (AV) projects is presented with intent to find common infrastructure or subsystems that can be configured from commercially available modular robotic components, thereby providing developers with greatly reduced timelines and costs and encouraging focus on the selected problem domain. The Modular Manipulator System (MMS) robotic system, based on single degree of freedom rotary and linear modules, is introduced and some approaches to autonomous vehicle configuration and deployment are examined. The modules may be configured to provide articulated suspensions for very rugged terrain and fall recovery, articulated sensors and tooling plus a limited capacity for self repair and self reconfiguration. The MMS on-board visually programmed control software (Model Manager) supports experimentation with novel physical configurations and behavior algorithms via real-time 3D graphics for operations simulation and provides useful subsystems for vision, learning and planning to host intelligent behavior.

  10. On sub-modularization and morphological heterogeneity in modular robotics

    DEFF Research Database (Denmark)

    Lyder, A. H.; Stoy, K.; Garciá, R. F. M.

    2012-01-01

    Modular robots are a kind of robots built from mechatronic modules, which can be assembled in many different ways allowing the modular robot to assume a wide range of morphologies and functions. An important question in modular robotics is to which degree modules should be heterogeneous...... and implement the Thor robot and evaluate it by participating in the ICRA Planetary Robotic Contingency Challenge. The Thor robot demonstrates that sub-functional modularity and morphological heterogeneity may increase the versatility of modular robots while reducing the complexity of individual modules, which...... in the longer term may lead to more affordable modular robots. © 2013 Springer-Verlag....

  11. On sub-modularization and morphological heterogeneity in modular robotics

    DEFF Research Database (Denmark)

    Lyder, A. H.; Stoy, K.; Garciá, R. F. M.

    2012-01-01

    Modular robots are a kind of robots built from mechatronic modules, which can be assembled in many different ways allowing the modular robot to assume a wide range of morphologies and functions. An important question in modular robotics is to which degree modules should be heterogeneous...... and implement the Thor robot and evaluate it by participating in the ICRA Planetary Robotic Contingency Challenge. The Thor robot demonstrates that sub-functional modularity and morphological heterogeneity may increase the versatility of modular robots while reducing the complexity of individual modules, which...... in the longer term may lead to more affordable modular robots. © 2013 Springer-Verlag....

  12. Underwater manipulator

    Science.gov (United States)

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

    1993-04-20

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

  13. Ankle replacement

    Science.gov (United States)

    Ankle arthroplasty - total; Total ankle arthroplasty; Endoprosthetic ankle replacement; Ankle surgery ... You may not be able to have a total ankle replacement if you have had ankle joint infections in ...

  14. Knee Replacement

    Science.gov (United States)

    Knee replacement is surgery for people with severe knee damage. Knee replacement can relieve pain and allow you to ... Your doctor may recommend it if you have knee pain and medicine and other treatments are not ...

  15. Modular Track System For Positioning Mobile Robots

    Science.gov (United States)

    Miller, Jeff

    1995-01-01

    Conceptual system for positioning mobile robotic manipulators on large main structure includes modular tracks and ancillary structures assembled easily along with main structure. System, called "tracked robotic location system" (TROLS), originally intended for application to platforms in outer space, but TROLS concept might also prove useful on Earth; for example, to position robots in factories and warehouses. T-cross-section rail keeps mobile robot on track. Bar codes mark locations along track. Each robot equipped with bar-code-recognizing circuitry so it quickly finds way to assigned location.

  16. Modular Optofluidic Systems (MOPS)

    Science.gov (United States)

    Ackermann, Tobias N.; Dietvorst, Jiri; Sanchis, Ana; Salvador, Juan P.; Munoz-Berbel, Xavier; Alvarez-Conde, Erica; Kopp, Daniel; Zappe, Hans; Marco, M.-Pilar; Llobera, Andreu

    2016-12-01

    Elementary PDMS-based building blocks of fluidic, optical and optofluidic components for Lab on a chip (LOC) platforms has here been developed. All individual modules are compatible and can be anchored and released with the help of puzzle-type connectors This approach is a powerful toolbox to create modular optofluidic systems (MOPS), which can be modified/upgraded to user needs and in-situ reconfigurable. In addition, the PDMS can locally be functionalized, defining a modular biosensor. Measurements in absorbance and fluorescence have been pursued as demonstrator.

  17. Modular assembled space telescope

    Science.gov (United States)

    Feinberg, Lee D.; Budinoff, Jason; MacEwen, Howard; Matthews, Gary; Postman, Marc

    2013-09-01

    We present a new approach to building a modular segmented space telescope that greatly leverages the heritage of the Hubble Space Telescope and the James Webb Space Telescope. The modular design in which mirror segments are assembled into identical panels allows for economies of scale and for efficient space assembly that make a 20-m aperture approach cost effective. This assembly approach can leverage NASA's future capabilities and has the power to excite the public's imagination. We discuss the science drivers, basic architecture, technology, and leveraged NASA infrastructure, concluding with a proposed plan for going forward.

  18. Maximizing Modularity is hard

    CERN Document Server

    Brandes, U; Gaertler, M; Goerke, R; Hoefer, M; Nikoloski, Z; Wagner, D

    2006-01-01

    Several algorithms have been proposed to compute partitions of networks into communities that score high on a graph clustering index called modularity. While publications on these algorithms typically contain experimental evaluations to emphasize the plausibility of results, none of these algorithms has been shown to actually compute optimal partitions. We here settle the unknown complexity status of modularity maximization by showing that the corresponding decision version is NP-complete in the strong sense. As a consequence, any efficient, i.e. polynomial-time, algorithm is only heuristic and yields suboptimal partitions on many instances.

  19. Modular High Voltage Power Supply

    Energy Technology Data Exchange (ETDEWEB)

    Newell, Matthew R. [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

    2017-05-18

    The goal of this project is to develop a modular high voltage power supply that will meet the needs of safeguards applications and provide a modular plug and play supply for use with standard electronic racks.

  20. Linear- rubbing Manipulation

    Institute of Scientific and Technical Information of China (English)

    SHEN Guo-quan; XIAO Yuan-chun

    2003-01-01

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

  1. The Evolution of Modular Construction.

    Science.gov (United States)

    American School & University, 1993

    1993-01-01

    Explores how the myths of modular construction for schools began; also discusses the advances made in steel and modular construction. The major advantages of using permanent modular construction for schools are highlighted, including its rapid construction, use of standard building materials, financial flexibility, and durability. (GR)

  2. Modular invariant inflation

    CERN Document Server

    Kobayashi, Tatsuo; Urakawa, Yuko

    2016-01-01

    Modular invariance is a striking symmetry in string theory, which may keep stringy corrections under control. In this paper, we investigate a phenomenological consequence of the modular invariance, assuming that this symmetry is preserved as well as in a four dimensional (4D) low energy effective field theory. As a concrete setup, we consider a modulus field $T$ whose contribution in the 4D effective field theory remains invariant under the modular transformation and study inflation drived by $T$. The modular invariance restricts a possible form of the scalar potenntial. As a result, large field models of inflation are hardly realized. Meanwhile, a small field model of inflation can be still accomodated in this restricted setup. The scalar potential traced during the slow-roll inflation mimics the hilltop potential $V_{ht}$, but it also has a non-negligible deviation from $V_{ht}$. Detecting the primordial gravitational waves predicted in this model is rather challenging. Yet, we argue that it may be still po...

  3. Modular invariant inflation

    Energy Technology Data Exchange (ETDEWEB)

    Kobayashi, Tatsuo [Department of Physics, Hokkaido University,Kita, Sapporo, 060-0810 (Japan); Nitta, Daisuke; Urakawa, Yuko [Department of Physics and Astrophysics, Nagoya University,Chikusa, Nagoya 464-8602 (Japan)

    2016-08-08

    Modular invariance is a striking symmetry in string theory, which may keep stringy corrections under control. In this paper, we investigate a phenomenological consequence of the modular invariance, assuming that this symmetry is preserved as well as in a four dimensional (4D) low energy effective field theory. As a concrete setup, we consider a modulus field T whose contribution in the 4D effective field theory remains invariant under the modular transformation and study inflation drived by T. The modular invariance restricts a possible form of the scalar potenntial. As a result, large field models of inflation are hardly realized. Meanwhile, a small field model of inflation can be still accomodated in this restricted setup. The scalar potential traced during the slow-roll inflation mimics the hilltop potential V{sub ht}, but it also has a non-negligible deviation from V{sub ht}. Detecting the primordial gravitational waves predicted in this model is rather challenging. Yet, we argue that it may be still possible to falsify this model by combining the information in the reheating process which can be determined self-completely in this setup.

  4. Modular cleanroom construction success.

    Science.gov (United States)

    Möllmann, Markus

    2007-09-01

    The completion of a 408 m2 major new aseptic pharmacy unit for the St George's Hospital NHS Trust, London, is a significant example of the benefits of using modern modular construction techniques compared to a traditional cleanroom build. At every stage from concept through project planning to final completion, the use of modules proved to be the most appropriate for the task.

  5. Network modularity promotes cooperation.

    Science.gov (United States)

    Marcoux, Marianne; Lusseau, David

    2013-05-01

    Cooperation in animals and humans is widely observed even if evolutionary biology theories predict the evolution of selfish individuals. Previous game theory models have shown that cooperation can evolve when the game takes place in a structured population such as a social network because it limits interactions between individuals. Modularity, the natural division of a network into groups, is a key characteristic of all social networks but the influence of this crucial social feature on the evolution of cooperation has never been investigated. Here, we provide novel pieces of evidence that network modularity promotes the evolution of cooperation in 2-person prisoner's dilemma games. By simulating games on social networks of different structures, we show that modularity shapes interactions between individuals favouring the evolution of cooperation. Modularity provides a simple mechanism for the evolution of cooperation without having to invoke complicated mechanisms such as reputation or punishment, or requiring genetic similarity among individuals. Thus, cooperation can evolve over wider social contexts than previously reported.

  6. Evolution of Modularity Literature

    DEFF Research Database (Denmark)

    Frandsen, Thomas

    2017-01-01

    Purpose The purpose of this paper is to review and analyze the modularity literature to identify the established and emerging perspectives. Design/methodology/approach A systematic literature search and review was conducted through the use of bibliometrics and network analysis. The analysis ident...

  7. Modular invariant inflation

    Science.gov (United States)

    Kobayashi, Tatsuo; Nitta, Daisuke; Urakawa, Yuko

    2016-08-01

    Modular invariance is a striking symmetry in string theory, which may keep stringy corrections under control. In this paper, we investigate a phenomenological consequence of the modular invariance, assuming that this symmetry is preserved as well as in a four dimensional (4D) low energy effective field theory. As a concrete setup, we consider a modulus field T whose contribution in the 4D effective field theory remains invariant under the modular transformation and study inflation drived by T. The modular invariance restricts a possible form of the scalar potenntial. As a result, large field models of inflation are hardly realized. Meanwhile, a small field model of inflation can be still accomodated in this restricted setup. The scalar potential traced during the slow-roll inflation mimics the hilltop potential Vht, but it also has a non-negligible deviation from Vht. Detecting the primordial gravitational waves predicted in this model is rather challenging. Yet, we argue that it may be still possible to falsify this model by combining the information in the reheating process which can be determined self-completely in this setup.

  8. Modular co-ordination

    DEFF Research Database (Denmark)

    Blach, K.

    Notatet er på engelsk, idet det er lavet som et oplæg til den internationale standardiseringsorganisations (ISO) arbejde med målkoordinering i byggeriet. Materialet har også været forelagt ekspertgrupperne i CIB W24 og i International Modular Group. Det i notatet præsenterede materiale er blevet ...

  9. A Modular Architecture for Developing Robots for Industrial Applications

    DEFF Research Database (Denmark)

    Faina, Andres; Orjales, Felix; Souto, Daniel;

    2015-01-01

    This chapter is concerned with proposing ways to make feasible the use of robots in many sectors characterized by dynamic and unstructured environments. In particular, we are interested in addressing the problem through a new approach, based on modular robotics, to allow the fast deployment of ro...... modular robotic architecture is designed from these requirements and a laboratory implementation of it is built in order to test its capabilities and show its versatility using a set of different configurations including manipulators, climbers and walkers....

  10. Modular container assembled from fiber reinforced thermoplastic sandwich panels

    Science.gov (United States)

    Donnelly, Mathew William; Kasoff, William Andrew; Mcculloch, Patrick Carl; Williams, Frederick Truman

    2007-12-25

    An improved, load bearing, modular design container structure assembled from thermoformed FRTP sandwich panels in which is utilized the unique core-skin edge configuration of the present invention in consideration of improved load bearing performance, improved useful load volume, reduced manufacturing costs, structural weight savings, impact and damage tolerance and repair and replace issues.

  11. A proof of a conjecture by Schweizer on the Drinfeld modular polynomial ΦT (X, Y )

    DEFF Research Database (Denmark)

    Bassa, Alp; Beelen, Peter

    2011-01-01

    In this paper we prove a conjecture by Schweizer on the reduction of the Drinfeld modular polynomial ΦT (X, Y ) modulo T − 1. The proof mainly involves manipulations of binomial coefficients in characteristic p....

  12. Evaluation of modular robot system for maintenance tasks in hot cell

    Energy Technology Data Exchange (ETDEWEB)

    Pagala, Prithvi Sekhar, E-mail: ps.pagala@upm.es [Centre for Automation and Robotics UPM-CSIC (Spain); Ferre, Manuel, E-mail: m.ferre@upm.es [Centre for Automation and Robotics UPM-CSIC (Spain); Orona, Luis, E-mail: l.orona@gsi.de [GSI Helmholtzzentrum für Schwerionenforschung (Germany)

    2014-10-15

    Highlights: •Modular robot deployment inside hot cell for remote manipulation evaluated. •Flexible and adaptable system for variety of tasks presented. •Uses in large workspaces and evolving requirements shown. -- Abstract: This work assesses the use of a modular robot system to perform maintenance and inspection tasks such as, remote flexible inspection, manipulation and cooperation with deployed systems inside the hot cell. A flexible modular solution for the inclusion in maintenance operations is presented. The proposed heterogeneous modular robotic system is evaluated using simulations of the prototype across selected robot configuration to perform tasks. Results obtained show the advantages and ability of the modular robot to perform the necessary tasks as well as its ability to adapt and evolve depending on the need. The simulation test case inside hot cell shows modular robot configuration, a two modular arm to perform tele-operation tasks in the workspace and a wheeled platform for inspection collaborating to perform tasks. The advantage of using re-configurable modular robot over conventional robot platforms is shown.

  13. Directed Replacement

    CERN Document Server

    Karttunen, L

    1996-01-01

    This paper introduces to the finite-state calculus a family of directed replace operators. In contrast to the simple replace expression, UPPER -> LOWER, defined in Karttunen (ACL-95), the new directed version, UPPER @-> LOWER, yields an unambiguous transducer if the lower language consists of a single string. It transduces the input string from left to right, making only the longest possible replacement at each point. A new type of replacement expression, UPPER @-> PREFIX ... SUFFIX, yields a transducer that inserts text around strings that are instances of UPPER. The symbol ... denotes the matching part of the input which itself remains unchanged. PREFIX and SUFFIX are regular expressions describing the insertions. Expressions of the type UPPER @-> PREFIX ... SUFFIX may be used to compose a deterministic parser for a ``local grammar'' in the sense of Gross (1989). Other useful applications of directed replacement include tokenization and filtering of text streams.

  14. 25 CFR 700.53 - Dwelling, replacement.

    Science.gov (United States)

    2010-04-01

    ... § 700.55. (b) May include existing dwellings for resale, new construction, modular homes, mobile homes... person if, after he receives a replacement housing payment and any available housing assistance payments... supplemental income payments received from public agencies. If the person's monthly income pattern is...

  15. IMp: The customizable LEGO® Pinned Insect Manipulator

    Directory of Open Access Journals (Sweden)

    Steen Dupont

    2015-02-01

    Full Text Available We present a pinned insect manipulator (IMp constructed of LEGO® building bricks with two axes of movement and two axes of rotation. In addition we present three variants of the IMp to emphasise the modular design, which facilitates resizing to meet the full range of pinned insect specimens, is fully customizable, collapsible, affordable and does not require specialist tools or knowledge to assemble.

  16. Quantum Spaces are Modular

    CERN Document Server

    Freidel, Laurent; Minic, Djordje

    2016-01-01

    At present, our notion of space is a classical concept. Taking the point of view that quantum theory is more fundamental than classical physics, and that space should be given a purely quantum definition, we revisit the notion of Euclidean space from the point of view of quantum mechanics. Since space appears in physics in the form of labels on relativistic fields or Schrodinger wave functionals, we propose to define Euclidean quantum space as a choice of polarization for the Heisenberg algebra of quantum theory. We show, following Mackey, that generically, such polarizations contain a fundamental length scale and that contrary to what is implied by the Schrodinger polarization, they possess topologically distinct spectra. These are the modular spaces. We show that they naturally come equipped with additional geometrical structures usually encountered in the context of string theory or generalized geometry. Moreover, we show how modular space reconciles the presence of a fundamental scale with translation and...

  17. Modularity promotes epidemic recurrence

    CERN Document Server

    Jesan, T; Sinha, Sitabhra

    2016-01-01

    The long-term evolution of epidemic processes depends crucially on the structure of contact networks. As empirical evidence indicates that human populations exhibit strong community organization, we investigate here how such mesoscopic configurations affect the likelihood of epidemic recurrence. Through numerical simulations on real social networks and theoretical arguments using spectral methods, we demonstrate that highly contagious diseases that would have otherwise died out rapidly can persist indefinitely for an optimal range of modularity in contact networks.

  18. Quantum spaces are modular

    Science.gov (United States)

    Freidel, Laurent; Leigh, Robert G.; Minic, Djordje

    2016-11-01

    At present, our notion of space is a classical concept. Taking the point of view that quantum theory is more fundamental than classical physics, and that space should be given a purely quantum definition, we revisit the notion of Euclidean space from the point of view of quantum mechanics. Since space appears in physics in the form of labels on relativistic fields or Schrödinger wave functionals, we propose to define Euclidean quantum space as a choice of polarization for the Heisenberg algebra of quantum theory. We show, following Mackey, that generically, such polarizations contain a fundamental length scale and that contrary to what is implied by the Schrödinger polarization, they possess topologically distinct spectra. These are the modular spaces. We show that they naturally come equipped with additional geometrical structures usually encountered in the context of string theory or generalized geometry. Moreover, we show how modular space reconciles the presence of a fundamental scale with translation and rotation invariance. We also discuss how the usual classical notion of space comes out as a form of thermodynamical limit of modular space while the Schrödinger space is a singular limit.

  19. MUSIC, MODULARITY AND SYNTAX

    Directory of Open Access Journals (Sweden)

    Javier Valenzuela

    2007-06-01

    Full Text Available First generation cognitive science has always maintained that the mind/brain is a modular system. This has been especially apparent in linguistics, where the modularity thesis goes largely unquestioned by the linguistic mainstream. Cognitive linguists have long disputed the reality of modular architectures of grammar. Instead of conceiving syntax as a computational system of a relatively small set of formal principles and parameters, cognitive linguists take the notion of grammatical construction to be the basic unit of syntax: syntax is simply our repertoire of form-meaning pairings. On such a view, there is no a-priori reason to believe that semantics and phonology cannot affect syntax. In the present paper, we want to take things a step further and suggest, more generally, that language is not a module of cognition in any strict sense. We present preliminary results from research in progress concerning the effect of music on grammatical constructions. More specifically, our experiment compares reaction times between two grammatical constructions that differ in semantics and intonational curves but share lexical material. Our data so far suggests that subjects take less time reading the construction when the semantic bias and intonation match than in non-matching cases. This, we argue, suggests not only that semantics, phonology and syntax form an information bundle (i.e. a construction in the cognitive linguistic sense, but that perceived similarity of music can influence linguistic cognition.

  20. [Modular enteral nutrition in pediatrics].

    Science.gov (United States)

    Murillo Sanchís, S; Prenafeta Ferré, M T; Sempere Luque, M D

    1991-01-01

    Modular Enteral Nutrition may be a substitute for Parenteral Nutrition in children with different pathologies. Study of 4 children with different pathologies selected from a group of 40 admitted to the Maternal-Childrens Hospital "Valle de Hebrón" in Barcelona, who received modular enteral nutrition. They were monitored on a daily basis by the Dietician Service. Modular enteral nutrition consists of modules of proteins, peptides, lipids, glucids and mineral salts-vitamins. 1.--Craneo-encephalic traumatisms with loss of consciousness, Feeding with a combination of parenteral nutrition and modular enteral nutrition for 7 days. In view of the tolerance and good results of the modular enteral nutrition, the parenteral nutrition was suspended and modular enteral nutrition alone used up to a total of 43 days. 2.--55% burns with 36 days of hyperproteic modular enteral nutrition together with normal feeding. A more rapid recovery was achieved with an increase in total proteins and albumin. 3.--Persistent diarrhoea with 31 days of modular enteral nutrition, 5 days on parenteral nutrition alone and 8 days on combined parenteral nutrition and modular enteral nutrition. In view of the tolerance and good results of the modular enteral nutrition, the parenteral nutrition was suspended. 4.--Mucoviscidosis with a total of 19 days on modular enteral nutrition, 12 of which were exclusively on modular enteral nutrition and 7 as a night supplement to normal feeding. We administered proteic intakes of up to 20% of the total calorific intake and in concentrations of up to 1.2 calories/ml of the final preparation, always with a good tolerance. Modular enteral nutrition can and should be used as a substitute for parenteral nutrition in children with different pathologies, thus preventing the complications inherent in parenteral nutrition.

  1. A Modular Architecture for Developing Robots for Industrial Applications

    DEFF Research Database (Denmark)

    Faina, Andres; Orjales, Felix; Souto, Daniel

    2015-01-01

    This chapter is concerned with proposing ways to make feasible the use of robots in many sectors characterized by dynamic and unstructured environments. In particular, we are interested in addressing the problem through a new approach, based on modular robotics, to allow the fast deployment...... addresses the problem the other way around. In this line, we start by defining the industrial settings the architecture is aimed at and then extract the main features that would be required from a modular robotic architecture to operate successfully in this context. Finally, a particular heterogeneous...... modular robotic architecture is designed from these requirements and a laboratory implementation of it is built in order to test its capabilities and show its versatility using a set of different configurations including manipulators, climbers and walkers....

  2. Knee Replacement

    Science.gov (United States)

    ... need knee replacement surgery usually have problems walking, climbing stairs, and getting in and out of chairs. Some ... a total living space on one floor since climbing stairs can be difficult. Install safety bars or a ...

  3. Replacing penalties

    Directory of Open Access Journals (Sweden)

    Vitaly Stepashin

    2017-01-01

    Full Text Available УДК 343.24The subject. The article deals with the problem of the use of "substitute" penalties.The purpose of the article is to identify criminal and legal criteria for: selecting the replacement punishment; proportionality replacement leave punishment to others (the formalization of replacement; actually increasing the punishment (worsening of legal situation of the convicted.Methodology.The author uses the method of analysis and synthesis, formal legal method.Results. Replacing the punishment more severe as a result of malicious evasion from serving accused designated penalty requires the optimization of the following areas: 1 the selection of a substitute punishment; 2 replacement of proportionality is serving a sentence other (formalization of replacement; 3 ensuring the actual toughening penalties (deterioration of the legal status of the convict. It is important that the first two requirements pro-vide savings of repression in the implementation of the replacement of one form of punishment to others.Replacement of punishment on their own do not have any specifics. However, it is necessary to compare them with the contents of the punishment, which the convict from serving maliciously evaded. First, substitute the punishment should assume a more significant range of restrictions and deprivation of certain rights of the convict. Second, the perfor-mance characteristics of order substitute the punishment should assume guarantee imple-mentation of the new measures.With regard to replacing all forms of punishment are set significant limitations in the application that, in some cases, eliminates the possibility of replacement of the sentence, from serving where there has been willful evasion, a stricter measure of state coercion. It is important in the context of the topic and the possibility of a sentence of imprisonment as a substitute punishment in cases where the original purpose of the strict measures excluded. It is noteworthy that the

  4. The modularity of pollination networks

    DEFF Research Database (Denmark)

    Olesen, Jens Mogens; Bascompte, J.; Dupont, Yoko

    2007-01-01

    consist of strongly connected species. The importance of modularity has been discussed for a long time, but no consensus on its prevalence in ecological networks has yet been reached. Progress is hampered by inadequate methods and a lack of large datasets. We analyzed 51 pollination networks including...... almost 10,000 species and 20,000 links and tested for modularity by using a recently developed simulated annealing algorithm. All networks with >150 plant and pollinator species were modular, whereas networks with

  5. A Unifying Modularity in Networks

    Institute of Scientific and Technical Information of China (English)

    HAO Jun-Jun; CAI Shui-Ming; HE Qin-Bin; LIU Zeng-Rong

    2010-01-01

    @@ We propose a new modularity criterion in complex networks,called the unifying modularity q which is independent of the number of partitions.It is shown that,for a given network,the relationship between the upper limit of Q and the number of the partitions,k,is sup(Qk)=(k-1)/k.Since the range of Q for each partition number is inconsistent,we try to extend the concept Q to unifying modularity q,which is independent of the number of partitions.Subsequently,we indicate that it is more accurately to determine the number of partitions by using unifying modularity q than Q.

  6. Uniruledness of orthogonal modular varieties

    CERN Document Server

    Gritsenko, Valery

    2012-01-01

    A strongly reflective modular form with respect to an orthogonal group of signature (2,n) determines a Lorentzian Kac--Moody algebra. We find a new geometric application of such modular forms: we prove that if the weight is larger than n then the corresponding modular variety is uniruled. We also construct new reflective modular forms and thus provide new examples of uniruled moduli spaces of lattice polarised K3 surfaces. Finally we prove that the moduli space of Kummer surfaces associated to (1,21)-polarised abelian surfaces is uniruled.

  7. Modular Cure Provision

    DEFF Research Database (Denmark)

    Winther-Hansen, Casper; Frandsen, Thomas

    facilitate co-creation through open platforms and service modularity. Based on data from two pharmaceuticals we explore issues of governance related to the relative openness of platforms and their completeness. Whereas some pharmaceuticals should cater to sophisticated needs of competent users through open......Pharmaceuticals increasingly consider the potential of services, as healthcare payers require them to provide data on treatment outcomes. Ranging from corporate websites to free apps, these services are meant to increase the value of product offerings. This paper investigates how services can...

  8. Modular gear bearings

    Science.gov (United States)

    Vranish, John M. (Inventor)

    2009-01-01

    A gearing system using modular gear bearing components. Each component is composed of a core, one or more modules attached to the core and two or more fastening modules rigidly attaching the modules to the core. The modules, which are attached to the core, may consist of gears, rollers or gear bearing components. The core orientation affects the orientation of the modules attached to the core. This is achieved via the keying arrangement of the core and the component modules that attach to the core. Such an arrangement will also facilitate the phase tuning of gear modules with respect to the core and other gear modules attached to the core.

  9. Modular Biometric Monitoring System

    Science.gov (United States)

    Chmiel, Alan J. (Inventor); Humphreys, Bradley T. (Inventor)

    2017-01-01

    A modular system for acquiring biometric data includes a plurality of data acquisition modules configured to sample biometric data from at least one respective input channel at a data acquisition rate. A representation of the sampled biometric data is stored in memory of each of the plurality of data acquisition modules. A central control system is in communication with each of the plurality of data acquisition modules through a bus. The central control system is configured to control communication of data, via the bus, with each of the plurality of data acquisition modules.

  10. Modular Mobile Application Design

    Directory of Open Access Journals (Sweden)

    Jim Hahn

    2012-10-01

    Full Text Available This article describes the development of the Minrva library app for Android phones. The decisions to build a native application with Java and use a modular design are discussed. The application includes five modules: catalog search, in-building navigation, a barcode scanning feature, and up to date notifications of circulating technology availability. A sixth module, Amazon recommendations, that is not included in the version of the app that was released is also discussed. The article also reports on the findings of two rounds of usability testing and the plans for future development of the app.

  11. Esophageal replacement.

    Science.gov (United States)

    Kunisaki, Shaun M; Coran, Arnold G

    2017-04-01

    This article focuses on esophageal replacement as a surgical option for pediatric patients with end-stage esophageal disease. While it is obvious that the patient׳s own esophagus is the best esophagus, persisting with attempts to retain a native esophagus with no function and at all costs are futile and usually detrimental to the overall well-being of the child. In such cases, the esophagus should be abandoned, and the appropriate esophageal replacement is chosen for definitive reconstruction. We review the various types of conduits used for esophageal replacement and discuss the unique advantages and disadvantages that are relevant for clinical decision-making. Copyright © 2017 Elsevier Inc. All rights reserved.

  12. Modular radiochemistry synthesis system

    Energy Technology Data Exchange (ETDEWEB)

    Satyamurthy, Nagichettiar; Barrio, Jorge R.; Amarasekera, Bernard; Van Dam, Michael R.; Olma, Sebastian; Williams, Dirk; Eddings, Mark; Shen, Clifton Kwang-Fu

    2016-11-01

    A modular chemical production system includes multiple modules for performing a chemical reaction, particularly of radiochemical compounds, from a remote location. One embodiment comprises a reaction vessel including a moveable heat source with the position thereof relative to the reaction vessel being controllable from a remote position. Alternatively the heat source may be fixed in location and the reaction vial is moveable into and out of the heat source. The reaction vessel has one or more sealing plugs, the positioning of which in relationship to the reaction vessel is controllable from a remote position. Also the one or more reaction vessel sealing plugs can include one or more conduits there through for delivery of reactants, gases at atmospheric or an elevated pressure, inert gases, drawing a vacuum and removal of reaction end products to and from the reaction vial, the reaction vial with sealing plug in position being operable at elevated pressures. The modular chemical production system is assembled from modules which can each include operating condition sensors and controllers configured for monitoring and controlling the individual modules and the assembled system from a remote position. Other modules include, but are not limited to a Reagent Storage and Delivery Module, a Cartridge Purification Module, a Microwave Reaction Module, an External QC/Analysis/Purification Interface Module, an Aliquotting Module, an F-18 Drying Module, a Concentration Module, a Radiation Counting Module, and a Capillary Reactor Module.

  13. Modular Robotic Vehicle

    Science.gov (United States)

    Borroni-Bird, Christopher E. (Inventor); Vitale, Robert L. (Inventor); Lee, Chunhao J. (Inventor); Ambrose, Robert O. (Inventor); Bluethmann, William J. (Inventor); Junkin, Lucien Q. (Inventor); Lutz, Jonathan J. (Inventor); Guo, Raymond (Inventor); Lapp, Anthony Joseph (Inventor); Ridley, Justin S. (Inventor)

    2015-01-01

    A modular robotic vehicle includes a chassis, driver input devices, an energy storage system (ESS), a power electronics module (PEM), modular electronic assemblies (eModules) connected to the ESS via the PEM, one or more master controllers, and various embedded controllers. Each eModule includes a drive wheel containing a propulsion-braking module, and a housing containing propulsion and braking control assemblies with respective embedded propulsion and brake controllers, and a mounting bracket covering a steering control assembly with embedded steering controllers. The master controller, which is in communication with each eModule and with the driver input devices, communicates with and independently controls each eModule, by-wire, via the embedded controllers to establish a desired operating mode. Modes may include a two-wheel, four-wheel, diamond, and omni-directional steering modes as well as a park mode. A bumper may enable docking with another vehicle, with shared control over the eModules of the vehicles.

  14. Preheating after modular inflation

    Science.gov (United States)

    Barnaby, Neil; Bond, J. Richard; Huang, Zhiqi; Kofman, Lev

    2009-12-01

    We study (p)reheating in modular (closed string) inflationary scenarios, with a special emphasis on Kähler moduli/Roulette models. It is usually assumed that reheating in such models occurs through perturbative decays. However, we find that there are very strong non-perturbative preheating decay channels related to the particular shape of the inflaton potential (which is highly nonlinear and has a very steep minimum). Preheating after modular inflation, proceeding through a combination of tachyonic instability and broad-band parametric resonance, is perhaps the most violent example of preheating after inflation known in the literature. Further, we consider the subsequent transfer of energy to the standard model sector in scenarios where the standard model particles are confined to a D7-brane wrapping the inflationary blow-up cycle of the compactification manifold or, more interestingly, a non-inflationary blow-up cycle. We explicitly identify the decay channels of the inflaton in these two scenarios. We also consider the case where the inflationary cycle shrinks to the string scale at the end of inflation; here a field theoretical treatment of reheating is insufficient and one must turn instead to a stringy description. We estimate the decay rate of the inflaton and the reheat temperature for various scenarios.

  15. Modular radiochemistry synthesis system

    Energy Technology Data Exchange (ETDEWEB)

    Satyamurthy, Nagichettiar; Barrio, Jorge R.; Amarasekera, Bernard; Van Dam, R. Michael; Olma, Sebastian; Williams, Dirk; Eddings, Mark; Shen, Clifton Kwang-Fu

    2015-12-15

    A modular chemical production system includes multiple modules for performing a chemical reaction, particularly of radiochemical compounds, from a remote location. One embodiment comprises a reaction vessel including a moveable heat source with the position thereof relative to the reaction vessel being controllable from a remote position. Alternatively the heat source may be fixed in location and the reaction vial is moveable into and out of the heat source. The reaction vessel has one or more sealing plugs, the positioning of which in relationship to the reaction vessel is controllable from a remote position. Also the one or more reaction vessel sealing plugs can include one or more conduits there through for delivery of reactants, gases at atmospheric or an elevated pressure, inert gases, drawing a vacuum and removal of reaction end products to and from the reaction vial, the reaction vial with sealing plug in position being operable at elevated pressures. The modular chemical production system is assembled from modules which can each include operating condition sensors and controllers configured for monitoring and controlling the individual modules and the assembled system from a remote position. Other modules include, but are not limited to a Reagent Storage and Delivery Module, a Cartridge Purification Module, a Microwave Reaction Module, an External QC/Analysis/Purification Interface Module, an Aliquotting Module, an F-18 Drying Module, a Concentration Module, a Radiation Counting Module, and a Capillary Reactor Module.

  16. Modular Engineering of Production Plants

    DEFF Research Database (Denmark)

    Miller, Thomas Dedenroth

    1998-01-01

    Based on a case-study on design of pharmaceutical production plants, this paper suggests that modularity may support business efficiency for companies with one-of-a-kind production and without in-house manufacturing. Modularity may support efficient management of design knowledge and may facilitate...

  17. Fable: Socially Interactive Modular Robot

    DEFF Research Database (Denmark)

    Magnússon, Arnþór; Pacheco, Moises; Moghadam, Mikael

    2013-01-01

    Modular robots have a significant potential as user-reconfigurable robotic playware, but often lack sufficient sensing for social interaction. We address this issue with the Fable modular robotic system by exploring the use of smart sensor modules that has a better ability to sense the behavior...

  18. Modular Decomposition of Boolean Functions

    NARCIS (Netherlands)

    J.C. Bioch (Cor)

    2002-01-01

    textabstractModular decomposition is a thoroughly investigated topic in many areas such as switching theory, reliability theory, game theory and graph theory. Most appli- cations can be formulated in the framework of Boolean functions. In this paper we give a uni_ed treatment of modular decompositio

  19. Modular Engineering of Production Plants

    DEFF Research Database (Denmark)

    Miller, Thomas Dedenroth

    1998-01-01

    Based on a case-study on design of pharmaceutical production plants, this paper suggests that modularity may support business efficiency for companies with one-of-a-kind production and without in-house manufacturing. Modularity may support efficient management of design knowledge and may facilitate...

  20. Modular Decomposition of Boolean Functions

    NARCIS (Netherlands)

    J.C. Bioch (Cor)

    2002-01-01

    textabstractModular decomposition is a thoroughly investigated topic in many areas such as switching theory, reliability theory, game theory and graph theory. Most appli- cations can be formulated in the framework of Boolean functions. In this paper we give a uni_ed treatment of modular

  1. IMp: The customizable LEGO(®) Pinned Insect Manipulator.

    Science.gov (United States)

    Dupont, Steen; Price, Benjamin; Blagoderov, Vladimir

    2015-01-01

    We present a pinned insect manipulator (IMp) constructed of LEGO® building bricks with two axes of movement and two axes of rotation. In addition we present three variants of the IMp to emphasise the modular design, which facilitates resizing to meet the full range of pinned insect specimens, is fully customizable, collapsible, affordable and does not require specialist tools or knowledge to assemble.

  2. Quantum modular forms, mock modular forms, and partial theta functions

    Science.gov (United States)

    Kimport, Susanna

    Defined by Zagier in 2010, quantum modular forms have been the subject of an explosion of recent research. Many of these results are aimed at discovering examples of these functions, which are defined on the rational numbers and have "nice" modularity properties. Though the subject is in its early stages, numerous results (including Zagier's original examples) show these objects naturally arising from many areas of mathematics as limits of other modular-like functions. One such family of examples is due to Folsom, Ono, and Rhoades, who connected these new objects to partial theta functions (introduced by Rogers in 1917) and mock modular forms (about which there is a rich theory, whose origins date back to Ramanujan in 1920). In this thesis, we build off of the work of Folsom, Ono, and Rhoades by providing an infinite family of quantum modular forms of arbitrary positive half-integral weight. Further, this family of quantum modular forms "glues" mock modular forms to partial theta functions and is constructed from a so-called "universal" mock theta function by extending a method of Eichler and Zagier (originally defined for holomorphic Jacobi forms) into a non-holomorphic setting. In addition to the infinite family, we explore the weight 1/2 and 3/2 functions in more depth. For both of these weights, we are able to explicitly write down the quantum modular form, as well as the corresponding "errors to modularity," which can be shown to be Mordell integrals of specific theta functions and, as a consequence, are real-analytic functions. Finally, we turn our attention to the partial theta functions associated with these low weight examples. Berndt and Kim provide asymptotic expansions for a certain class of partial theta functions as q approaches 1 radially within the unit disk. Here, we extend this work to not only obtain asymptotic expansions for this class of functions as q approaches any root of unity, but also for a certain class of derivatives of these functions

  3. Agent Control for Reconfigurable Open Kinematic Chain Manipulators

    Directory of Open Access Journals (Sweden)

    Janez Sluga

    2013-10-01

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

  4. Configuring Product Modularity and Service Modularity for Mass Customization Strategies

    DEFF Research Database (Denmark)

    Bask, Anu; Hsuan, Juliana; Rajahonka, Mervi

    Service modularity is an emerging field of research, and there has been a growing interest on how it can contribute to service design and operations management. In this study we develop a framework to assess configurations of the bundling of products and services through modularization strategies......, and how such configurations become the foundations for mass customization strategies. As a result we identify critical characteristics that are relevant for both product and services, and suggest a conceptual framework consisting of twelve dynamic mass customization strategies with paired product...... and service modularity. Case examples are used for illustration of different strategies....

  5. Configuring Product Modularity and Service Modularity for Mass Customization Strategies

    DEFF Research Database (Denmark)

    Bask, Anu; Hsuan, Juliana; Rajahonka, Mervi

    , and how such configurations become the foundations for mass customization strategies. As a result we identify critical characteristics that are relevant for both product and services, and suggest a conceptual framework consisting of twelve dynamic mass customization strategies with paired product......Service modularity is an emerging field of research, and there has been a growing interest on how it can contribute to service design and operations management. In this study we develop a framework to assess configurations of the bundling of products and services through modularization strategies...... and service modularity. Case examples are used for illustration of different strategies....

  6. Modular Bootstrap Revisited

    CERN Document Server

    Collier, Scott; Yin, Xi

    2016-01-01

    We constrain the spectrum of two-dimensional unitary, compact conformal field theories with central charge c > 1 using modular bootstrap. Upper bounds on the gap in the dimension of primary operators of any spin, as well as in the dimension of scalar primaries, are computed numerically as functions of the central charge using semi-definite programming. Our bounds refine those of Hellerman and Friedan-Keller, and are in some cases saturated by known CFTs. In particular, we show that unitary CFTs with c < 8 must admit relevant deformations, and that a nontrivial bound on the gap of scalar primaries exists for c < 25. We also study bounds on the dimension gap in the presence of twist gaps, bounds on the degeneracy of operators, and demonstrate how "extremal spectra" which maximize the degeneracy at the gap can be determined numerically.

  7. Modular small hydro configuration

    Science.gov (United States)

    1981-09-01

    Smaller sites (those under 750 kilowatts) which previously were not attractive to develop using equipment intended for application at larger scale sites, were the focal point in the conception of a system which utilizes standard industrial components which are generally available within short procurement times. Such components were integrated into a development scheme for sites having 20 feet to 150 feet of head. The modular small hydro configuration maximizes the use of available components and minimizes modification of existing civil works. A key aspect of the development concept is the use of a vertical turbine multistage pump, used in the reverse mode as a hydraulic turbine. The configuration allows for automated operation and control of the hydroelectric facilities with sufficient flexibility for inclusion of potential hydroelectric sites into dispersed storage and generation (DSG) utility grid systems.

  8. Modular reconfigurable machines incorporating modular open architecture control

    CSIR Research Space (South Africa)

    Padayachee, J

    2008-01-01

    Full Text Available degrees of freedom on a single platform. A corresponding modular Open Architecture Control (OAC) system is presented. OAC overcomes the inflexibility of fixed proprietary automation, ensuring that MRMs provide the reconfigurability and extensibility...

  9. 关节置换术后感染非组配式广泛涂层股骨柄二期翻修术的中期疗效%Medium-term curative effect of extensively coated non-modular femoral stem in two-stage infection revision after joint replacement

    Institute of Scientific and Technical Information of China (English)

    黄强; 沈彬; 杨静; 周宗科; 康鹏德; 裴福兴

    2015-01-01

    目的 探讨应用非组配式广泛涂层股骨柄行关节置换术后感染二期翻修术的中期疗效.方法 回顾性分析2005年3月至2006年12月接受全髋关节置换术后感染二期翻修的33例(33髋)患者的病例资料,男20例,女13例;年龄52~80岁,平均(66.1±7.2)岁.二期翻修方案包括一期取出关节假体,彻底清创,置入自制抗生素骨水泥间隔体,抗感染治疗后行二期关节翻修术.抗感染治疗包括静脉抗感染治疗4周、口服抗生素6周.采用美国骨科医师学会(American Academy of Orthopaedic Surgeons,AAOS)分类法评估髋臼骨缺损,Paprosky分类法评估股骨骨缺损.采用Harris髋关节评分评估髋关节功能,术后定期复查X线片评估假体稳定性、移位、松动情况.根据DeLee和Charnley分区法记录髋臼假体周围透光线,根据Gruen分区法记录股骨柄周围透光线.采用Engh等标准评价股骨假体固定情况.再感染的标准与诊断关节感染的标准相同.结果 全部病例随访5~9年,平均(6.1±1.7)年.二期翻修术后无一例出现感染或假体松动.二期翻修术中所取标本微生物培养或病理学检查均为阴性.Harris髋关节评分由术前(42.3±6.5)分提高到末次随访的(89.1±8.5)分.股骨柄骨长入固定30例,纤维稳定固定3例.11例髋臼侧打压植骨和所有股骨髓腔内打压植骨均与宿主骨融合.股骨侧异体皮质骨板移植者10例,9例于二期翻修术后1年与宿主骨融合、1例于术后2年融合.结论 采用非组配式广泛涂层股骨假体行感染二期翻修结合髓腔内颗粒骨打压植骨能取得较好的假体中期生存率和感染清除率.%Objective To determine medium-term curative effect of extensively coated non-modular femoral stems in twostage infection revision after joint replacement.Methods We retrospectively analyzed 33 patients (33 hips) who had a two-stage infection revision after total hip replacement arthroplasty from March 2005 to

  10. RoboMusic with modular playware

    DEFF Research Database (Denmark)

    Falkenberg, Kasper; Bærendsen, Niels Kristian; Nielsen, Jacob

    2011-01-01

    Based on the concepts of RoboMusic and modular playware, we developed a system composed of modular playware devices which allow any user to perform music in a simple, interactive manner. The key features exploited in the modular playware approach are modularity, fl exibility, construction...

  11. RoboMusic with Modular Playware

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Bærendsen, Niels Kristian; Nielsen, Jacob

    2010-01-01

    Based on the concepts of RoboMusic and Modular Playware, we developed a system composed of modular playware devices, which allow any user to perform music in a simple, interactive manner. The key features exploited from the Modular Playware approach are modularity, flexibility, and construction...

  12. Investigations on the dynamic coupling in AUV-manipulator system and the manipulator trajectory errors using bond graph method

    Science.gov (United States)

    Periasamy, T.; Asokan, T.; Singaperumal, M.

    2012-06-01

    This article presents the modelling and simulation of the dynamic coupling in an autonomous underwater vehicle (AUV)-manipulator system, used for subsea intervention tasks. Bond graph, a powerful tool in multi-domain dynamic system modelling, is used for the first time to model the coupled dynamics of the AUV-manipulator system. This method enables the development of the system model in a modular form by creating sub-system models and connecting these models together at energy interactions ports, thus overcoming many of the computational difficulties encountered in conventional modelling methods. The effects of gravity, buoyancy, added mass and fluid drag on the dynamics of a 3 degrees of freedom (DoF) manipulator mounted on a 6 DoF AUV are analysed. The manipulator trajectory errors due to the interaction forces and moments between the vehicle and the manipulator have also been investigated and the results are presented. The dynamic model predicts the reaction forces on the vehicle under various operating conditions of the manipulator and their influence on the manipulator trajectory. The percentage errors of manipulator tip trajectory for different initial configurations and operating conditions are analysed. The estimation of resulting errors in the manipulator path due to dynamic coupling effect on the manipulator trajectory helps in the design of suitable trajectory controller for the system. Cartesian space transpose Jacobian controller for trajectory control of manipulator has been implemented and results are presented.

  13. AES Modular Power Systems Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The goals of this project are to 1) develop modular power design concepts for human exploration flight vehicles (longer-term) and assess, develop, and/or...

  14. Hierarchy of Modular Graph Identities

    CERN Document Server

    D'Hoker, Eric

    2016-01-01

    The low energy expansion of Type II superstring amplitudes at genus one is organized in terms of modular graph functions associated with Feynman graphs of a conformal scalar field on the torus. In earlier work, surprising identities between two-loop graphs at all weights, and between higher-loop graphs of weights four and five were constructed. In the present paper, these results are generalized in two complementary directions. First, all identities at weight six and all dihedral identities at weight seven are obtained and proven. Whenever the Laurent polynomial at the cusp is available, the form of these identities confirms the pattern by which the vanishing of the Laurent polynomial governs the full modular identity. Second, the family of modular graph functions is extended to include all graphs with derivative couplings and worldsheet fermions. These extended families of modular graph functions are shown to obey a hierarchy of inhomogeneous Laplace eigenvalue equations. The eigenvalues are calculated analy...

  15. Resilience of modular complex networks

    CERN Document Server

    Shai, Saray; Kenett, Yoed N; Faust, Miriam; Dobson, Simon; Havlin, Shlomo

    2014-01-01

    Complex networks often have a modular structure, where a number of tightly- connected groups of nodes (modules) have relatively few interconnections. Modularity had been shown to have an important effect on the evolution and stability of biological networks, on the scalability and efficiency of large-scale infrastructure, and the development of economic and social systems. An analytical framework for understanding modularity and its effects on network vulnerability is still missing. Through recent advances in the understanding of multilayer networks, however, it is now possible to develop a theoretical framework to systematically study this critical issue. Here we study, analytically and numerically, the resilience of modular networks under attacks on interconnected nodes, which exhibit high betweenness values and are often more exposed to failure. Our model provides new understandings into the feedback between structure and function in real world systems, and consequently has important implications as divers...

  16. Habidite: viviendas modulares industrializadas

    Directory of Open Access Journals (Sweden)

    Gómez Jáuregui, V.

    2009-03-01

    Full Text Available This paper is an introduction to one of the most relevant constructive systems of the last years: The integral industrialized construction. This method, based on three-dimensional modules, produces buildings made mainly from spatial cells of big dimensions; these three-dimensional modules are fabricated entirely in factory and, once they are finished, they are carried out to the site, where they are assembled in an easy manner. Even though it’s not a totally new system (in fact, the precedents will also be mentioned in this essay, Habidite is very confident in backing this tendency and doing its part in order to obtain modular reinforced concrete buildings of extraordinary quality, with domotic implements totally integrated in the dwellings and a high degree of sustainability, eco-technology and energetic efficiency. Many advantages are exposed and explained, dealing with the optimization of the productive processes in construction by means of the most advanced technologies.En este artículo se realiza una breve introducción a uno de los sistemas constructivos que más auge está teniendo en los últimos años: la edificación industrializada integral. Realizado a base de módulos tridimensionales, es éste un método de construcción en el cual los edificios se conforman básicamente por medio de células espaciales de grandes dimensiones; estos módulos tridimensionales se elaboran íntegramente en fábrica y, una vez están totalmente terminados, se transportan a obra, donde son montados de forma sencilla y rápida. Aunque no es un sistema totalmente novedoso (de hecho sus antecedentes también serán tratados brevemente en este texto, Habidite apuesta fuertemente por esta tendencia y aporta su grano de arena para conseguir edificios modulares de hormigón armado de extraordinaria calidad, con implementos domóticos totalmente integrados en la vivienda y un alto grado de sostenibilidad, eco-tecnología y eficiencia energética. Se abordan

  17. Enzymatic computation and cognitive modularity

    OpenAIRE

    Barrett, H. Clark

    2005-01-01

    Currently, there is widespread skepticism that higher cognitive processes, given their apparent flexibility and globality, could be carried out by specialized computational devices, or modules. This skepticism is largely due to Fodor's influential definition of modularity. From the rather flexible catalogue of possible modular features that Fodor originally proposed has emerged a widely held notion of modules as rigid, informationally encapsulated devices that accept highly local inputs and w...

  18. Spacecraft Modularity for Serviceable Satellites

    Science.gov (United States)

    Rossetti, Dino; Keer, Beth; Panek, John; Reed, Benjamin; Cepollina, Frank; Ritter, Robert

    2015-01-01

    Satellite servicing has been a proven capability of NASA since the first servicing missions in the 1980s with astronauts on the space shuttle. This capability enabled the on-orbit assembly of the International Space Station (ISS) and saved the Hubble Space Telescope (HST) mission following the discovery of the flawed primary mirror. The effectiveness and scope of servicing opportunities, especially using robotic servicers, is a function of how cooperative a spacecraft is. In this paper, modularity will be presented as a critical design aspect for a spacecraft that is cooperative from a servicing perspective. Different features of modularity are discussed using examples from HST and the Multimission Modular Spacecraft (MMS) program from the 1980s and 1990s. The benefits of modularity will be presented including those directly related to servicing and those outside of servicing including reduced costs and increased flexibility. The new Reconfigurable Operational spacecraft for Science and Exploration (ROSE) concept is introduced as an affordable implementation of modularity that provides cost savings and flexibility. Key aspects of the ROSE architecture are discussed such as the module design and the distributed avionics architecture. The ROSE concept builds on the experience from MMS and due to its modularity, would be highly suitable as a future client for on-orbit servicing.

  19. Modular Nuclear Testing Concept

    Energy Technology Data Exchange (ETDEWEB)

    Wouters, L. F.

    1964-07-01

    The continuing concern with efficient utilization of manpower at the Nevada Test Site (NTS) and the seemingly high cost of individual nuclear shots, together with the recent evolution of the L-12 scope, generated some fresh thoughts concerning more efficient procedures for the `average` test. Every time anyone looks at the problem., they tend to analyze the existing conventional approach and try to find the one or two most expensive and `lossy` factors in the can of worms. Usually this turns out to be a problem within the realm of specialization of the particular analyst! People not so directly concerned with the program tend to look for, or wish for, or even `invent` miracles`. Our present techniques appear to be the sum (and possibly even the product) of many small contributions which have all been beaten down to the same level of importance. Such a situation in any systemic problem is usually symptomatic of the need for fairly violent departures in the aver-all system approach, at least in thinking. This report proposes and details a modular nuclear testing concept.

  20. Modular Approach to Spintronics.

    Science.gov (United States)

    Camsari, Kerem Yunus; Ganguly, Samiran; Datta, Supriyo

    2015-06-11

    There has been enormous progress in the last two decades, effectively combining spintronics and magnetics into a powerful force that is shaping the field of memory devices. New materials and phenomena continue to be discovered at an impressive rate, providing an ever-increasing set of building blocks that could be exploited in designing transistor-like functional devices of the future. The objective of this paper is to provide a quantitative foundation for this building block approach, so that new discoveries can be integrated into functional device concepts, quickly analyzed and critically evaluated. Through careful benchmarking against available theory and experiment we establish a set of elemental modules representing diverse materials and phenomena. These elemental modules can be integrated seamlessly to model composite devices involving both spintronic and nanomagnetic phenomena. We envision the library of modules to evolve both by incorporating new modules and by improving existing modules as the field progresses. The primary contribution of this paper is to establish the ground rules or protocols for a modular approach that can build a lasting bridge between materials scientists and circuit designers in the field of spintronics and nanomagnetics.

  1. Stiffness analysis and comparison of a Biglide parallel grinder with alternative spatial modular parallelograms

    DEFF Research Database (Denmark)

    Wu, Guanglei; Zou, Ping

    2016-01-01

    This paper deals with the stiffness modeling, analysis and comparison of a Biglide parallel grinder with two alternative modular parallelograms. It turns out that the Cartesian stiffness matrix of the manipulator has the property that it can be decoupled into two homogeneous matrices, correspondi...

  2. Lectures on Hilbert modular varieties and modular forms

    CERN Document Server

    Goren, Eyal Z

    2001-01-01

    This book is devoted to certain aspects of the theory of p-adic Hilbert modular forms and moduli spaces of abelian varieties with real multiplication. The theory of p-adic modular forms is presented first in the elliptic case, introducing the reader to key ideas of N. M. Katz and J.-P. Serre. It is re-interpreted from a geometric point of view, which is developed to present the rudiments of a similar theory for Hilbert modular forms. The theory of moduli spaces of abelian varieties with real multiplication is presented first very explicitly over the complex numbers. Aspects of the general theory are then exposed, in particular, local deformation theory of abelian varieties in positive characteristic. The arithmetic of p-adic Hilbert modular forms and the geometry of moduli spaces of abelian varieties are related. This relation is used to study q-expansions of Hilbert modular forms, on the one hand, and stratifications of moduli spaces on the other hand. The book is addressed to graduate students and non-exper...

  3. Modular Stirling Radioisotope Generator

    Science.gov (United States)

    Schmitz, Paul C.; Mason, Lee S.; Schifer, Nicholas A.

    2016-01-01

    High-efficiency radioisotope power generators will play an important role in future NASA space exploration missions. Stirling Radioisotope Generators (SRGs) have been identified as a candidate generator technology capable of providing mission designers with an efficient, high-specific-power electrical generator. SRGs high conversion efficiency has the potential to extend the limited Pu-238 supply when compared with current Radioisotope Thermoelectric Generators (RTGs). Due to budgetary constraints, the Advanced Stirling Radioisotope Generator (ASRG) was canceled in the fall of 2013. Over the past year a joint study by NASA and the Department of Energy (DOE) called the Nuclear Power Assessment Study (NPAS) recommended that Stirling technologies continue to be explored. During the mission studies of the NPAS, spare SRGs were sometimes required to meet mission power system reliability requirements. This led to an additional mass penalty and increased isotope consumption levied on certain SRG-based missions. In an attempt to remove the spare power system, a new generator architecture is considered, which could increase the reliability of a Stirling generator and provide a more fault-tolerant power system. This new generator called the Modular Stirling Radioisotope Generator (MSRG) employs multiple parallel Stirling convertor/controller strings, all of which share the heat from the General Purpose Heat Source (GPHS) modules. For this design, generators utilizing one to eight GPHS modules were analyzed, which provided about 50 to 450 W of direct current (DC) to the spacecraft, respectively. Four Stirling convertors are arranged around each GPHS module resulting in from 4 to 32 Stirling/controller strings. The convertors are balanced either individually or in pairs, and are radiatively coupled to the GPHS modules. Heat is rejected through the housing/radiator, which is similar in construction to the ASRG. Mass and power analysis for these systems indicate that specific

  4. Text Manipulation Judgment Accuracy: An Exploratory Study

    Science.gov (United States)

    2003-03-25

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

  5. Interpersonal Communicational Manipulations

    Directory of Open Access Journals (Sweden)

    Ştefan VLĂDUŢESCU

    2014-11-01

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

  6. Modular Power Standard for Space Explorations Missions

    Science.gov (United States)

    Oeftering, Richard C.; Gardner, Brent G.

    2016-01-01

    Future human space exploration will most likely be composed of assemblies of multiple modular spacecraft elements with interconnected electrical power systems. An electrical system composed of a standardized set modular building blocks provides significant development, integration, and operational cost advantages. The modular approach can also provide the flexibility to configure power systems to meet the mission needs. A primary goal of the Advanced Exploration Systems (AES) Modular Power System (AMPS) project is to establish a Modular Power Standard that is needed to realize these benefits. This paper is intended to give the space exploration community a "first look" at the evolving Modular Power Standard and invite their comments and technical contributions.

  7. [Estrogen replacement].

    Science.gov (United States)

    Søgaard, A J; Berntsen, G K; Magnus, J H; Tollan, A

    1998-02-10

    Recent research on long-term postmenopausal hormone replacement therapy (HRT) indicates a positive effect on both total mortality and morbidity. This has raised the question of widespread preventive long-term use of HRT. Possible side-effects and ideological issues related to preventive HRT have led to debate and uncertainty among health professionals, in the media, and in the population at large. In order to evaluate the level of knowledge about and attitudes towards HRT, a randomly selected group of 737 Norwegian women aged 16-79 was interviewed by the Central Bureau of Statistics. One in three women had received information about HRT in the last two years, mainly through weekly magazines and physicians. The proportion who answered the questions on knowledge correctly varied from 36% to 47%. Those who had been given information by a physician possessed accurate knowledge, had more positive attitudes towards HRT and were more willing to use HRT than women who had reviewed information through other channels. Women with a higher level of education were better informed and more knowledgeable than others, but were nevertheless more reluctant to use HRT than those who were less educated. The limited number of women who actually receive information on HRT, the low level of knowledge and the ambivalent attitudes toward HRT are a major challenge to the public health service.

  8. Master-Slave Manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Goertz, R.C.

    1949-03-07

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

  9. Product Modular Design Incorporating Preventive Maintenance Issues

    Institute of Scientific and Technical Information of China (English)

    GAO Yicong; FENG Yixiong; TAN Jianrong

    2016-01-01

    Traditional modular design methods lead to product maintenance problems, because the module form of a system is created according to either the function requirements or the manufacturing considerations. For solving these problems, a new modular design method is proposed with the considerations of not only the traditional function related attributes, but also the maintenance related ones. First, modularity parameters and modularity scenarios for product modularity are defined. Then the reliability and economic assessment models of product modularity strategies are formulated with the introduction of the effective working age of modules. A mathematical model used to evaluate the difference among the modules of the product so that the optimal module of the product can be established. After that, a multi-objective optimization problem based on metrics for preventive maintenance interval different degrees and preventive maintenance economics is formulated for modular optimization. Multi-objective GA is utilized to rapidly approximate the Pareto set of optimal modularity strategy trade-offs between preventive maintenance cost and preventive maintenance interval difference degree. Finally, a coordinate CNC boring machine is adopted to depict the process of product modularity. In addition, two factorial design experiments based on the modularity parameters are constructed and analyzed. These experiments investigate the impacts of these parameters on the optimal modularity strategies and the structure of module. The research proposes a new modular design method, which may help to improve the maintainability of product in modular design.

  10. Product modular design incorporating preventive maintenance issues

    Science.gov (United States)

    Gao, Yicong; Feng, Yixiong; Tan, Jianrong

    2016-03-01

    Traditional modular design methods lead to product maintenance problems, because the module form of a system is created according to either the function requirements or the manufacturing considerations. For solving these problems, a new modular design method is proposed with the considerations of not only the traditional function related attributes, but also the maintenance related ones. First, modularity parameters and modularity scenarios for product modularity are defined. Then the reliability and economic assessment models of product modularity strategies are formulated with the introduction of the effective working age of modules. A mathematical model used to evaluate the difference among the modules of the product so that the optimal module of the product can be established. After that, a multi-objective optimization problem based on metrics for preventive maintenance interval different degrees and preventive maintenance economics is formulated for modular optimization. Multi-objective GA is utilized to rapidly approximate the Pareto set of optimal modularity strategy trade-offs between preventive maintenance cost and preventive maintenance interval difference degree. Finally, a coordinate CNC boring machine is adopted to depict the process of product modularity. In addition, two factorial design experiments based on the modularity parameters are constructed and analyzed. These experiments investigate the impacts of these parameters on the optimal modularity strategies and the structure of module. The research proposes a new modular design method, which may help to improve the maintainability of product in modular design.

  11. Modular robotics for playful physiotherapy

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop

    2009-01-01

    We developed modular robotic tiles to be used for playful physiotherapy, which is supposed to motivate patients to engage in and perform physical rehabilitation exercises. We tested the modular robotic tiles for an extensive period of time (3 years) in daily use in a hospital rehabilitation unit e.......g. for cardiac patients. Also, the tiles were tested for performing physical rehabilitation of stroke patients in their private home. In all pilot test cases qualitative feedback indicate that the patients find the playful use of modular robotic tiles engaging and motivating for them to perform...... the rehabilitation. Also, initial pilot test data suggest that some playful exercises on the tiles demand an average heart rate of 75% and 86% of the maximum heart rate....

  12. Modular Software-Defined Radio

    Directory of Open Access Journals (Sweden)

    Rhiemeier Arnd-Ragnar

    2005-01-01

    Full Text Available In view of the technical and commercial boundary conditions for software-defined radio (SDR, it is suggestive to reconsider the concept anew from an unconventional point of view. The organizational principles of signal processing (rather than the signal processing algorithms themselves are the main focus of this work on modular software-defined radio. Modularity and flexibility are just two key characteristics of the SDR environment which extend smoothly into the modeling of hardware and software. In particular, the proposed model of signal processing software includes irregular, connected, directed, acyclic graphs with random node weights and random edges. Several approaches for mapping such software to a given hardware are discussed. Taking into account previous findings as well as new results from system simulations presented here, the paper finally concludes with the utility of pipelining as a general design guideline for modular software-defined radio.

  13. Modular process modeling for OPC

    Science.gov (United States)

    Keck, M. C.; Bodendorf, C.; Schmidtling, T.; Schlief, R.; Wildfeuer, R.; Zumpe, S.; Niehoff, M.

    2007-03-01

    Modular OPC modeling, describing mask, optics, resist and etch processes separately is an approach to keep efforts for OPC manageable. By exchanging single modules of a modular OPC model, a fast response to process changes during process development is possible. At the same time efforts can be reduced, since only single modular process steps have to be re-characterized as input for OPC modeling as the process is adjusted and optimized. Commercially available OPC tools for full chip processing typically make use of semi-empirical models. The goal of our work is to investigate to what extent these OPC tools can be applied for modeling of single process steps as separate modules. For an advanced gate level process we analyze the modeling accuracy over different process conditions (focus and dose) when combining models for each process step - optics, resist and etch - for differing single processes to a model describing the total process.

  14. Modular system design and evaluation

    CERN Document Server

    Levin, Mark Sh

    2015-01-01

    This book examines seven key combinatorial engineering frameworks (composite schemes consisting of algorithms and/or interactive procedures) for hierarchical modular (composite) systems. These frameworks are based on combinatorial optimization problems (e.g., knapsack problem, multiple choice problem, assignment problem, morphological clique problem), with the author’s version of morphological design approach – Hierarchical Morphological Multicritieria Design (HMMD) – providing a conceptual lens with which to elucidate the examples discussed. This approach is based on ordinal estimates of design alternatives for systems parts/components, however, the book also puts forward an original version of HMMD that is based on new interval multiset estimates for the design alternatives with special attention paid to the aggregation of modular solutions (system versions). The second part of ‘Modular System Design and Evaluation’ provides ten information technology case studies that enriches understanding of th...

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

    Energy Technology Data Exchange (ETDEWEB)

    BLACK, DEREK; GRUPINSKI, STEPHEN

    1998-10-08

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

  16. Emergent interfaces for feature modularization

    CERN Document Server

    Ribeiro, Márcio; Brabrand, Claus

    2014-01-01

    Developers frequently introduce errors into software systems when they fail to recognise module dependencies. Using forty-three software families and Software Product Lines (SPLs), where the majority are commonly used in industrial practice, the authors reports on the feature modularization problem and provides a study of how often it may occur in practice. To solve the problem they present the concept of emergent feature modularization which aims to establish contracts between features to prevent developers from breaking other features when performing a maintenance task.

  17. Walk modularity and community structure in networks

    CERN Document Server

    Mehrle, David; Harkin, Anthony

    2014-01-01

    Modularity maximization has been one of the most widely used approaches in the last decade for discovering community structure in networks of practical interest in biology, computing, social science, statistical mechanics, and more. Modularity is a quality function that measures the difference between the number of edges found within clusters minus the number of edges one would statistically expect to find based on random chance. We present a natural generalization of modularity based on the difference between the actual and expected number of walks within clusters, which we call walk-modularity. Walk-modularity can be expressed in matrix form, and community detection can be performed by finding leading eigenvectors of the walk-modularity matrix. We demonstrate community detection on both synthetic and real-world networks and find that walk-modularity maximization returns significantly improved results compared to traditional modularity maximization.

  18. Modularity for Modulating Exercises and Levels

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Nielsen, Camilla Balslev

    2011-01-01

    The modular interactive tiles aim at engaging anybody (elderly, carer, hospital personnel, children) in performing playful and motivating physical activities. Inspired by modular robotics, each tile is a self-contained module with processing power and communication to neighbouring modules...

  19. 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...

  20. Progress in nonprehensile manipulation

    Energy Technology Data Exchange (ETDEWEB)

    Mason, M.T.

    1999-11-01

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

  1. p-adic Modular Symbols and Λ-adic Modular Forms

    Institute of Scientific and Technical Information of China (English)

    Fu Zheng WANG

    2006-01-01

    A construction of Λ-adic modular forms from p-adic modular symbols is described. It showsthat each Λ linear map satisfying some certain conditions from the module of p-adic modular symbols to Λ corresponds to a Λ-adic modular form.

  2. Additive Approximation Algorithms for Modularity Maximization

    OpenAIRE

    Kawase, Yasushi; Matsui, Tomomi; Miyauchi, Atsushi

    2016-01-01

    The modularity is a quality function in community detection, which was introduced by Newman and Girvan (2004). Community detection in graphs is now often conducted through modularity maximization: given an undirected graph $G=(V,E)$, we are asked to find a partition $\\mathcal{C}$ of $V$ that maximizes the modularity. Although numerous algorithms have been developed to date, most of them have no theoretical approximation guarantee. Recently, to overcome this issue, the design of modularity max...

  3. A Modular Rewriting Semantics for CML

    DEFF Research Database (Denmark)

    Chalub, Fabricio; Braga, Christiano de Oliveira

    2004-01-01

    This paper presents a modular rewriting semantics (MRS) specification for Reppy's Concurrent ML (CML), based on Peter Mosses' modular structural operational semantics specification for CML. A modular rewriting semantics specification for a programming language is a rewrite theory in rewriting log...

  4. Generating graphs that approach a prescribed modularity

    NARCIS (Netherlands)

    Trajanovski, S.; Kuipers, F.A.; Martín-Hernández, J.; Van Mieghem, P.

    2013-01-01

    Modularity is a quantitative measure for characterizing the existence of a community structure in a network. A network's modularity depends on the chosen partitioning of the network into communities, which makes finding the specific partition that leads to the maximum modularity a hard problem. In t

  5. SOME RESULTS OF MODULAR LIE SUPERALGEBRAS

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    In the present article, the authors give some properties on subinvariant subalgebras of modular Lie superalgebras and obtain the derivation tower theorem of modular Lie superalgebras, which is analogous to the automorphism tower theorem of finite groups.Moreover, they announce and prove some results of modular complete Lie superalgebras.

  6. On modular Galois representations modulo prime powers

    DEFF Research Database (Denmark)

    Chen, Imin; Kiming, Ian; Wiese, Gabor

    2013-01-01

    We study modular Galois representations mod pm. We show that there are three progressively weaker notions of modularity for a Galois representation mod pm: We have named these "strongly", "weakly", and "dc-weakly" modular. Here, "dc" stands for "divided congruence" in the sense of Katz and Hida. ...

  7. On modular Galois representations modulo prime powers

    DEFF Research Database (Denmark)

    Chen, Imin; Kiming, Ian; Wiese, Gabor

    2013-01-01

    . These notions of modularity are relative to a fixed level M. Using results of Hida we display a level-lowering result ("stripping-of-powers of p away from the level"): A mod pm strongly modular representation of some level Npr is always dc-weakly modular of level N (here, N is a natural number not divisible...

  8. A Compact Modular Teleoperated Robotic System for Laparoscopic Surgery.

    Science.gov (United States)

    Berkelman, Peter; Ma, Ji

    2009-09-01

    Compared with traditional open surgery, minimally invasive surgical procedures reduce patient trauma and recovery time, but the dexterity of the surgeon in laparoscopic surgery is reduced owing to the small incisions, long instruments and limited indirect visibility of the operative site inside the patient. Robotic surgical systems, teleoperated by surgeons from a master control console with joystick-type manipulation interfaces, have been commercially developed yet their adoption into standard practice may be limited owing to their size, complexity, cost and time-consuming setup, maintenance and sterilization procedures. The goal of our research is to improve the effectiveness of robot-assisted surgery by developing much smaller, simpler, modular, teleoperated robotic manipulator systems for minimally invasive surgery.

  9. A Compact Modular Teleoperated Robotic System for Laparoscopic Surgery

    Science.gov (United States)

    Berkelman, Peter; Ma, Ji

    2011-01-01

    Compared with traditional open surgery, minimally invasive surgical procedures reduce patient trauma and recovery time, but the dexterity of the surgeon in laparoscopic surgery is reduced owing to the small incisions, long instruments and limited indirect visibility of the operative site inside the patient. Robotic surgical systems, teleoperated by surgeons from a master control console with joystick-type manipulation interfaces, have been commercially developed yet their adoption into standard practice may be limited owing to their size, complexity, cost and time-consuming setup, maintenance and sterilization procedures. The goal of our research is to improve the effectiveness of robot-assisted surgery by developing much smaller, simpler, modular, teleoperated robotic manipulator systems for minimally invasive surgery. PMID:21743765

  10. Hierarchy of modular graph identities

    Energy Technology Data Exchange (ETDEWEB)

    D’Hoker, Eric; Kaidi, Justin [Mani L. Bhaumik Institute for Theoretical Physics, Department of Physics and Astronomy,University of California,Los Angeles, CA 90095 (United States)

    2016-11-09

    The low energy expansion of Type II superstring amplitudes at genus one is organized in terms of modular graph functions associated with Feynman graphs of a conformal scalar field on the torus. In earlier work, surprising identities between two-loop graphs at all weights, and between higher-loop graphs of weights four and five were constructed. In the present paper, these results are generalized in two complementary directions. First, all identities at weight six and all dihedral identities at weight seven are obtained and proven. Whenever the Laurent polynomial at the cusp is available, the form of these identities confirms the pattern by which the vanishing of the Laurent polynomial governs the full modular identity. Second, the family of modular graph functions is extended to include all graphs with derivative couplings and worldsheet fermions. These extended families of modular graph functions are shown to obey a hierarchy of inhomogeneous Laplace eigenvalue equations. The eigenvalues are calculated analytically for the simplest infinite sub-families and obtained by Maple for successively more complicated sub-families. The spectrum is shown to consist solely of eigenvalues s(s−1) for positive integers s bounded by the weight, with multiplicities which exhibit rich representation-theoretic patterns.

  11. Modular crystals as modulated structures

    DEFF Research Database (Denmark)

    Elcoro, L.; Perez-Mato, J.M.; Friese, K.;

    2008-01-01

    The use of the superspace formalism is extended to the description and refinement of the homologous series of modular structures with two symmetry-related modules with different orientations. The lillianite homologous series has been taken as a study case. Starting from a commensurate modulated c...

  12. Physical Modeling Modular Boxes: PHOXES

    DEFF Research Database (Denmark)

    Gelineck, Steven; Serafin, Stefania

    2010-01-01

    This paper presents the development of a set of musical instruments, which are based on known physical modeling sound synthesis techniques. The instruments are modular, meaning that they can be combined in various ways. This makes it possible to experiment with physical interaction and sonic expl...

  13. Modularity in Cancer Care Provision

    DEFF Research Database (Denmark)

    Gobbi, Chiara; Hsuan, Juliana

    2012-01-01

    The paper presents the findings of a case study research conducted within the Danish healthcare system aimed at analyzing how modularity is deployed in the process of delivery cancer care. Three cancer packages are presented into detailed describing the process of defining the diagnosis and treat...

  14. Review of modular power converters solutions for smart transformer in distribution system

    DEFF Research Database (Denmark)

    Alzola, Rafael Pena; Gohil, Ghanshyamsinh Vijaysinh; Mathe, Laszlo

    2013-01-01

    While the use of power electronics based Smart Transformer (ST) is becoming a reality in traction applications, and it has been considered as an interesting option for interfacing different transmission systems, the possibility to use it in distribution systems is still considered futuristic....... Replacing primary distribution transformers with ST can lead to more flexible handling of the distribution feeders, while replacing secondary distribution transformers can allow decoupling of distribution network. This paper reviews different power converter solutions for the ST focusing on modularity...

  15. A Modular Set of Mixed Reality Simulators for blind and Guided Procedures

    Science.gov (United States)

    2015-08-01

    approved by DoD on 4/22/15) We made a formal written request to replace the proposed Focused Assessment with Sonography of Trauma ( FAST ) trainer in...approved by the UF IRB02. We formally requested and received approval on 4/22/15 from Mr. Meinberg to replace the FAST trainer in the original proposal...modular stand) will provide a rapid development platform for fast prototyping/implementation of new mixed/augmented reality simulators beyond the

  16. Lessons in modularity: the evolutionary ecology of colonial invertebrates

    Directory of Open Access Journals (Sweden)

    Roger N. Hughes

    2005-06-01

    Full Text Available Benthic colonial invertebrates share with higher plants a modular construction and a sessile adult life. Both types of organism show parallel evolutionary responses to common selective forces, but in contrast to the long-established focus on plants, comparable study of colonial invertebrates has developed relatively recently, largely owing to the application of new techniques in image processing and molecular biology. Species whose life cycles are readily completed under laboratory conditions and whose colonies are easily propagated from cuttings provide powerful models for experimentally investigating fundamental evolutionary problems, including metabolic allometry, the manifestation of ageing and the origin of allorecognition systems. Free of the confounding influences of behavioural manipulation and costs of copulation, colonial invertebrates whose water-borne sperm fertilize retained eggs lend themselves well to the experimental study of cryptic female choice, sperm competition and sexual conflict. In these respects, it will be productive to adopt and extend theoretical frameworks developed for flowering plants to guide experimental investigation of modular animals. Since mate choice occurs at the cellular level in modular animals, reproductive isolation is uncorrelated with morphology and cryptic speciation is likely to be widespread.

  17. The innovation trap: modular neck in total hip arthroplasty

    Directory of Open Access Journals (Sweden)

    Samo Karel Fokter

    2017-04-01

    Full Text Available Background: Innovations play the key role in the success of orthopaedic surgery. However, even minor modifications in the established concepts and proven designs may result in disasters. The endemic of modular femoral neck fracture (24 cases of about 4000 implanted in fully modular total hip arthroplasty, popular in our country for the last 20 years, seems to challenge us with such an unfortunate consequences. The aim of this report was to analyze the extent and the causes of the problem on the one hand and to propose possible solutions on the other.Methods: Literature search for problems associated with Profemur Z (or earlier versions with the same taper-cone design fully-modular femoral stem made of titanium alloy (Ti6Al4V was performed, and hip arthroplasty registries were searched to evaluate the failure rates of the mentioned design. Mechanisms of failure were studied to get in-depth understanding of this particular hip reconstruction device.Results: Since 2010 onwards, several case reports on catastrophic modular femoral neck fractures of Profemur Z were published. Te frst Slovenian case was described in 2012. The first two larger series with modular femoral neck fractures were published in 2016. Te Australian Joint Replacement Registry was the first to discover increased revision rates due to fractures of this hip reconstruction system. Public Agency of the Republic of Slovenia for Medicinal Products and Medical Devices (JAZMP received frst two reports regarding Profemur Z modular neck complication from abroad in 2010, the first Slovenian report was received in 2012, and altogether 7 reports from Slovenian hospitals were received until December 2016. Corrosion at the neck-taper interface, where two equal or different materials are subject to constant wear in the presence of body fluids, is assumed to be responsible for the unacceptable high failure rate.Conclusions: Manufacturers are responsible to produce and market only safe devices

  18. Bundling Products and Services Through Modularization Strategies

    DEFF Research Database (Denmark)

    Bask, Anu; Hsuan, Juliana; Rajahonka, Mervi;

    2012-01-01

    Modularity has been recognized as a powerful tool in improving the efficiency and management of product design and manufacturing. However, the integrated view on covering both, product and service modularity for product-service systems (PSS), is under researched. Therefore, in this paper our...... objective is to contribute to the PSS modularity. Thus, we describe configurations of PSSs and the bundling of products and services through modularization strategies. So far there have not been tools to analyze and determine the correct combinations of degrees of product and service modularities....

  19. Towards a Standard for Modular Petri Nets

    DEFF Research Database (Denmark)

    Kindler, Ekkart; Petrucci, Laure

    2009-01-01

    as a mechanism for modules in Petri nets that is independent from a particular version of Petri nets and that can mimic many composition mechanisms by a simple import and export concept. Due to its generality, the semantics of modular PNML was only informally defined. Moreover, modular PNML did not define which...... concepts could or should be subject to import and export in high-level Petri nets. In this paper, we formalise a minimal version of modular high-level Petri nets, which is based on the concepts of modular PNML. This shows that modular PNML can be formalised once a specific version of Petri net is fixed...

  20. Reflective modular forms in algebraic geometry

    CERN Document Server

    Gritsenko, Valery

    2010-01-01

    We prove that the existence of a strongly reflective modular form of a large weight implies that the Kodaira dimension of the corresponding modular variety is negative or, in some special case, it is equal to zero. Using the Jacobi lifting we construct three towers of strongly reflective modular forms with the simplest possible divisor. In particular we obtain a Jacobi lifting construction of the Borcherds-Enriques modular form Phi_4 and Jacobi liftings of automorphic discriminants of the K\\"ahler moduli of Del Pezzo surfaces constructed recently by Yoshikawa. We obtain also three modular varieties of dimension 4, 6 and 7 of Kodaira dimension 0.

  1. Modularity and stability in ecological communities

    Science.gov (United States)

    Grilli, Jacopo; Rogers, Tim; Allesina, Stefano

    2016-01-01

    Networks composed of distinct, densely connected subsystems are called modular. In ecology, it has been posited that a modular organization of species interactions would benefit the dynamical stability of communities, even though evidence supporting this hypothesis is mixed. Here we study the effect of modularity on the local stability of ecological dynamical systems, by presenting new results in random matrix theory, which are obtained using a quaternionic parameterization of the cavity method. Results show that modularity can have moderate stabilizing effects for particular parameter choices, while anti-modularity can greatly destabilize ecological networks. PMID:27337386

  2. Online Learning of Industrial Manipulators' Dynamics Models

    DEFF Research Database (Denmark)

    Polydoros, Athanasios

    2017-01-01

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

  3. Quasispecies theory for evolution of modularity.

    Science.gov (United States)

    Park, Jeong-Man; Niestemski, Liang Ren; Deem, Michael W

    2015-01-01

    Biological systems are modular, and this modularity evolves over time and in different environments. A number of observations have been made of increased modularity in biological systems under increased environmental pressure. We here develop a quasispecies theory for the dynamics of modularity in populations of these systems. We show how the steady-state fitness in a randomly changing environment can be computed. We derive a fluctuation dissipation relation for the rate of change of modularity and use it to derive a relationship between rate of environmental changes and rate of growth of modularity. We also find a principle of least action for the evolved modularity at steady state. Finally, we compare our predictions to simulations of protein evolution and find them to be consistent.

  4. Quasispecies theory for evolution of modularity

    Science.gov (United States)

    Park, Jeong-Man; Niestemski, Liang Ren; Deem, Michael W.

    2015-01-01

    Biological systems are modular, and this modularity evolves over time and in different environments. A number of observations have been made of increased modularity in biological systems under increased environmental pressure. We here develop a quasispecies theory for the dynamics of modularity in populations of these systems. We show how the steady-state fitness in a randomly changing environment can be computed. We derive a fluctuation dissipation relation for the rate of change of modularity and use it to derive a relationship between rate of environmental changes and rate of growth of modularity. We also find a principle of least action for the evolved modularity at steady state. Finally, we compare our predictions to simulations of protein evolution and find them to be consistent.

  5. Giant optical manipulation.

    Science.gov (United States)

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

    2010-09-10

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

  6. The development of robotic system for the nuclear power plants - A study on the modular robotic system for the nuclear power plants

    Energy Technology Data Exchange (ETDEWEB)

    Youm, Young Il; Chung, Wan Kyun; Oh, Yong Hwan; Han, Jeong Heon [Pohang University of Science and Technology, Pohang (Korea, Republic of); Eun, Jong Ho [Research Institute of Industrial Science of Technology, Seoul (Korea, Republic of)

    1996-07-01

    The modular robotic system provides a viable alternative to using fixed configuration manipulators by extending the existing concept of modular manipulator design. Such a manipulator has several advantages over conventional design, most notably economy of manufacturing, ease of modification and ease of repair. This modularity allows a wide range of manipulator architectures to be assembled from a small set of general purpose hardware and software components. Therefore, in this research, we have focused on the development of the modular robotic system which can reconfigure its configuration as task requires and the research of the methodology which finds optimal configuration given task requirements. The major research results are as follows: I. The concepts of the modular robotic system based on the module structurization is proposed for the next generational robotic system. II. The classification of the modules and the system configurations are stated concretely, and the research subjects for the realization is made clear. III. By means of new locking mechanism the user is capable of assembling the robot with the joints and arms on his own. With these components one obtains task specified robots with free choice in kinematics, torque and path generation. IV. Two degree of freedom planar modular robot manipulator, consisting bending joints and new locking mechanism executing mechanical and electrical connection in order to develop an inventory of basic modular units, is developed. It with allow a user to configure the most suitable robot geometry for a task ( or a set of tasks) at hand. V. Determination algorithm of the modular assembly configuration optimally suite to perform a specific task is developed. 25 refs., 13 tabs., 45 figs. (author)

  7. Reconfigurable MRI-guided robotic surgical manipulator: prostate brachytherapy and neurosurgery applications.

    Science.gov (United States)

    Su, Hao; Iordachita, Iulian I; Yan, Xiaoan; Cole, Gregory A; Fischer, Gregory S

    2011-01-01

    This paper describes a modular design approach for robotic surgical manipulator under magnetic resonance imaging (MRI) guidance. The proposed manipulator provides 2 degree of freedom (DOF) Cartesian motion and 2-DOF pitch and yaw motion. Primarily built up with dielectric materials, it utilizes parallel mechanism and is compact in size to fit into the limited space of close-bore MRI scanner. It is ideal for needle based surgical procedures which usually require positioning and orientation control for accurate imaging plane alignment. Specifically, this mechanism is easily reconfigurable to over constrained manipulator structure which provides 2-DOF Cartesian motion by simple structure modification. This modular manipulator integrated with different end-effector modules is investigated for prostate brachytherapy and neurosurgery applications as preliminary evaluation.

  8. Modular Platforms for Optofluidic Systems

    Science.gov (United States)

    Brammer, Marko; Mappes, Timo

    2014-01-01

    Optofluidics is increasingly gaining impact in a number of different fields of research, namely biology and medicine, environmental monitoring and green energy. However, the market for optofluidic products is still in the early development phase. In this manuscript, we discuss modular platforms as a potential concept to facilitate the transfer of optofluidic sensing systems to an industrial implementation. We present microfluidic and optical networks as a basis for the interconnection of optofluidic sensor modules. Finally, we show the potential for entire optofluidic networks

  9. On modular semifinite index theory

    CERN Document Server

    Kaad, Jens

    2011-01-01

    We propose a definition of a modular spectral triple which covers existing examples arising from KMS-states, Podles sphere and quantum SU(2). The definition also incorporates the notion of twisted commutators appearing in recent work of Connes and Moscovici. We show how a finitely summable modular spectral triple admits a twisted index pairing with unitaries satisfying a modular condition. The twist means that the dimensions of kernels and cokernels are measured with respect to two different but intimately related traces. The twisted index pairing can be expressed by pairing Chern characters in reduced versions of twisted cyclic theories. We end the paper by giving a local formula for the reduced Chern character in the case of quantum SU(2). It appears as a twisted coboundary of the Haar-state. In particular we present an explicit computation of the twisted index pairing arising from the sequence of corepresentation unitaries. As an important tool we construct a family of derived integration spaces associated...

  10. Towards Clinically Optimized MRI-guided Surgical Manipulator for Minimally Invasive Prostate Percutaneous Interventions: Constructive Design*

    OpenAIRE

    Eslami, Sohrab; Fischer, Gregory S.; Song, Sang-Eun; Tokuda, Junichi; Hata, Nobuhiko; Tempany, Clare M.; Iordachita, Iulian

    2013-01-01

    This paper undertakes the modular design and development of a minimally invasive surgical manipulator for MRI-guided transperineal prostate interventions. Severe constraints for the MRI-compatibility to hold the minimum artifact on the image quality and dimensions restraint of the bore scanner shadow the design procedure. Regarding the constructive design, the manipulator kinematics has been optimized and the effective analytical needle workspace is developed and followed by proposing the wor...

  11. In praise of manipulation

    NARCIS (Netherlands)

    Dowding, Keith; Van Hees, Martin

    2008-01-01

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

  12. 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

  13. Actuability of Underactuated Manipulators

    Science.gov (United States)

    1994-06-01

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

  14. Modular co-culture engineering, a new approach for metabolic engineering.

    Science.gov (United States)

    Zhang, Haoran; Wang, Xiaonan

    2016-09-01

    With the development of metabolic engineering, employment of a selected microbial host for accommodation of a designed biosynthetic pathway to produce a target compound has achieved tremendous success in the past several decades. Yet, increasing requirements for sophisticated microbial biosynthesis call for establishment and application of more advanced metabolic engineering methodologies. Recently, important progress has been made towards employing more than one engineered microbial strains to constitute synthetic co-cultures and modularizing the biosynthetic labor between the co-culture members in order to improve bioproduction performance. This emerging approach, referred to as modular co-culture engineering in this review, presents a valuable opportunity for expanding the scope of the broad field of metabolic engineering. We highlight representative research accomplishments using this approach, especially those utilizing metabolic engineering tools for microbial co-culture manipulation. Key benefits and major challenges associated with modular co-culture engineering are also presented and discussed.

  15. Cell manipulation in microfluidics.

    Science.gov (United States)

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

    2013-06-01

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

  16. Osteopathic Manipulative Treatment

    Science.gov (United States)

    Campbell, Shannon M.; Walkowski, Stevan

    2012-01-01

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

  17. Switching CAR T cells on and off: a novel modular platform for retargeting of T cells to AML blasts

    Science.gov (United States)

    Cartellieri, M; Feldmann, A; Koristka, S; Arndt, C; Loff, S; Ehninger, A; von Bonin, M; Bejestani, E P; Ehninger, G; Bachmann, M P

    2016-01-01

    The adoptive transfer of CD19-specific chimeric antigen receptor engineered T cells (CAR T cells) resulted in encouraging clinical trials in indolent B-cell malignancies. However, they also show the limitations of this fascinating technology: CAR T cells can lead to even life-threatening off-tumor, on-target side effects if CAR T cells crossreact with healthy tissues. Here, we describe a novel modular universal CAR platform technology termed UniCAR that reduces the risk of on-target side effects by a rapid and reversible control of CAR T-cell reactivity. The UniCAR system consists of two components: (1) a CAR for an inert manipulation of T cells and (2) specific targeting modules (TMs) for redirecting UniCAR T cells in an individualized time- and target-dependent manner. UniCAR T cells can be armed against different tumor targets simply by replacement of the respective TM for (1) targeting more than one antigen simultaneously or subsequently to enhance efficacy and (2) reducing the risk for development of antigen-loss tumor variants under treatment. Here we provide ‘proof of concept' for retargeting of UniCAR T cells to CD33- and/or CD123-positive acute myeloid leukemia blasts in vitro and in vivo. PMID:27518241

  18. Cyclic modular beta-sheets.

    Science.gov (United States)

    Woods, R Jeremy; Brower, Justin O; Castellanos, Elena; Hashemzadeh, Mehrnoosh; Khakshoor, Omid; Russu, Wade A; Nowick, James S

    2007-03-07

    The development of peptide beta-hairpins is problematic, because folding depends on the amino acid sequence and changes to the sequence can significantly decrease folding. Robust beta-hairpins that can tolerate such changes are attractive tools for studying interactions involving protein beta-sheets and developing inhibitors of these interactions. This paper introduces a new class of peptide models of protein beta-sheets that addresses the problem of separating folding from the sequence. These model beta-sheets are macrocyclic peptides that fold in water to present a pentapeptide beta-strand along one edge; the other edge contains the tripeptide beta-strand mimic Hao [JACS 2000, 122, 7654] and two additional amino acids. The pentapeptide and Hao-containing peptide strands are connected by two delta-linked ornithine (deltaOrn) turns [JACS 2003, 125, 876]. Each deltaOrn turn contains a free alpha-amino group that permits the linking of individual modules to form divalent beta-sheets. These "cyclic modular beta-sheets" are synthesized by standard solid-phase peptide synthesis of a linear precursor followed by solution-phase cyclization. Eight cyclic modular beta-sheets 1a-1h containing sequences based on beta-amyloid and macrophage inflammatory protein 2 were synthesized and characterized by 1H NMR. Linked cyclic modular beta-sheet 2, which contains two modules of 1b, was also synthesized and characterized. 1H NMR studies show downfield alpha-proton chemical shifts, deltaOrn delta-proton magnetic anisotropy, and NOE cross-peaks that establish all compounds but 1c and 1g to be moderately or well folded into a conformation that resembles a beta-sheet. Pulsed-field gradient NMR diffusion experiments show little or no self-association at low (

  19. Modular Robotics in an African Context

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop

    2011-01-01

    In this paper, we review the concept, development and use of modular robotic devices for education, health improvements, and business in Africa. The modular robotics inspired technology has the advantage of allowing any user easy access to a physical construction of new and advanced technology. We...... conceptualized several educational tools inspired by modular robotics for contextualized IT education in Tanzania, leading to a novel IT degree program and the development of East Africa’s first science and business park in Iringa, Tanzania. The prototypes inspired by modular robotics were developed in the local......, rural context and tested by local users in hospitals and rehabilitation centres. In this paper, we review the development of both modular building blocks for education and modular robotic tiles for rehabilitation in Tanzania....

  20. (Automated) software modularization using community detection

    DEFF Research Database (Denmark)

    Hansen, Klaus Marius; Manikas, Konstantinos

    2015-01-01

    detection algorithm of Reichardt and Bornholdt improved community quality for all systems, that coupling decreased for 99 of the systems, and that coherence increased for 102 of the systems. Furthermore, the modularity function correlates with existing metrics for coupling and coherence.......The modularity of a software system is known to have an effect on, among other, development effort, change impact, and technical debt. Modularizing a specific system and evaluating this modularization is, however, challenging. In this paper, we apply community detection methods to the graph...... of class dependencies in software systems to find optimal modularizations through communities. We evaluate this approach through a study of 111 Java systems contained in the Qualitas Corpus. We found that using the modularity function of Newman with an Erdős-Rényi null-model and using the community...

  1. Modular Design in Treaty Verification Equipment

    Energy Technology Data Exchange (ETDEWEB)

    Macarthur, Duncan Whittemore [Los Alamos National Lab. (LANL), Los Alamos, NM (United States); Benz, Jacob [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Tolk, Keith [Milagro Consulting, Albuquerque, NM (United States); Weber, Tom [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

    2015-01-27

    It is widely believed that modular design is a good thing. However, there are often few explicit arguments, or even an agreed range of definitions, to back up this belief. In this paper, we examine the potential range of design modularity, the implications of various amounts of modularity, and the advantages and disadvantages of each level of modular construction. We conclude with a comparison of the advantages and disadvantages of each type, as well as discuss many caveats that should be observed to take advantage of the positive features of modularity and minimize the effects of the negative. The tradeoffs described in this paper will be evaluated during the conceptual design to determine what amount of modularity should be included.

  2. Spintronic device modeling and evaluation using modular approach to spintronics

    Science.gov (United States)

    Ganguly, Samiran

    Spintronics technology finds itself in an exciting stage today. Riding on the backs of rapid growth and impressive advances in materials and phenomena, it has started to make headway in the memory industry as solid state magnetic memories (STT-MRAM) and is considered a possible candidate to replace the CMOS when its scaling reaches physical limits. It is necessary to bring all these advances together in a coherent fashion to explore and evaluate the potential of spintronic devices. This work creates a framework for this exploration and evaluation based on Modular Approach to Spintronics, which encapsulate the physics of transport of charge and spin through materials and the phenomenology of magnetic dynamics and interaction in benchmarked elemental modules. These modules can then be combined together to form spin-circuit models of complex spintronic devices and structures which can be simulated using SPICE like circuit simulators. In this work we demonstrate how Modular Approach to Spintronics can be used to build spin-circuit models of functional spintronic devices of all types: memory, logic, and oscillators. We then show how Modular Approach to Spintronics can help identify critical factors behind static and dynamic dissipation in spintronic devices and provide remedies by exploring the use of various alternative materials and phenomena. Lastly, we show the use of Modular Approach to Spintronics in exploring new paradigms of computing enabled by the inherent physics of spintronic devices. We hope that this work will encourage more research and experiments that will establish spintronics as a viable technology for continued advancement of electronics.

  3. Modular, Hierarchical Learning By Artificial Neural Networks

    Science.gov (United States)

    Baldi, Pierre F.; Toomarian, Nikzad

    1996-01-01

    Modular and hierarchical approach to supervised learning by artificial neural networks leads to neural networks more structured than neural networks in which all neurons fully interconnected. These networks utilize general feedforward flow of information and sparse recurrent connections to achieve dynamical effects. The modular organization, sparsity of modular units and connections, and fact that learning is much more circumscribed are all attractive features for designing neural-network hardware. Learning streamlined by imitating some aspects of biological neural networks.

  4. A Modular Rewriting Semantics for CML

    DEFF Research Database (Denmark)

    Chalub, Fabricio; Braga, Christiano de Oliveira

    2004-01-01

    This paper presents a modular rewriting semantics (MRS) specification for Reppy's Concurrent ML (CML), based on Peter Mosses' modular structural operational semantics specification for CML. A modular rewriting semantics specification for a programming language is a rewrite theory in rewriting log...... of rewriting logic, and to verify CML programs using Maude's built-in LTL model checker. It is assumed that the reader is familiar with basic concepts of structural operational semantics and algebraic specifications....

  5. Identification of drivers for modular production

    DEFF Research Database (Denmark)

    Brunoe, Thomas Ditlev; Bossen, Jacob; Nielsen, Kjeld

    2015-01-01

    Todays competitive environment in industry creates a need for companies to enhance their ability to introduce new products faster. To increase rampup speed reconfigurable manufacturing systems is a promising concept, however to implement this production platforms and modular manufacturing...... is required. This paper presents an analysis whether and which module drivers from general product development can be applied to the development process of a modular manufacturing system. The result is a compiled list of modular drivers for manufacturing and examples of their use....

  6. Sound visualization and manipulation

    CERN Document Server

    Kim, Yang-Hann

    2013-01-01

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

  7. Modularity and its effects on innovation

    DEFF Research Database (Denmark)

    Boer, Henrike Engele Elisabeth; Hansen, Poul H. Kyvsgård

    Purpose Through a discussion of the link between modularity and innovation, it is assessed whether and, then, when it is appropriate for an entrepreneur to apply modularity in his company’s innovation processes. Design/Methodology/Approach A conceptual paper, which aims to combine three theoretical...... fields: Modularity, Innovation, and Entrepreneurship Findings: Modularization can provide huge advantages for entrepreneurs. However, the true benefits can first be pursued when the product and production processes are mature enough. At this point of time the entrepreneur will need to accept more...

  8. A SCALABLE HYBRID MODULAR MULTIPLICATION ALGORITHM

    Institute of Scientific and Technical Information of China (English)

    Meng Qiang; Chen Tao; Dai Zibin; Chen Quji

    2008-01-01

    Based on the analysis of several familiar large integer modular multiplication algorithms,this paper proposes a new Scalable Hybrid modular multiplication (SHyb) algorithm which has scalable operands, and presents an RSA algorithm model with scalable key size. Theoretical analysis shows that SHyb algorithm requires m2n/2+2m iterations to complete an mn-bit modular multiplication with the application of an n-bit modular addition hardware circuit. The number of the required iterations can be reduced to a half of that of the scalable Montgomery algorithm. Consequently, the application scope of the RSA cryptosystem is expanded and its operation speed is enhanced based on SHyb algorithm.

  9. Problems in the theory of modular forms

    CERN Document Server

    Murty, M Ram; Graves, Hester

    2016-01-01

    This book introduces the reader to the fascinating world of modular forms through a problem-solving approach. As such, besides researchers, the book can be used by the undergraduate and graduate students for self-instruction. The topics covered include q-series, the modular group, the upper half-plane, modular forms of level one and higher level, the Ramanujan τ-function, the Petersson inner product, Hecke operators, Dirichlet series attached to modular forms and further special topics. It can be viewed as a gentle introduction for a deeper study of the subject. Thus, it is ideal for non-experts seeking an entry into the field. .

  10. Space CoBot: modular design of an holonomic aerial robot for indoor microgravity environments

    OpenAIRE

    Roque, Pedro; Ventura, Rodrigo

    2016-01-01

    This paper presents the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations (e.g., ISS). In particular, we target a fleet of robots, called Space CoBots, for collaborative tasks with humans, such as telepresence and cooperative mobile manipulation. The design is modular, comprising an hexrotor based propulsion system, and a stack of modules including batteries, cameras for navigation, a screen for telepresence, a robotic arm, space for exten...

  11. ADVANCED SEISMIC BASE ISOLATION METHODS FOR MODULAR REACTORS

    Energy Technology Data Exchange (ETDEWEB)

    E. Blanford; E. Keldrauk; M. Laufer; M. Mieler; J. Wei; B. Stojadinovic; P.F. Peterson

    2010-09-20

    Advanced technologies for structural design and construction have the potential for major impact not only on nuclear power plant construction time and cost, but also on the design process and on the safety, security and reliability of next generation of nuclear power plants. In future Generation IV (Gen IV) reactors, structural and seismic design should be much more closely integrated with the design of nuclear and industrial safety systems, physical security systems, and international safeguards systems. Overall reliability will be increased, through the use of replaceable and modular equipment, and through design to facilitate on-line monitoring, in-service inspection, maintenance, replacement, and decommissioning. Economics will also receive high design priority, through integrated engineering efforts to optimize building arrangements to minimize building heights and footprints. Finally, the licensing approach will be transformed by becoming increasingly performance based and technology neutral, using best-estimate simulation methods with uncertainty and margin quantification. In this context, two structural engineering technologies, seismic base isolation and modular steel-plate/concrete composite structural walls, are investigated. These technologies have major potential to (1) enable standardized reactor designs to be deployed across a wider range of sites, (2) reduce the impact of uncertainties related to site-specific seismic conditions, and (3) alleviate reactor equipment qualification requirements. For Gen IV reactors the potential for deliberate crashes of large aircraft must also be considered in design. This report concludes that base-isolated structures should be decoupled from the reactor external event exclusion system. As an example, a scoping analysis is performed for a rectangular, decoupled external event shell designed as a grillage. This report also reviews modular construction technology, particularly steel-plate/concrete construction using

  12. Development of a Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

    Science.gov (United States)

    Doggett, William R.; Dorsey, John T.; Jones, Thomas C.; King, Bruce

    2014-01-01

    An invention of a new and novel space robotic manipulator is described. By using a combination of lightweight truss links, a novel hinge joint, tendon-articulation and passive tension stiffening, this new robotic manipulator architecture achieves compact packaging, high strength, stiffness and dexterity while being very lightweight compared to conventional manipulators. The manipulator is also very modular; easy to scale for different reach, load and stiffness requirements; enabling customization for a diverse set of applications. Novel features of the new manipulator concept are described as well as some of the approaches to implement these design features. Two diverse applications are presented to show the versatility of the concept. First generation prototype hardware was designed, manufactured and has been assembled into a working manipulator that is being used to refine and extend development efforts.

  13. Functional annotation of hierarchical modularity.

    Directory of Open Access Journals (Sweden)

    Kanchana Padmanabhan

    Full Text Available In biological networks of molecular interactions in a cell, network motifs that are biologically relevant are also functionally coherent, or form functional modules. These functionally coherent modules combine in a hierarchical manner into larger, less cohesive subsystems, thus revealing one of the essential design principles of system-level cellular organization and function-hierarchical modularity. Arguably, hierarchical modularity has not been explicitly taken into consideration by most, if not all, functional annotation systems. As a result, the existing methods would often fail to assign a statistically significant functional coherence score to biologically relevant molecular machines. We developed a methodology for hierarchical functional annotation. Given the hierarchical taxonomy of functional concepts (e.g., Gene Ontology and the association of individual genes or proteins with these concepts (e.g., GO terms, our method will assign a Hierarchical Modularity Score (HMS to each node in the hierarchy of functional modules; the HMS score and its p-value measure functional coherence of each module in the hierarchy. While existing methods annotate each module with a set of "enriched" functional terms in a bag of genes, our complementary method provides the hierarchical functional annotation of the modules and their hierarchically organized components. A hierarchical organization of functional modules often comes as a bi-product of cluster analysis of gene expression data or protein interaction data. Otherwise, our method will automatically build such a hierarchy by directly incorporating the functional taxonomy information into the hierarchy search process and by allowing multi-functional genes to be part of more than one component in the hierarchy. In addition, its underlying HMS scoring metric ensures that functional specificity of the terms across different levels of the hierarchical taxonomy is properly treated. We have evaluated our

  14. Geometric Kac-Moody Modularity

    CERN Document Server

    Lynker, M; Lynker, Monika; Schimmrigk, Rolf

    2004-01-01

    It is shown how the arithmetic structure of algebraic curves encoded in the Hasse-Weil L-function can be related to affine Kac-Moody algebras. This result is useful in relating the arithmetic geometry of Calabi-Yau varieties to the underlying exactly solvable theory. In the case of the genus three Fermat curve we identify the Hasse-Weil L-function with the Mellin transform of the twist of a number theoretic modular form derived from the string function of a non-twisted affine Lie algebra. The twist character is associated to the number field of quantum dimensions of the conformal field theory.

  15. Modular training for career counsellors

    Directory of Open Access Journals (Sweden)

    Maruša Goršak

    2015-12-01

    Full Text Available Exactly ten years have passed since first attempts were made in Slovenia to establish a comprehensive and formalized educational program for counsellors working in the field of lifelong career guidance. In the past, organizations providing (career guidance services have established their own non-formal employee trainings. A step forward has been made under the framework of the project “National coordination point for lifelong career guidance”, which enabled the implementation of the first joint training for (career guidance counsellors, called Modular training of career counsellors.

  16. Manipulation by physiotherapists.

    Science.gov (United States)

    Cyriax, J

    1970-03-01

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

  17. Dielectrophoresis for Bioparticle Manipulation

    Directory of Open Access Journals (Sweden)

    Cheng Qian

    2014-10-01

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

  18. 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.

  19. A Modular Re-configurable Rover System

    Science.gov (United States)

    Bouloubasis, A.; McKee, G.; Active Robotics Lab

    In this paper we present the novel concepts incorporated in a planetary surface exploration rover design that is currently under development. The Multitasking Rover (MTR) aims to demonstrate functionality that will cover many of the current and future needs such as rough-terrain mobility, modularity and upgradeability [1]. The rover system has enhanced mobility characteristics. It operates in conjunction with Science Packs (SPs) and Tool Packs (TPs) - modules attached to the main frame of the rover, which are either special tools or science instruments and alter the operation capabilities of the system. To date, each rover system design is very much task driven for example, the scenario of cooperative transportation of extended payloads [2], comprises two rovers each equipped with a manipulator dedicated to the task [3]. The MTR approach focuses mostly on modularity and upgradeability presenting at the same time a fair amount of internal re-configurability for the sake of rough terrain stability. The rover itself does not carry any scientific instruments or tools. To carry out the scenario mentioned above, the MTR would have to locate and pick-up a TP with the associated manipulator. After the completion of the task the TP could be put away to a storage location enabling the rover to utilize a different Pack. The rover will not only offer mobility to these modules, but also use them as tools, transforming its role and functionality. The advantage of this approach is that instead of sending a large number of rovers to perform a variety of tasks, a smaller number of MTRs could be deployed with a large number of SPs/TPs, offering multiples of the functionality at a reduced payload. Two SPs or TPs (or a combination of) can be carried and deployed. One of the key elements in the design of the four wheeled rover, lies within its suspension system. It comprises a linear actuator located within each leg and also an active differential linking the two shoulders. This novel

  20. Clermont Ferrand uterine manipulator.

    Science.gov (United States)

    Nassif, Joseph; Wattiez, Arnaud

    2010-10-01

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

  1. Experience in the modular teaching of the integrated course of metabolism and energy

    Institute of Scientific and Technical Information of China (English)

    Jian HUANG; Qian LI; Xue-mei TONG; Rong YANG; Ping ZHANG

    2015-01-01

    The teaching of eight-year clinical medicine program of Shanghai Jiao Tong University School of Medicine was reformed since 2009 to replace the traditional teaching model with modular teaching. As one of reformed courses,the metabolism and energy course combines biochemistry and physiology related knowledge points and endeavors to overcome shortcomings of traditional basic medical knowledge education,such as simple learning contents,isolation between basic medicine and clinical medicine,simple teaching methods of teachers,and passive learning methods of students. After 6 years of teaching practice,the new teaching model has been recognized by both teachers and students and the teaching quality improves comprehensively,but there are still some shortcomings that need to be overcome. This paper summarizes the gain and loss of the modular teaching of integrated course of metabolism and energy,so as to provide reference for extending the reform of modular teaching and further improving the teaching quality.

  2. Compactification of Drinfeld modular varieties and Drinfeld Modular Forms of Arbitrary Rank

    CERN Document Server

    Pink, Richard

    2010-01-01

    We give an abstract characterization of the Satake compactification of a general Drinfeld modular variety. We prove that it exists and is unique up to unique isomorphism, though we do not give an explicit stratification by Drinfeld modular varieties of smaller rank which is also expected. We construct a natural ample invertible sheaf on it, such that the global sections of its $k$-th power form the space of (algebraic) Drinfeld modular forms of weight~$k$. We show how the Satake compactification and modular forms behave under all natural morphisms between Drinfeld modular varieties; in particular we define Hecke operators. We give explicit results in some special cases.

  3. Development of A Deep Ocean Electric Autonomous Manipulator

    Institute of Scientific and Technical Information of China (English)

    XIAO Zhi-hu; XU Guo-hua; PENG Fu-yuan; TANG Guo-yuan; SHEN Xiong; YANG Bo

    2011-01-01

    This paper describes an underwater 3500 m electric manipulator(named Huahai-4E,stands for four functions deep ocean electric manipulator in China),which has been developed at underwater manipulation technology lab in Huazhong University of Science and Technology(HUST)for a test bed of studying of deep ocean manipulation technologies.The manipulator features modular integration joints, and layered architecture control system.The oil-filled,pressure-compensated joint is compactly designed and integrated of a permanent magnet(PM)brushless motor,a drive circuit,a harmonic gear and an angular feedback potentiometer.The underwater control system is based on a network and consisted of three embedded PC/104 computers which are used for servo control,task plan and target sensor respectively.They communicate through User Datagram Protocol(UDP)multicast communication in Vxworks OS.A supervisor PC with a virtual 3D GUI is fiber linked to underwater control system.Furthermore,the manipulator is equipped with a sensor system including a unique ultra-sonic probe array and an underwater camera.Autonomous grasp strategy based multi-sensor is studied.The results of watertight test in 40 MPa,joint's efficiency test and autonomous grasp experiments in tank are also presented.

  4. Modularity, noise, and natural selection.

    Science.gov (United States)

    Marroig, Gabriel; Melo, Diogo A R; Garcia, Guilherme

    2012-05-01

    Most biological systems are formed by component parts that are to some degree interrelated. Groups of parts that are more associated among themselves and are relatively autonomous from others are called modules. One of the consequences of modularity is that biological systems usually present an unequal distribution of the genetic variation among traits. Estimating the covariance matrix that describes these systems is a difficult problem due to a number of factors such as poor sample sizes and measurement errors. We show that this problem will be exacerbated whenever matrix inversion is required, as in directional selection reconstruction analysis. We explore the consequences of varying degrees of modularity and signal-to-noise ratio on selection reconstruction. We then present and test the efficiency of available methods for controlling noise in matrix estimates. In our simulations, controlling matrices for noise vastly improves the reconstruction of selection gradients. We also perform an analysis of selection gradients reconstruction over a New World Monkeys skull database to illustrate the impact of noise on such analyses. Noise-controlled estimates render far more plausible interpretations that are in full agreement with previous results. © 2012 The Author(s). Evolution© 2012 The Society for the Study of Evolution.

  5. Decentralized and Modular Electrical Architecture

    Science.gov (United States)

    Elisabelar, Christian; Lebaratoux, Laurence

    2014-08-01

    This paper presents the studies made on the definition and design of a decentralized and modular electrical architecture that can be used for power distribution, active thermal control (ATC), standard inputs-outputs electrical interfaces.Traditionally implemented inside central unit like OBC or RTU, these interfaces can be dispatched in the satellite by using MicroRTU.CNES propose a similar approach of MicroRTU. The system is based on a bus called BRIO (Bus Réparti des IO), which is composed, by a power bus and a RS485 digital bus. BRIO architecture is made with several miniature terminals called BTCU (BRIO Terminal Control Unit) distributed in the spacecraft.The challenge was to design and develop the BTCU with very little volume, low consumption and low cost. The standard BTCU models are developed and qualified with a configuration dedicated to ATC, while the first flight model will fly on MICROSCOPE for PYRO actuations and analogue acquisitions. The design of the BTCU is made in order to be easily adaptable for all type of electric interface needs.Extension of this concept is envisaged for power conditioning and distribution unit, and a Modular PCDU based on BRIO concept is proposed.

  6. Modular polynomials via isogeny volcanoes

    CERN Document Server

    Broker, Reinier; Sutherland, Andrew V

    2010-01-01

    We present a new algorithm to compute the classical modular polynomial Phi_n in the rings Z[X,Y] and (Z/mZ)[X,Y], for a prime n and any positive integer m. Our approach uses the graph of n-isogenies to efficiently compute Phi_n mod p for many primes p of a suitable form, and then applies the Chinese Remainder Theorem (CRT). Under the Generalized Riemann Hypothesis (GRH), we achieve an expected running time of O(n^3 (log n)^3 log log n), and compute Phi_n mod m using O(n^2 (log n)^2 + n^2 log m) space. We have used the new algorithm to compute Phi_n with n over 5000, and Phi_n mod m with n over 20000. We also consider several modular functions g for which Phi_n^g is smaller than Phi_n, allowing us to handle n over 60000.

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

    Science.gov (United States)

    Cohan, Steve

    1991-01-01

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

  8. Modular invariance and the fusion algebra

    Science.gov (United States)

    Dijkgraaf, Robbert; Verlinde, Erik

    1988-12-01

    We discuss the relation between modular transformations and the fusion algebra, and explain its proof. It is shown that the existence of off-diagonal modular invariant partition functions imply the existence of a non-trivial automorphism of the fusion algebra. This is illustrated using the SU(2) affine models.

  9. Algebra and Arithmetic of Modular Forms

    DEFF Research Database (Denmark)

    Rustom, Nadim

    In [Rus14b] and [Rus14a], we study graded rings of modular forms over congruence subgroups, with coefficients in subrings A of C, and determine bounds of the weights of modular forms constituting a minimal set of generators, as well as on the degree of the generators of the ideal of relations bet...

  10. A Modular Laser Graphics Projection System

    Science.gov (United States)

    Newswanger, Craig D.

    1984-05-01

    WED Enterprises has designed and built a modular projection system for the presentation of animated laser shows. This system was designed specifically for use in Disney theme shows. Its modular design allows it to be adapted to many show situations with simple hardware and software adjustments. The primary goals were superior animation, long life, low maintenance and stand alone operation.

  11. Modular bootstrap in Liouville field theory

    Energy Technology Data Exchange (ETDEWEB)

    Hadasz, Leszek, E-mail: hadasz@th.if.uj.edu.p [M. Smoluchowski Institute of Physics, Jagiellonian University, Reymonta 4, 30-059 Krakow (Poland); Jaskolski, Zbigniew, E-mail: jask@ift.uni.wroc.p [Institute of Theoretical Physics, University of Wroclaw, pl. M. Borna, 50-204 Wroclaw (Poland); Suchanek, Paulina, E-mail: paulina@ift.uni.wroc.p [Institute of Theoretical Physics, University of Wroclaw, pl. M. Borna, 50-204 Wroclaw (Poland)

    2010-02-22

    The modular matrix for the generic 1-point conformal blocks on the torus is expressed in terms of the fusion matrix for the 4-point blocks on the sphere. The modular invariance of the toric 1-point functions in the Liouville field theory with DOZZ structure constants is proved.

  12. Modular bootstrap in Liouville field theory

    CERN Document Server

    Hadasz, Leszek; Suchanek, Paulina

    2009-01-01

    The modular matrix for the generic 1-point conformal blocks on the torus is expressed in terms of the fusion matrix for the 4-point blocks on the sphere. The modular invariance of the toric 1-point functions in the Liouville field theory with DOZZ structure constants is proved.

  13. Analytic properties of the Virasoro modular kernel

    CERN Document Server

    Nemkov, Nikita

    2016-01-01

    On the space of generic conformal blocks the modular transformation of the underlying surface is realized as a linear integral transformation. We show that the analytic properties of conformal block implied by Zamolodchikov's formula are shared by the kernel of the modular transformation and illustrate this by explicit computation in the case of the one-point toric conformal block.

  14. Detectability thresholds of general modular graphs

    CERN Document Server

    Kawamoto, Tatsuro

    2016-01-01

    We investigate the detectability thresholds of various modular structures in the stochastic block model. Our analysis reveals how the detectability threshold is related to the details of the modular pattern, including the hierarchy of the clusters. We show that certain planted structures are impossible to infer regardless of their fuzziness.

  15. Modular Construction: The Wave of the Future.

    Science.gov (United States)

    Savage, Chuck

    1989-01-01

    Modular construction of school buildings offers speed of construction, with 100 percent contractor responsibility for the completed structures. Under negotiated terms, modular projects can be purchased outright or through long-term leasing arrangements that provide ownership at the end of the lease period. (MLF)

  16. Mapping Modular SOS to Rewriting Logic

    DEFF Research Database (Denmark)

    Braga, Christiano de Oliveira; Haeusler, Edward Hermann; Meseguer, José;

    2003-01-01

    Modular SOS (MSOS) is a framework created to improve the modularity of structural operational semantics specifications, a formalism frequently used in the fields of programming languages semantics and process algebras. With the objective of defining formal tools to support the execution and verif...

  17. Complex Convexity of Orlicz Modular Sequence Spaces

    Directory of Open Access Journals (Sweden)

    Lili Chen

    2016-01-01

    Full Text Available The concepts of complex extreme points, complex strongly extreme points, complex strict convexity, and complex midpoint locally uniform convexity in general modular spaces are introduced. Then we prove that, for any Orlicz modular sequence space lΦ,ρ, lΦ,ρ is complex midpoint locally uniformly convex. As a corollary, lΦ,ρ is also complex strictly convex.

  18. Analytic properties of the Virasoro modular kernel

    Energy Technology Data Exchange (ETDEWEB)

    Nemkov, Nikita [Moscow Institute of Physics and Technology (MIPT), Dolgoprudny (Russian Federation); Institute for Theoretical and Experimental Physics (ITEP), Moscow (Russian Federation); National University of Science and Technology MISIS, The Laboratory of Superconducting metamaterials, Moscow (Russian Federation)

    2017-06-15

    On the space of generic conformal blocks the modular transformation of the underlying surface is realized as a linear integral transformation. We show that the analytic properties of conformal block implied by Zamolodchikov's formula are shared by the kernel of the modular transformation and illustrate this by explicit computation in the case of the one-point toric conformal block. (orig.)

  19. The Algorithmic Complexity of Modular Decomposition

    NARCIS (Netherlands)

    J.C. Bioch (Cor)

    2001-01-01

    textabstractModular decomposition is a thoroughly investigated topic in many areas such as switching theory, reliability theory, game theory and graph theory. We propose an O(mn)-algorithm for the recognition of a modular set of a monotone Boolean function f with m prime implicants and n variables.

  20. Algebra and Arithmetic of Modular Forms

    DEFF Research Database (Denmark)

    Rustom, Nadim

    In [Rus14b] and [Rus14a], we study graded rings of modular forms over congruence subgroups, with coefficients in subrings A of C, and determine bounds of the weights of modular forms constituting a minimal set of generators, as well as on the degree of the generators of the ideal of relations bet...

  1. Modular Power Architectures for Microgrid Clusters

    DEFF Research Database (Denmark)

    Lin, Hengwei; Liu, Leo; Guerrero, Josep M.

    2014-01-01

    . The user-frame concept proposed here when designing microgrids considers that the end-user is the basis for the geographical deployment. Meanwhile, a modular user-oriented approach is adopted in order to enhance reliability and expansibility. Finally, a unified dispatching and hierarchical management...... approach is proposed and evaluated to effectively optimize and manage modular microgrid architectures....

  2. Modularity bounds for clusters located by leading eigenvectors of the normalized modularity matrix

    CERN Document Server

    Fasino, Dario

    2016-01-01

    Nodal theorems for generalized modularity matrices ensure that the cluster located by the positive entries of the leading eigenvector of various modularity matrices induces a connected subgraph. In this paper we obtain lower bounds for the modularity of that set of nodes showing that, under certain conditions, the nodal domains induced by eigenvectors corresponding to highly positive eigenvalues of the normalized modularity matrix have indeed positive modularity, that is they can be recognized as modules inside the network. Moreover we establish Cheeger-type inequalities for the cut-modularity of the graph, providing a theoretical support to the common understanding that highly positive eigenvalues of modularity matrices are related with the possibility of subdividing a network into communities.

  3. A Formal Theory for Modular ERDF Ontologies

    Science.gov (United States)

    Analyti, Anastasia; Antoniou, Grigoris; Damásio, Carlos Viegas

    The success of the Semantic Web is impossible without any form of modularity, encapsulation, and access control. In an earlier paper, we extended RDF graphs with weak and strong negation, as well as derivation rules. The ERDF #n-stable model semantics of the extended RDF framework (ERDF) is defined, extending RDF(S) semantics. In this paper, we propose a framework for modular ERDF ontologies, called modular ERDF framework, which enables collaborative reasoning over a set of ERDF ontologies, while support for hidden knowledge is also provided. In particular, the modular ERDF stable model semantics of modular ERDF ontologies is defined, extending the ERDF #n-stable model semantics. Our proposed framework supports local semantics and different points of view, local closed-world and open-world assumptions, and scoped negation-as-failure. Several complexity results are provided.

  4. Modular Product Families and Assembly Systems

    DEFF Research Database (Denmark)

    Thyssen, Jesper

    2005-01-01

    This research centres on assembly systems designed for utilizing product modularization. Altogether, the task for companies has become an issue of managing the overall trade-off between the external market’s desire for variety and the internal efficiency and effectiveness. Product modularization...... of the rela-tionship between variables associated with configuration of modular product families and the interacting assembly system. One core result is the development of a system model based on the longitudinal case study incorporating both structural and performance elements. Based on the system model......) the mix flexible con-figuration focusing on the simultaneous product variety. These two views are in particular different in respect to the understanding of product modularization. All in all, modularization needs to be, and can be, configured in regard to the specific task, which is believed constituting...

  5. Synthesizing Modular Invariants for Synchronous Code

    Directory of Open Access Journals (Sweden)

    Pierre-Loic Garoche

    2014-12-01

    Full Text Available In this paper, we explore different techniques to synthesize modular invariants for synchronous code encoded as Horn clauses. Modular invariants are a set of formulas that characterizes the validity of predicates. They are very useful for different aspects of analysis, synthesis, testing and program transformation. We describe two techniques to generate modular invariants for code written in the synchronous dataflow language Lustre. The first technique directly encodes the synchronous code in a modular fashion. While in the second technique, we synthesize modular invariants starting from a monolithic invariant. Both techniques, take advantage of analysis techniques based on property-directed reachability. We also describe a technique to minimize the synthesized invariants.

  6. Modularity maximization using completely positive programming

    Science.gov (United States)

    Yazdanparast, Sakineh; Havens, Timothy C.

    2017-04-01

    Community detection is one of the most prominent problems of social network analysis. In this paper, a novel method for Modularity Maximization (MM) for community detection is presented which exploits the Alternating Direction Augmented Lagrangian (ADAL) method for maximizing a generalized form of Newman's modularity function. We first transform Newman's modularity function into a quadratic program and then use Completely Positive Programming (CPP) to map the quadratic program to a linear program, which provides the globally optimal maximum modularity partition. In order to solve the proposed CPP problem, a closed form solution using the ADAL merged with a rank minimization approach is proposed. The performance of the proposed method is evaluated on several real-world data sets used for benchmarks community detection. Simulation results shows the proposed technique provides outstanding results in terms of modularity value for crisp partitions.

  7. Finding network communities using modularity density

    Science.gov (United States)

    Botta, Federico; del Genio, Charo I.

    2016-12-01

    Many real-world complex networks exhibit a community structure, in which the modules correspond to actual functional units. Identifying these communities is a key challenge for scientists. A common approach is to search for the network partition that maximizes a quality function. Here, we present a detailed analysis of a recently proposed function, namely modularity density. We show that it does not incur in the drawbacks suffered by traditional modularity, and that it can identify networks without ground-truth community structure, deriving its analytical dependence on link density in generic random graphs. In addition, we show that modularity density allows an easy comparison between networks of different sizes, and we also present some limitations that methods based on modularity density may suffer from. Finally, we introduce an efficient, quadratic community detection algorithm based on modularity density maximization, validating its accuracy against theoretical predictions and on a set of benchmark networks.

  8. Design and Control of Modular Spine-Like Tensegrity Structures

    Science.gov (United States)

    Mirletz, Brian T.; Park, In-Won; Flemons, Thomas E.; Agogino, Adrian K.; Quinn, Roger D.; SunSpiral, Vytas

    2014-01-01

    We present a methodology enabled by the NASA Tensegrity Robotics Toolkit (NTRT) for the rapid structural design of tensegrity robots in simulation and an approach for developing control systems using central pattern generators, local impedance controllers, and parameter optimization techniques to determine effective locomotion strategies for the robot. Biomimetic tensegrity structures provide advantageous properties to robotic locomotion and manipulation tasks, such as their adaptability and force distribution properties, flexibility, energy efficiency, and access to extreme terrains. While strides have been made in designing insightful static biotensegrity structures, gaining a clear understanding of how a particular structure can efficiently move has been an open problem. The tools in the NTRT enable the rapid exploration of the dynamics of a given morphology, and the links between structure, controllability, and resulting gait efficiency. To highlight the effectiveness of the NTRT at this exploration of morphology and control, we will provide examples from the designs and locomotion of four different modular spine-like tensegrity robots.

  9. Shoulder Joint Replacement

    Science.gov (United States)

    ... Shoulder Replacement Options Shoulder replacement surgery is highly technical. It should be performed by a surgical team ... area and will meet a doctor from the anesthesia department. You, your anesthesiologist, and your surgeon will ...

  10. Partial knee replacement - slideshow

    Science.gov (United States)

    ... page: //medlineplus.gov/ency/presentations/100225.htm Partial knee replacement - series—Normal anatomy To use the sharing ... A.M. Editorial team. Related MedlinePlus Health Topics Knee Replacement A.D.A.M., Inc. is accredited ...

  11. Modular construction of mammalian gene circuits using TALE transcriptional repressors.

    Science.gov (United States)

    Li, Yinqing; Jiang, Yun; Chen, He; Liao, Weixi; Li, Zhihua; Weiss, Ron; Xie, Zhen

    2015-03-01

    An important goal of synthetic biology is the rational design and predictable implementation of synthetic gene circuits using standardized and interchangeable parts. However, engineering of complex circuits in mammalian cells is currently limited by the availability of well-characterized and orthogonal transcriptional repressors. Here, we introduce a library of 26 reversible transcription activator-like effector repressors (TALERs) that bind newly designed hybrid promoters and exert transcriptional repression through steric hindrance of key transcriptional initiation elements. We demonstrate that using the input-output transfer curves of our TALERs enables accurate prediction of the behavior of modularly assembled TALER cascade and switch circuits. We also show that TALER switches using feedback regulation exhibit improved accuracy for microRNA-based HeLa cancer cell classification versus HEK293 cells. Our TALER library is a valuable toolkit for modular engineering of synthetic circuits, enabling programmable manipulation of mammalian cells and helping elucidate design principles of coupled transcriptional and microRNA-mediated post-transcriptional regulation.

  12. A modular dexterous robot for glove box applications

    Energy Technology Data Exchange (ETDEWEB)

    Walker, E.W. Jr.; Igou, R.E. [Martin Marietta Energy Systems, Inc., Oak Ridge, TN (United States); Karlen, J.P.; Kowalski, K.A.; Eismann, P.H. [Robotics Research Corp., Amelia, OH (United States)

    1994-11-01

    Many industrial processes today require the use of {open_quotes}glove boxes{close_quotes} {emdash} environmentally sealed chambers designed to allow access by human workers through ports fitted with protective gloves. A new technology for the automation of complex material-handling functions is described in this paper. The advantages of an agile robotic manipulator system being used in this application are discussed, including reduced life-cycle cost of automation, enhanced ability to respond to changes in process requirements, and improved reliability and maintainability. This paper also reviews lessons learned in applying an highly dexterous modular robot to a glove box environment, such as the evaluation of arm kinematics to achieve the required work envelope, system payload capacity, methods for automated tooling changes, tolerance of the arm mechanism and electronics to exposure to industrial chemicals and an argon atmosphere, the benefits of arm modularity for system maintenance, safety concerns, the integration of high-level control technology and off-line development of process motion sequences.

  13. Small Modular Reactors: Institutional Assessment

    Energy Technology Data Exchange (ETDEWEB)

    Joseph Perkowski, Ph.D.

    2012-06-01

    ? Objectives include, among others, a description of the basic development status of “small modular reactors” (SMRs) focused primarily on domestic activity; investigation of the domestic market appeal of modular reactors from the viewpoints of both key energy sector customers and also key stakeholders in the financial community; and consideration of how to proceed further with a pro-active "core group" of stakeholders substantially interested in modular nuclear deployment in order to provide the basis to expedite design/construction activity and regulatory approval. ? Information gathering was via available resources, both published and personal communications with key individual stakeholders; published information is limited to that already in public domain (no confidentiality); viewpoints from interviews are incorporated within. Discussions at both government-hosted and private-hosted SMR meetings are reflected herein. INL itself maintains a neutral view on all issues described. Note: as per prior discussion between INL and CAP, individual and highly knowledgeable senior-level stakeholders provided the bulk of insights herein, and the results of those interviews are the main source of the observations of this report. ? Attachment A is the list of individual stakeholders consulted to date, including some who provided significant earlier assessments of SMR institutional feasibility. ? Attachments B, C, and D are included to provide substantial context on the international status of SMR development; they are not intended to be comprehensive and are individualized due to the separate nature of the source materials. Attachment E is a summary of the DOE requirements for winning teams regarding the current SMR solicitation. Attachment F deserves separate consideration due to the relative maturity of the SMART SMR program underway in Korea. Attachment G provides illustrative SMR design features and is intended for background. Attachment H is included for overview

  14. 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...

  15. Modular generation of fluorescent phycobiliproteins.

    Science.gov (United States)

    Wu, Xian-Jun; Chang, Kun; Luo, Juan; Zhou, Ming; Scheer, Hugo; Zhao, Kai-Hong

    2013-06-01

    Phycobiliproteins are brightly-fluorescent light-harvesting pigments for photosynthesis in cyanobacteria and red algae. They are also of interest as fluorescent biomarkers, but their heterologous generation in vivo has previously required multiple transformations. We report here a modular approach that requires only two DNA segments. The first codes for the apo-protein. The second codes for fusions capable of chromophore biosynthesis and its covalent attachment to the apo-protein; it contains the genes of heme oxygenase, a bilin reductase, and a chromophore lyase. Phycobiliproteins containing phycoerythrobilin (λ(fluor) ~ 560 nm), phycourobilin (λ(fluor) ~ 500 nm), phycocyanobilin (λ(fluor) ~ 630 nm) or phycoviolobilin (λ(fluor) ~ 580 nm) were obtained in high yield in E. coli. This approach facilitates chromophorylation studies of phycobiliproteins, as well as their use for fluorescence labeling based on their high fluorescence.

  16. Analytical Spectroscopy Using Modular Systems

    Science.gov (United States)

    Patterson, Brian M.; Danielson, Neil D.; Lorigan, Gary A.; Sommer, André J.

    2003-12-01

    This article describes the development of three analytical spectroscopy experiments that compare the determination of salicylic acid (SA) content in aspirin tablets. The experiments are based on UV vis, fluorescence, and Raman spectroscopies and utilize modular spectroscopic components. Students assemble their own instruments, optimize them with respect to signal-to-noise, generate calibration curves, determine the SA content in retail aspirin tablets, and assign features in the respective spectra to functional groups within the active material. Using this approach in the discovery-based setting, the students gain invaluable insight into method-specific parameters, such as instrumental components, sample preparation, and analytical capability. In addition, the students learn the fundamentals of fiber optics and signal processing using the low-cost CCD based spectroscopic components.

  17. Modular construction of dynamic nucleodendrimers.

    Science.gov (United States)

    Abet, Valentina; Evans, Robert; Guibbal, Florian; Caldarelli, Stefano; Rodriguez, Raphaël

    2014-05-01

    Isoguanosine-containing dendritic small molecules self-assemble into decameric nucleodendrimers as observed by 1D NMR spectroscopy, 2D DOSY, and mass spectrometry. In particular, apolar building blocks readily form pentameric structures in acetonitrile while the presence of alkali metals promotes the formation of stable decameric assemblies with a preference for cesium ions. Remarkably, co-incubation of guanosine and isoguanosine-containing nucleodendrons results in the formation of decameric structures in absence of added salts. Further analysis of the mixture indicated that guanosine derivatives facilitate the formation, but are not involved in decameric structures; a process reminiscent of molecular crowding. This molecular system provides a powerful canvas for the rapid and modular assembly of polyfunctional dendritic macromolecules.

  18. 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.

  19. Spectral characterization of hierarchical network modularity and limits of modularity detection.

    Directory of Open Access Journals (Sweden)

    Somwrita Sarkar

    Full Text Available Many real world networks are reported to have hierarchically modular organization. However, there exists no algorithm-independent metric to characterize hierarchical modularity in a complex system. The main results of the paper are a set of methods to address this problem. First, classical results from random matrix theory are used to derive the spectrum of a typical stochastic block model hierarchical modular network form. Second, it is shown that hierarchical modularity can be fingerprinted using the spectrum of its largest eigenvalues and gaps between clusters of closely spaced eigenvalues that are well separated from the bulk distribution of eigenvalues around the origin. Third, some well-known results on fingerprinting non-hierarchical modularity in networks automatically follow as special cases, threreby unifying these previously fragmented results. Finally, using these spectral results, it is found that the limits of detection of modularity can be empirically established by studying the mean values of the largest eigenvalues and the limits of the bulk distribution of eigenvalues for an ensemble of networks. It is shown that even when modularity and hierarchical modularity are present in a weak form in the network, they are impossible to detect, because some of the leading eigenvalues fall within the bulk distribution. This provides a threshold for the detection of modularity. Eigenvalue distributions of some technological, social, and biological networks are studied, and the implications of detecting hierarchical modularity in real world networks are discussed.

  20. Size reduction of complex networks preserving modularity

    Energy Technology Data Exchange (ETDEWEB)

    Arenas, A.; Duch, J.; Fernandez, A.; Gomez, S.

    2008-12-24

    The ubiquity of modular structure in real-world complex networks is being the focus of attention in many trials to understand the interplay between network topology and functionality. The best approaches to the identification of modular structure are based on the optimization of a quality function known as modularity. However this optimization is a hard task provided that the computational complexity of the problem is in the NP-hard class. Here we propose an exact method for reducing the size of weighted (directed and undirected) complex networks while maintaining invariant its modularity. This size reduction allows the heuristic algorithms that optimize modularity for a better exploration of the modularity landscape. We compare the modularity obtained in several real complex-networks by using the Extremal Optimization algorithm, before and after the size reduction, showing the improvement obtained. We speculate that the proposed analytical size reduction could be extended to an exact coarse graining of the network in the scope of real-space renormalization.

  1. On modular Galois representations modulo prime powers

    CERN Document Server

    Chen, Imin; Wiese, Gabor

    2011-01-01

    We study modular Galois representations mod $p^m$. We show that there are three progressively weaker notions of modularity for a Galois representation mod $p^m$: we have named these `strongly', `weakly', and `dc-weakly' modular. Here, `dc' stands for `divided congruence' in the sense of Katz and Hida. These notions of modularity are relative to a fixed level $M$. Using results of Hida we display a `stripping-of-powers of $p$ away from the level' type of result: A mod $p^m$ strongly modular representation of some level $Np^r$ is always dc-weakly modular of level $N$ (here, $N$ is a natural number not divisible by $p$). We also study eigenforms mod $p^m$ corresponding to the above three notions. Assuming residual irreducibility, we utilize a theorem of Carayol to show that one can attach a Galois representation mod $p^m$ to any `dc-weak' eigenform, and hence to any eigenform mod $p^m$ in any of the three senses. We show that the three notions of modularity coincide when $m=1$ (as well as in other, particular ca...

  2. Specialization can drive the evolution of modularity.

    Directory of Open Access Journals (Sweden)

    Carlos Espinosa-Soto

    2010-03-01

    Full Text Available Organismal development and many cell biological processes are organized in a modular fashion, where regulatory molecules form groups with many interactions within a group and few interactions between groups. Thus, the activity of elements within a module depends little on elements outside of it. Modularity facilitates the production of heritable variation and of evolutionary innovations. There is no consensus on how modularity might evolve, especially for modules in development. We show that modularity can increase in gene regulatory networks as a byproduct of specialization in gene activity. Such specialization occurs after gene regulatory networks are selected to produce new gene activity patterns that appear in a specific body structure or under a specific environmental condition. Modules that arise after specialization in gene activity comprise genes that show concerted changes in gene activities. This and other observations suggest that modularity evolves because it decreases interference between different groups of genes. Our work can explain the appearance and maintenance of modularity through a mechanism that is not contingent on environmental change. We also show how modularity can facilitate co-option, the utilization of existing gene activity to build new gene activity patterns, a frequent feature of evolutionary innovations.

  3. Rational design of efficient modular cells.

    Science.gov (United States)

    Trinh, Cong T; Liu, Yan; Conner, David J

    2015-11-01

    The modular cell design principle is formulated to devise modular (chassis) cells. These cells can be assembled with exchangeable production modules in a plug-and-play fashion to build microbial cell factories for efficient combinatorial biosynthesis of novel molecules, requiring minimal iterative strain optimization steps. A modular cell is designed to be auxotrophic, containing core metabolic pathways that are necessary but insufficient to support cell growth and maintenance. To be functional, it must tightly couple with an exchangeable production module containing auxiliary metabolic pathways that not only complement cell growth but also enhance production of targeted molecules. We developed a MODCELL (modular cell) framework based on metabolic pathway analysis to implement the modular cell design principle. MODCELL identifies genetic modifications and requirements to construct modular cell candidates and their associated exchangeable production modules. By defining the degree of similarity and coupling metrics, MODCELL can evaluate which exchangeable production module(s) can be tightly coupled with a modular cell candidate. We first demonstrated how MODCELL works in a step-by-step manner for example metabolic networks, and then applied it to design modular Escherichia coli cells for efficient combinatorial biosynthesis of five alcohols (ethanol, propanol, isopropanol, butanol and isobutanol) and five butyrate esters (ethyl butyrate, propyl butyrate, isopropyl butyrate, butyl butyrate and isobutyl butyrate) from pentose sugars (arabinose and xylose) and hexose sugars (glucose, mannose, and galactose) under anaerobic conditions. We identified three modular cells, MODCELL1, MODCELL2 and MODCELL3, that can couple well with Group 1 of modules (ethanol, isobutanol, butanol, ethyl butyrate, isobutyl butyrate, butyl butyrate), Group 2 (isopropanol, isopropyl butyrate), and Group 3 (propanol, isopropanol), respectively. We validated the design of MODCELL1 for anaerobic

  4. Enablers & Barriers for Realizing Modularity Benefits

    DEFF Research Database (Denmark)

    Storbjerg, Simon Haahr; Brunø, Thomas Ditlev; Thyssen, Jesper

    2012-01-01

    Although modularization is becoming both a well-described domain in academia and a broadly applied concept in business, many of today’s firm still struggle to realize the promised benefits of this approach. Managing modularization is a complex matter, and in spite of this, a topic that has received...... are the organizational and systems related aspects. Recognizing the need for guidance to realize the benefits of modularity, the purpose of this study is through a literature study and a case study to improve the insight into the organizational and systems related enablers and barriers with regard to obtaining the full...

  5. Generalized epidemic process on modular networks

    CERN Document Server

    Chung, Kihong; Kim, Daniel; Ha, Meesoon; Jeong, Hawoong

    2013-01-01

    Social reinforcement and modular structure are two salient features observed in the spreading of behavior through social contacts. In order to investigate the interplay between these two features, we study the generalized epidemic process on modular networks with equal-sized finite communities and adjustable modularity. Using the analytical approach originally applied to clique-based random networks, we show that the system exhibits a bond-percolation type continuous phase transition for weak social reinforcement, whereas a discontinuous phase transition occurs for sufficiently strong social reinforcement. Our findings are numerically verified by the finite-size scaling analysis for critical behaviors and the bimodality coefficient test for discontinuous transitions.

  6. Principles for Implementing Modularity in Healthcare

    DEFF Research Database (Denmark)

    Soffers, Ruter; Meijboom, Bert; Hsuan, Juliana

    Modularity can help address urgent societal needs of cost reductions and improved patient centeredness in healthcare, but has only rarely been implemented in that sector. We propound that this is at least partially due to the lack of guidance on reorganizations of existing healthcare offerings...... in a modular way. We identify three principles to do so: 1) the service architecture should be decomposable; 2) a proper service specification process should be introduced; and 3) the presence of interfaces should be ensured. Followingthese principles should help policy makers as well as managers to implement...... modularity in existing healthcare offerings....

  7. Eigenvector dynamics under perturbation of modular networks

    CERN Document Server

    Sarkar, Somwrita; Robinson, Peter A; Fortunato, Santo

    2015-01-01

    Rotation dynamics of eigenvectors of modular network adjacency matrices under random perturbations are presented. In the presence of $q$ communities, the number of eigenvectors corresponding to the $q$ largest eigenvalues form a "community" eigenspace and rotate together, but separately from that of the "bulk" eigenspace spanned by all the other eigenvectors. Using this property, the number of modules or clusters in a network can be estimated in an algorithm-independent way. A general derivation for the theoretical detectability limit for sparse modular networks with $q$ communities is presented, beyond which modularity persists in the system but cannot be detected, and estimation results are shown to hold right to this limit.

  8. Immersed surfaces in the modular orbifold

    CERN Document Server

    Calegari, Danny

    2010-01-01

    A hyperbolic conjugacy class in the modular group PSL(2,Z) corresponds to a closed geodesic in the modular orbifold. Some of these geodesics virtually bound immersed surfaces, and some do not; the distinction is related to the polyhedral structure in the unit ball of the stable commutator length norm. We prove the following stability theorem: for every hyperbolic element of the modular group, the product of this element with a sufficiently large power of a parabolic element is represented by a geodesic that virtually bounds an immersed surface.

  9. 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.

  10. 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…

  11. 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...

  12. The Ongoing Impact of Modular Localization on Particle Theory

    Science.gov (United States)

    Schroer, Bert

    2014-08-01

    Modular localization is the concise conceptual formulation of causal localization in the setting of local quantum physics. Unlike QM it does not refer to individual operators but rather to ensembles of observables which share the same localization region, as a result it explains the probabilistic aspects of QFT in terms of the impure KMS nature arising from the local restriction of the pure vacuum. Whereas it played no important role in the perturbation theory of low spin particles, it becomes indispensible for interactions which involve higher spin s≥1 fields, where is leads to the replacement of the operator (BRST) gauge theory setting in Krein space by a new formulation in terms of stringlocal fields in Hilbert space. The main purpose of this paper is to present new results which lead to a rethinking of important issues of the Standard Model concerning massive gauge theories and the Higgs mechanism. We place these new findings into the broader context of ongoing conceptual changes within QFT which already led to new nonperturbative constructions of models of integrable QFTs. It is also pointed out that modular localization does not support ideas coming from string theory, as extra dimensions and Kaluza-Klein dimensional reductions outside quasiclassical approximations. Apart from hologarphic projections on null-surfaces, holograhic relations between QFT in different spacetime dimensions violate the causal completeness property, this includes in particular the Maldacena conjecture. Last not least, modular localization sheds light onto unsolved problems from QFT's distant past since it reveals that the Einstein-Jordan conundrum is really an early harbinger of the Unruh effect.

  13. Increased Versatility of Modular Robots through Layered Heterogeneity

    DEFF Research Database (Denmark)

    Larsen, Jørgen Christian; Støy, Kasper; Garcia, Ricardo Franco Mendoza

    2011-01-01

    This paper introduces a new class of modular robots, called: “layered heterogeneous modular robots”, which is a type of modular robot, where the functionality of a robot is modularized into three layers of heterogeneous modules: mechanics, actuation and electronics. This novel approach may make i...

  14. Modular playware as a playful diagnosis tool for autistic children

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop

    2009-01-01

    Based upon user-configurable modular robotics and design principles for modular playware, we developed modular robotic tiles to be used as playful, interactive tools for children with autism. The modular playware can make automatic documentation of the construction play activities by the autistic...

  15. Modular robotic tiles: experiments for children with autism

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Dam Pedersen, Martin; Beck, Richard

    2009-01-01

    We developed a modular robotic tile and a system composed of a number of these modular robotic tiles. The system composed of the modular robotic tiles engages the user in physical activities, e.g., physiotherapy, sports, fitness, and entertainment. The modular robotic tiles motivate the user to p...

  16. Modular optimization code package: MOZAIK

    Science.gov (United States)

    Bekar, Kursat B.

    This dissertation addresses the development of a modular optimization code package, MOZAIK, for geometric shape optimization problems in nuclear engineering applications. MOZAIK's first mission, determining the optimal shape of the D2O moderator tank for the current and new beam tube configurations for the Penn State Breazeale Reactor's (PSBR) beam port facility, is used to demonstrate its capabilities and test its performance. MOZAIK was designed as a modular optimization sequence including three primary independent modules: the initializer, the physics and the optimizer, each having a specific task. By using fixed interface blocks among the modules, the code attains its two most important characteristics: generic form and modularity. The benefit of this modular structure is that the contents of the modules can be switched depending on the requirements of accuracy, computational efficiency, or compatibility with the other modules. Oak Ridge National Laboratory's discrete ordinates transport code TORT was selected as the transport solver in the physics module of MOZAIK, and two different optimizers, Min-max and Genetic Algorithms (GA), were implemented in the optimizer module of the code package. A distributed memory parallelism was also applied to MOZAIK via MPI (Message Passing Interface) to execute the physics module concurrently on a number of processors for various states in the same search. Moreover, dynamic scheduling was enabled to enhance load balance among the processors while running MOZAIK's physics module thus improving the parallel speedup and efficiency. In this way, the total computation time consumed by the physics module is reduced by a factor close to M, where M is the number of processors. This capability also encourages the use of MOZAIK for shape optimization problems in nuclear applications because many traditional codes related to radiation transport do not have parallel execution capability. A set of computational models based on the

  17. Modular solar-heating system - design package

    Science.gov (United States)

    Sinton, D. S.

    1979-01-01

    Compilation contains design, performance, and hardware specifications in sufficient detail to fabricate or procure materials and install, operate, and maintain complete modular solar heating and hot water system for single family size dwellings.

  18. Permanent Magnet Boosted Modular Switched Reluctance Motor

    Directory of Open Access Journals (Sweden)

    SZABÓ Loránd

    2016-10-01

    Full Text Available This paper deals with the analyses of a novel motor structure obtained by boosting with permanent magnets a formerly studied modular switched reluctance motor. Upon dynamic simulation results the improvements of the proposed motor are emphasized.

  19. Modular Actuators for Space Applications Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Rocketstar Robotics is proposing the development of a modern dual drive actuator. Rocketstar has put together numerous modern concepts for modular actuators that...

  20. Volkov's Pentagon for the Modular Quantum Dilogarithm

    CERN Document Server

    Faddeev, L D

    2012-01-01

    The new form of pentagon equations suggested by Volkov for the $ q $-exponential on the basis of formal series is derived within the Hilbert space framework for the modular version of the quantum dilogarithm.

  1. Hierarchical modularity in human brain functional networks

    CERN Document Server

    Meunier, D; Fornito, A; Ersche, K D; Bullmore, E T; 10.3389/neuro.11.037.2009

    2010-01-01

    The idea that complex systems have a hierarchical modular organization originates in the early 1960s and has recently attracted fresh support from quantitative studies of large scale, real-life networks. Here we investigate the hierarchical modular (or "modules-within-modules") decomposition of human brain functional networks, measured using functional magnetic resonance imaging (fMRI) in 18 healthy volunteers under no-task or resting conditions. We used a customized template to extract networks with more than 1800 regional nodes, and we applied a fast algorithm to identify nested modular structure at several hierarchical levels. We used mutual information, 0 < I < 1, to estimate the similarity of community structure of networks in different subjects, and to identify the individual network that is most representative of the group. Results show that human brain functional networks have a hierarchical modular organization with a fair degree of similarity between subjects, I=0.63. The largest 5 modules at ...

  2. Modular, Plug and Play, Distributed Avionics Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The objective of this SBIR effort was to prove the viability of an Ethernet version of the MicroSat Systems, Inc. (MSI) modular, plug and play (PnP) spacecraft...

  3. Mapping Modular SOS to Rewriting Logic

    DEFF Research Database (Denmark)

    Braga, Christiano de Oliveira; Haeusler, Erik Hermann; Meseguer, José

    Modular SOS (MSOS) is a framework created to improve the modularity of structural operational semantics specifications, a formalism frequently used in the fields of programming languages semantics and process algebras. With the objective of defining formal tools to support the execution and verif......Modular SOS (MSOS) is a framework created to improve the modularity of structural operational semantics specifications, a formalism frequently used in the fields of programming languages semantics and process algebras. With the objective of defining formal tools to support the execution......-performance implementation of RWL. In this paper we characterize the mapping and the MSOS-SL Interpreter. The reader is assumed to have some basic knowledge of structural operational semantics and object-oriented concepts....

  4. Mapping Modular SOS to Rewriting Logic

    DEFF Research Database (Denmark)

    Braga, Christiano de Oliveira; Haeusler, Edward Hermann; Meseguer, José

    2003-01-01

    Modular SOS (MSOS) is a framework created to improve the modularity of structural operational semantics specifications, a formalism frequently used in the fields of programming languages semantics and process algebras. With the objective of defining formal tools to support the execution and verif......Modular SOS (MSOS) is a framework created to improve the modularity of structural operational semantics specifications, a formalism frequently used in the fields of programming languages semantics and process algebras. With the objective of defining formal tools to support the execution......-performance implementation of RWL. In this paper we characterize the mapping and the MSOS-SL Interpreter. The reader is assumed to have some basic knowledge of structural operational semantics and object-oriented concepts....

  5. Individualized Project Physics in a Modular Schedule.

    Science.gov (United States)

    Cange, Francis

    1985-01-01

    Project Physics is taught at Gibault High School (Waterloo, IL) using a modular schedule and learning activity packets. A description of the course, instructional strategies used, and the learning activity packets is provided. (JN)

  6. Modular Stirling Power System (MSPS) Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Infinia Technology Corporation's (ITC) proposed Modular Stirling Power System (MSPS) is a free-piston Stirling system that addresses NASA needs in 12-kW increments....

  7. 47 CFR 15.212 - Modular transmitters.

    Science.gov (United States)

    2010-10-01

    ... modular transmitter must have their own shielding. The physical crystal and tuning capacitors may be... shielded. The physical crystal and tuning capacitors may be located external to the shielded radio...

  8. A merged modular/nonmodular multiplier

    Science.gov (United States)

    Phillips, Braden

    2005-02-01

    A new hardware architecture is described to perform multiplication and modular multiplication with a modulus of variable wordlength. It is intended for a microprocessor datapath to support efficient implementation of long wordlength operations using the residue number system.

  9. Modular biowaste monitoring system conceptual design

    Science.gov (United States)

    Fogal, G. L.

    1974-01-01

    The objective of the study was to define requirements and generate a conceptual design for a Modular Biowaste Monitoring System for specifically supporting shuttle life science experimental and diagnostic programs.

  10. Modular solar-heating system - design package

    Science.gov (United States)

    Sinton, D. S.

    1979-01-01

    Compilation contains design, performance, and hardware specifications in sufficient detail to fabricate or procure materials and install, operate, and maintain complete modular solar heating and hot water system for single family size dwellings.

  11. Reconfigurable robot based on modular joint concept

    Institute of Scientific and Technical Information of China (English)

    Shi Shicai; Xie Zongwu; Gao Xiaohui; Jin Minghe; Zhu Yingyuan; Ni Fenglei; Liu Hong; Kraemer Erich; Hirzinger Gerd

    2006-01-01

    A reconfigurable modular robot was developed for a free-flying robot project. This robot was composed of 6 same modular joints and one gripper. In order to save space and cost for transporting it into the space, the robot should be folded overall and locked. A big central hole in the modular joint was designed for the placement of the cables and plugs in the robot arm, which prevented them from damage of high temperature, radiation in the space environment and the motion of the robot. Multiple sensors were integrated into the fully modular joint, such as joint torque sensor, joint position sensor and temperature sensors, which made the joint more intelligent. A zero gravity experimental system was developed to verify the functions of the robot under zero gravity environment.

  12. Modular modelling with Physiome standards.

    Science.gov (United States)

    Cooling, Michael T; Nickerson, David P; Nielsen, Poul M F; Hunter, Peter J

    2016-12-01

    The complexity of computational models is increasing, supported by research in modelling tools and frameworks. But relatively little thought has gone into design principles for complex models. We propose a set of design principles for complex model construction with the Physiome standard modelling protocol CellML. By following the principles, models are generated that are extensible and are themselves suitable for reuse in larger models of increasing complexity. We illustrate these principles with examples including an architectural prototype linking, for the first time, electrophysiology, thermodynamically compliant metabolism, signal transduction, gene regulation and synthetic biology. The design principles complement other Physiome research projects, facilitating the application of virtual experiment protocols and model analysis techniques to assist the modelling community in creating libraries of composable, characterised and simulatable quantitative descriptions of physiology. The ability to produce and customise complex computational models has great potential to have a positive impact on human health. As the field develops towards whole-cell models and linking such models in multi-scale frameworks to encompass tissue, organ, or organism levels, reuse of previous modelling efforts will become increasingly necessary. Any modelling group wishing to reuse existing computational models as modules for their own work faces many challenges in the context of construction, storage, retrieval, documentation and analysis of such modules. Physiome standards, frameworks and tools seek to address several of these challenges, especially for models expressed in the modular protocol CellML. Aside from providing a general ability to produce modules, there has been relatively little research work on architectural principles of CellML models that will enable reuse at larger scales. To complement and support the existing tools and frameworks, we develop a set of principles to

  13. Reliability and diagnostic of modular systems

    Directory of Open Access Journals (Sweden)

    J. Kohlas

    2014-01-01

    Full Text Available Reliability and diagnostic are in general two problems discussed separately. Yet the two problems are in fact closely related to each other. Here, this relation is considered in the simple case of modular systems. We show, how the computation of reliability and diagnostic can efficiently be done within the same Bayesian network induced by the modularity of the structure function of the system.

  14. A Framework for Determining Product Modularity Levels

    DEFF Research Database (Denmark)

    Hvam, Lars; Herbert-Hansen, Zaza Nadja Lee; Haug, Anders

    2017-01-01

    products have been implemented in specific types companies (mostly mass producers), but little guidance exists on how to identify the right level of modularity for other types of companies (such as engineer-to-order companies). In this article, we address this gap by suggesting a framework that categorizes...... in practice is illustrated. This paper thereby contributes with new theoretical developments as well as a practical tool for practitioners in industries using partial modularization, such as, for example, the construction and building industry....

  15. Parametric Design of Modular Fixture Structure

    Institute of Scientific and Technical Information of China (English)

    陈冰冰

    2001-01-01

    Based on an example of its typical structure, the concept of modular fixture structure module is presented, and the structure module system of modular fixture is summarized. Then the parametric design of structure is discussed, and its advantages are also emphasized.Furthermore, some specific methods are provided, such as the selection of fixture components, the determination and input of parameters, drawing representative model,and the creation of drawing. Finally an applied example of strcture parametric design is presented.

  16. On Shanks' Algorithm for Modular Square Roots

    CERN Document Server

    Schlage-Puchta, Jan-Christoph

    2011-01-01

    Let $p$ be a prime number, $p=2^nq+1$, where $q$ is odd. D. Shanks described an algorithm to compute square roots $\\pmod{p}$ which needs $O(\\log q + n^2)$ modular multiplications. In this note we describe two modifications of this algorithm. The first needs only $O(\\log q + n^{3/2})$ modular multiplications, while the second is a parallel algorithm which needs $n$ processors and takes $O(\\log q+n)$ time.

  17. Contract modularity in design by contract languages

    OpenAIRE

    Rebêlo, Henrique Emanuel Mostaert

    2014-01-01

    Design by Contract (DbC) is a popular technique for developing programs using behavioral specifications. In this context, researchers have found that the realization of DbC is crosscutting and fares better when modularized by Aspect-Oriented Programming. However, previous efforts aimed at supporting crosscutting contracts modularly actually compromised the main DbC principles. For example, in AspectJ-style, reasoning about the correctness of a method call may require a whole-pr...

  18. Modular realizations of hyperbolic Weyl groups

    CERN Document Server

    Kleinschmidt, Axel; Palmkvist, Jakob

    2010-01-01

    We study the recently discovered isomorphisms between hyperbolic Weyl groups and unfamiliar modular groups. These modular groups are defined over integer domains in normed division algebras, and we focus on the cases involving quaternions and octonions. We outline how to construct and analyse automorphic forms for these groups; their structure depends on the underlying arithmetic properties of the integer domains. We also give a new realization of the Weyl group W(E8) in terms of unit octavians and their automorphism group.

  19. Modular Parameter Identification of Biomolecular Networks

    OpenAIRE

    Lang, Moritz; Stelling, Jörg

    2016-01-01

    The increasing complexity of dynamic models in systems and synthetic biology poses computational challenges especially for the identification of model parameters. While modularization of the corresponding optimization problems could help reduce the "curse of dimensionality," abundant feedback and crosstalk mechanisms prohibit a simple decomposition of most biomolecular networks into subnetworks, or modules. Drawing on ideas from network modularization and multiple-shooting optimization, we pr...

  20. Evaluation of taper joints with combined fatigue and crevice corrosion testing: Comparison to human explanted modular prostheses

    Energy Technology Data Exchange (ETDEWEB)

    Reclaru, L., E-mail: lucien.reclaru@pxgroup.com [PX Group S.A., Dep R and D Corrosion and Biocompatibility Group, Bd. des Eplatures 42, CH-2304 La Chaux-de-Fonds (Switzerland); Brooks, R.A. [Orthopaedic Research, Addenbrooke' s Hospital, University of Cambridge, Box 180 Hills Road, CB2 0QQ Cambridge (United Kingdom); Zuberbühler, M. [Smith and Nephew Orthopaedics AG, Schachenalle 29, 5001 Aarau (Switzerland); Eschler, P.-Y.; Constantin, F. [PX Group S.A., Dep R and D Corrosion and Biocompatibility Group, Bd. des Eplatures 42, CH-2304 La Chaux-de-Fonds (Switzerland); Tomoaia, G. [University of Medicine and Pharmacy Iuliu Hateganu of Cluj-Napoca, Dept. of Orthopaedics and Traumatology, Cluj-Napoca (Romania)

    2014-01-01

    The requirement for revision surgery of total joint replacements is increasing and modular joint replacement implants have been developed to provide adjustable prosthetic revision systems with improved intra-operative flexibility. An electrochemical study of the corrosion resistance of the interface between the distal and proximal modules of a modular prosthesis was performed in combination with a cyclic fatigue test. The complexity resides in the existence of interfaces between the distal part, the proximal part, and the dynamometric screw. A new technique for evaluating the resistance to cyclic dynamic corrosion with crevice stimulation was used and the method is presented. In addition, two components of the proximal module of explanted Ti6Al4V and Ti6Al7Nb prostheses were investigated by optical and electron microscopy. Our results reveal that: The electrolyte penetrates into the interface between the distal and proximal modules during cyclic dynamic fatigue tests, the distal module undergoes cracking and corrosion was generated at the interface between the two models; The comparison of the explanted proximal parts with the similar prostheses evaluated following cyclic dynamic crevice corrosion testing showed that there were significant similarities indicating that this method is suitable for evaluating materials used in the fabrication of modular prostheses. - Highlights: • Electrochemical crevice corrosion testing combined with fatigue test conducted on Ti6Al7Nb and Ti6Al4V modular prostheses • Cations released from integral prostheses • Comparison of human explanted modular prostheses with the similar prostheses evaluated in cyclic dynamic crevice corrosion.

  1. Modular Power Converters for PV Applications

    Energy Technology Data Exchange (ETDEWEB)

    Ozpineci, Burak [ORNL; Tolbert, Leon M [ORNL

    2012-05-01

    This report describes technical opportunities to serve as parts of a technological roadmap for Shoals Technologies Group in power electronics for PV applications. There are many different power converter circuits that can be used for solar inverter applications. The present applications do not take advantage of the potential for using common modules. We envision that the development of a power electronics module could enable higher reliability by being durable and flexible. Modules would have fault current limiting features and detection circuits such that they can limit the current through the module from external faults and can identify and isolate internal faults such that the remaining modules can continue to operate with only minimal disturbance to the utility or customer. Development of a reliable, efficient, low-cost, power electronics module will be a key enabling technology for harnessing more power from solar panels and enable plug and play operation. Power electronics for computer power supplies, communication equipment, and transportation have all targeted reliability and modularity as key requirements and have begun concerted efforts to replace monolithic components with collections of common smart modules. This is happening on several levels including (1) device level with intelligent control, (2) functional module level, and (3) system module. This same effort is needed in power electronics for solar applications. Development of modular units will result in standard power electronic converters that will have a lower installed and operating cost for the overall system. These units will lead to increased adaptability and flexibility of solar inverters. Incorporating autonomous fault current limiting and reconfiguration capabilities into the modules and having redundant modules will lead to a durable converter that can withstand the rigors of solar power generation for more than 30 years. Our vision for the technology roadmap is that there is no need

  2. Modular Power Converters for PV Applications

    Energy Technology Data Exchange (ETDEWEB)

    Ozpineci, Burak [ORNL; Tolbert, Leon M [ORNL

    2012-05-01

    This report describes technical opportunities to serve as parts of a technological roadmap for Shoals Technologies Group in power electronics for PV applications. There are many different power converter circuits that can be used for solar inverter applications. The present applications do not take advantage of the potential for using common modules. We envision that the development of a power electronics module could enable higher reliability by being durable and flexible. Modules would have fault current limiting features and detection circuits such that they can limit the current through the module from external faults and can identify and isolate internal faults such that the remaining modules can continue to operate with only minimal disturbance to the utility or customer. Development of a reliable, efficient, low-cost, power electronics module will be a key enabling technology for harnessing more power from solar panels and enable plug and play operation. Power electronics for computer power supplies, communication equipment, and transportation have all targeted reliability and modularity as key requirements and have begun concerted efforts to replace monolithic components with collections of common smart modules. This is happening on several levels including (1) device level with intelligent control, (2) functional module level, and (3) system module. This same effort is needed in power electronics for solar applications. Development of modular units will result in standard power electronic converters that will have a lower installed and operating cost for the overall system. These units will lead to increased adaptability and flexibility of solar inverters. Incorporating autonomous fault current limiting and reconfiguration capabilities into the modules and having redundant modules will lead to a durable converter that can withstand the rigors of solar power generation for more than 30 years. Our vision for the technology roadmap is that there is no need

  3. Aeronautical Information System Replacement -

    Data.gov (United States)

    Department of Transportation — Aeronautical Information System Replacement is a web-enabled, automation means for the collection and distribution of Service B messages, weather information, flight...

  4. Theory for the Emergence of Modularity in Complex Systems

    Science.gov (United States)

    Deem, Michael; Park, Jeong-Man

    2013-03-01

    Biological systems are modular, and this modularity evolves over time and in different environments. A number of observations have been made of increased modularity in biological systems under increased environmental pressure. We here develop a theory for the dynamics of modularity in these systems. We find a principle of least action for the evolved modularity at long times. In addition, we find a fluctuation dissipation relation for the rate of change of modularity at short times. We discuss a number of biological and social systems that can be understood with this framework. The modularity of the protein-protein interaction network increases when yeast are exposed to heat shock, and the modularity of the protein-protein networks in both yeast and E. coli appears to have increased over evolutionary time. Food webs in low-energy, stressful environments are more modular than those in plentiful environments, arid ecologies are more modular during droughts, and foraging of sea otters is more modular when food is limiting. The modularity of social networks changes over time: stock brokers instant messaging networks are more modular under stressful market conditions, criminal networks are more modular under increased police pressure, and world trade network modularity has decreased

  5. 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.

  6. Genetic manipulation in biotechnology

    Energy Technology Data Exchange (ETDEWEB)

    Sherwood, R.; Atkinson, T.

    1981-04-04

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

  7. Computer aided manipulator control

    Science.gov (United States)

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

    1980-01-01

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

  8. Endocavity Ultrasound Probe Manipulators.

    Science.gov (United States)

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

    2013-06-01

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

  9. Fitness, environmental changes and the growth of modularity- a quasispecies theory for the evolutionary dynamics of modularity

    Science.gov (United States)

    Niestemski, Liang; Park, Jeong-Man; Deem, Michael

    2015-03-01

    Although the modularity of a biological system is demonstrated and recognized, the evolution of the modularity is not well understood. We here present a quasispecies theory for the evolutionary dynamics of modularity. Complemented with numerical models, this analytical theory shows the calculation of the steady-state fitness in a randomly changing environment, the relationship between rate of environmental changes and rate of growth of modularity, as well as a principle of least action for the evolved modularity at steady state.

  10. Cuspidal and Noncuspidal Robot Manipulators

    CERN Document Server

    Wenger, Philippe

    2010-01-01

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

  11. The Comparative study of Automated Face replacement Techniques for Video

    Directory of Open Access Journals (Sweden)

    Harmesh Sanghvi

    2014-03-01

    Full Text Available For entertaining purposes, a computerized special effect referred to as “morphing” has enlarged huge attention and face replacement is one of the interesting tasks. Face replacement in video is a useful application in the amusement and special effect industries. Though various techniques for face replacement have been developed for single image and generally applied in animation and morphing, there are few mechanisms to spread out these techniques to handle videos automatically. Face replacement in video automatically is not only a fascinating application, but a challenging problem. For face replacement in video, the frame-by-frame manipulation process using the software is often time consuming and labor-intensive. Hence, the paper compares numerous latest Automatic face replacement techniques in video to understand the various problems to be solved, their shortcomings and benefits over others.

  12. A History of Manipulative Therapy

    OpenAIRE

    Pettman, Erland

    2007-01-01

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

  13. Radiation Source Replacement Workshop

    Energy Technology Data Exchange (ETDEWEB)

    Griffin, Jeffrey W.; Moran, Traci L.; Bond, Leonard J.

    2010-12-01

    This report summarizes a Radiation Source Replacement Workshop in Houston Texas on October 27-28, 2010, which provided a forum for industry and researchers to exchange information and to discuss the issues relating to replacement of AmBe, and potentially other isotope sources used in well logging.

  14. Modular Packaging Development: Incorporating a modular perspective in the packaging design process

    OpenAIRE

    Karlsson, John

    2013-01-01

    This report presents the result of a research project conducted in 2012-2013 that aimed to adjust the existing modularity theories so that they could be used in packaging development. The study resulted in a model that can be incorporated into an existing packaging design process, thereby complementing this with aspects of modularity. The research project was conducted in close collaboration with Ericsson.

  15. Theoretical Analysis of the Relationships Between Modularity in Design and Modularity in Production

    DEFF Research Database (Denmark)

    Kubota, Flávio Issao; Hsuan, Juliana; Cauchick-Miguel, Paulo Augusto

    2017-01-01

    This paper investigates the relationships between modularity in design (MID) and modularity in production (MIP) in the automotive industry in terms of how automotive companies obtain benefits and/or drawbacks through MID/MIP relationships. A literature analysis was conducted in order to identify ...

  16. Advanced Modular Inverter Technology Development

    Energy Technology Data Exchange (ETDEWEB)

    Adam Szczepanek

    2006-02-04

    Electric and hybrid-electric vehicle systems require an inverter to convert the direct current (DC) output of the energy generation/storage system (engine, fuel cells, or batteries) to the alternating current (AC) that vehicle propulsion motors use. Vehicle support systems, such as lights and air conditioning, also use the inverter AC output. Distributed energy systems require an inverter to provide the high quality AC output that energy system customers demand. Today's inverters are expensive due to the cost of the power electronics components, and system designers must also tailor the inverter for individual applications. Thus, the benefits of mass production are not available, resulting in high initial procurement costs as well as high inverter maintenance and repair costs. Electricore, Inc. (www.electricore.org) a public good 501 (c) (3) not-for-profit advanced technology development consortium assembled a highly qualified team consisting of AeroVironment Inc. (www.aerovironment.com) and Delphi Automotive Systems LLC (Delphi), (www.delphi.com), as equal tiered technical leads, to develop an advanced, modular construction, inverter packaging technology that will offer a 30% cost reduction over conventional designs adding to the development of energy conversion technologies for crosscutting applications in the building, industry, transportation, and utility sectors. The proposed inverter allows for a reduction of weight and size of power electronics in the above-mentioned sectors and is scalable over the range of 15 to 500kW. The main objective of this program was to optimize existing AeroVironment inverter technology to improve power density, reliability and producibility as well as develop new topology to reduce line filter size. The newly developed inverter design will be used in automotive and distribution generation applications. In the first part of this program the high-density power stages were redesigned, optimized and fabricated. One of the main

  17. Modular supervisory controller for hybrid power systems

    Energy Technology Data Exchange (ETDEWEB)

    Lemos Pereira, A. de

    2000-06-01

    The power supply of remote places has been commonly provided by thermal power plants, usually diesel generators. Although hybrid power systems may constitute the most economical solution in many applications their widespread application to the electrification schemes of remote areas still depends on improvements in the issues of design and operation control. The main limitations of the present hybrid power systems technology, which are identified in this work, are related to the control and supervision of the power system. Therefore this thesis focuses on the modularity of supervisory controllers in order to design cost-competitive and reliable hybrid power systems. The modular supervisory controller created in this project is considered an important part of a system design approach that aims to overcome the technical difficulties of the current engineering practice and contribute to open the market of hybrid power systems. The term modular refers to a set of design characteristics that allows the use of basically the same supervisory controller in different projects. The modularization and standardisation of the controller include several issues such as interfacing components, communication protocols, modelling, programming and control strategies. The modularity can reduce the highly specialised system engineering related to the integration of components, operation and control. It can also avoid the high costs for installation, service and maintenance. A modular algorithm for supervisory controllers has been developed (a Matlab program called SuperCon) using an object-oriented design and it has been tested through several simulations using different hybrid system configurations and different control strategies. This thesis presents a complete control system design process which can be used as the basis for the development and implementation of intelligent and autonomous supervisory controllers for hybrid power systems with modular characteristics. (au)

  18. Teleoperated Modular Robots for Lunar Operations

    Science.gov (United States)

    Globus, Al; Hornby, Greg; Larchev, Greg; Hancher, Matt; Cannon, Howard; Lohn, Jason

    2004-01-01

    Solar system exploration is currently carried out by special purpose robots exquisitely designed for the anticipated tasks. However, all contingencies for in situ resource utilization (ISRU), human habitat preparation, and exploration will be difficult to anticipate. Furthermore, developing the necessary special purpose mechanisms for deployment and other capabilities is difficult and error prone. For example, the Galileo high gain antenna never opened, severely restricting the quantity of data returned by the spacecraft. Also, deployment hardware is used only once. To address these problems, we are developing teleoperated modular robots for lunar missions, including operations in transit from Earth. Teleoperation of lunar systems from Earth involves a three second speed-of-light delay, but experiment suggests that interactive operations are feasible.' Modular robots typically consist of many identical modules that pass power and data between them and can be reconfigured for different tasks providing great flexibility, inherent redundancy and graceful degradation as modules fail. Our design features a number of different hub, link, and joint modules to simplify the individual modules, lower structure cost, and provide specialized capabilities. Modular robots are well suited for space applications because of their extreme flexibility, inherent redundancy, high-density packing, and opportunities for mass production. Simple structural modules can be manufactured from lunar regolith in situ using molds or directed solar sintering. Software to direct and control modular robots is difficult to develop. We have used genetic algorithms to evolve both the morphology and control system for walking modular robots3 We are currently using evolvable system technology to evolve controllers for modular robots in the ISS glove box. Development of lunar modular robots will require software and physical simulators, including regolith simulation, to enable design and test of robot

  19. Local modularity for community detection in complex networks

    Science.gov (United States)

    Xiang, Ju; Hu, Tao; Zhang, Yan; Hu, Ke; Li, Jian-Ming; Xu, Xiao-Ke; Liu, Cui-Cui; Chen, Shi

    2016-02-01

    Community detection is a topic of interest in the study of complex networks such as the protein-protein interaction networks and metabolic networks. In recent years, various methods were proposed to detect community structures of the networks. Here, a kind of local modularity with tunable parameter is derived from the Newman-Girvan modularity by a special self-loop strategy that depends on the community division of the networks. By the self-loop strategy, one can easily control the definition of modularity, and the resulting modularity can be optimized by using the existing modularity optimization algorithms. The local modularity is used as the target function for community detection, and a self-consistent method is proposed for the optimization of the local modularity. We analyze the behaviors of the local modularity and show the validity of the local modularity in detecting community structures on various networks.

  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. Performance measurement of mobile manipulators

    Science.gov (United States)

    Bostelman, Roger; Hong, Tsai; Marvel, Jeremy

    2015-05-01

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

  2. ON THE PRIMARY DECOMPOSITION THEOREM OF MODULAR LIE SUPERALGEBRAS

    Institute of Scientific and Technical Information of China (English)

    CHEN LIANGYUN; MENG DAOJI

    2005-01-01

    This gives some identities of associative Lie superalgebras and some properties of modular Lie superalgebras. Furthermore, the primry decomposition theorem of modular Lie superalgebras is shown. It is well known that the primary decomposition theorem of modular Lie algebras has played an important role in the classification of the finite-dimensional simple modular Lie algebras (see [5, 6]). Analogously, the primary decomposition theorem of modular Lie superalgebras may play an important role in the open classification of the finite dimensional simple modular Lie superalgebras.

  3. Measuring Modularity in Open Source Code Bases

    Directory of Open Access Journals (Sweden)

    Roberto Milev

    2009-03-01

    Full Text Available Modularity of an open source software code base has been associated with growth of the software development community, the incentives for voluntary code contribution, and a reduction in the number of users who take code without contributing back to the community. As a theoretical construct, modularity links OSS to other domains of research, including organization theory, the economics of industry structure, and new product development. However, measuring the modularity of an OSS design has proven difficult, especially for large and complex systems. In this article, we describe some preliminary results of recent research at Carleton University that examines the evolving modularity of large-scale software systems. We describe a measurement method and a new modularity metric for comparing code bases of different size, introduce an open source toolkit that implements this method and metric, and provide an analysis of the evolution of the Apache Tomcat application server as an illustrative example of the insights gained from this approach. Although these results are preliminary, they open the door to further cross-discipline research that quantitatively links the concerns of business managers, entrepreneurs, policy-makers, and open source software developers.

  4. Decomposition theorems for Hilbert modular newforms

    CERN Document Server

    Linowitz, Benjamin

    2011-01-01

    Let $\\mathscr{S}_k^+(\\cn,\\Phi)$ denote the space generated by Hilbert modular newforms (over a fixed totally real field $K$) of weight $k$, level $\\cn$ and Hecke character $\\Phi$. We show how to decompose $\\mathscr{S}_k^+(\\cn,\\Phi)$ into direct sums of twists of other spaces of newforms. This sheds light on the behavior of a newform under a character twist: the exact level of the twist of a newform, when such a twist is itself a newform, and when a newform may be realized as the twist of a primitive newform. These results were proven for elliptic modular forms by Hijikata, Pizer and Shemanske by employing a formula for the trace of the Hecke operator $T_k(n)$. We obtain our results not by employing a more general formula for the trace of Hecke operators on spaces of Hilbert modular forms, but instead by using basic properties of newforms which were proven for elliptic modular forms by Li, and Atkin and Li, and later extended to Hilbert modular forms by Shemanske and Walling.

  5. Structural Sizing Methodology for the Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) System

    Science.gov (United States)

    Jones, Thomas C.; Dorsey, John T.; Doggett, William R.

    2015-01-01

    The Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) is a versatile long-reach robotic manipulator that is currently being tested at NASA Langley Research Center. TALISMAN is designed to be highly mass-efficient and multi-mission capable, with applications including asteroid retrieval and manipulation, in-space servicing, and astronaut and payload positioning. The manipulator uses a modular, periodic, tension-compression design that lends itself well to analytical modeling. Given the versatility of application for TALISMAN, a structural sizing methodology was developed that could rapidly assess mass and configuration sensitivities for any specified operating work space, applied loads and mission requirements. This methodology allows the systematic sizing of the key structural members of TALISMAN, which include the truss arm links, the spreaders and the tension elements. This paper summarizes the detailed analytical derivations and methodology that support the structural sizing approach and provides results from some recent TALISMAN designs developed for current and proposed mission architectures.

  6. Towards Clinically Optimized MRI-guided Surgical Manipulator for Minimally Invasive Prostate Percutaneous Interventions: Constructive Design.

    Science.gov (United States)

    Eslami, Sohrab; Fischer, Gregory S; Song, Sang-Eun; Tokuda, Junichi; Hata, Nobuhiko; Tempany, Clare M; Iordachita, Iulian

    2013-12-31

    This paper undertakes the modular design and development of a minimally invasive surgical manipulator for MRI-guided transperineal prostate interventions. Severe constraints for the MRI-compatibility to hold the minimum artifact on the image quality and dimensions restraint of the bore scanner shadow the design procedure. Regarding the constructive design, the manipulator kinematics has been optimized and the effective analytical needle workspace is developed and followed by proposing the workflow for the manual needle insertion. A study of the finite element analysis is established and utilized to improve the mechanism weaknesses under some inevitable external forces to ensure the minimum structure deformation. The procedure for attaching a sterile plastic drape on the robot manipulator is discussed. The introduced robotic manipulator herein is aimed for the clinically prostate biopsy and brachytherapy applications.

  7. Towards Clinically Optimized MRI-guided Surgical Manipulator for Minimally Invasive Prostate Percutaneous Interventions: Constructive Design*

    Science.gov (United States)

    Eslami, Sohrab; Fischer, Gregory S.; Song, Sang-Eun; Tokuda, Junichi; Hata, Nobuhiko; Tempany, Clare M.; Iordachita, Iulian

    2013-01-01

    This paper undertakes the modular design and development of a minimally invasive surgical manipulator for MRI-guided transperineal prostate interventions. Severe constraints for the MRI-compatibility to hold the minimum artifact on the image quality and dimensions restraint of the bore scanner shadow the design procedure. Regarding the constructive design, the manipulator kinematics has been optimized and the effective analytical needle workspace is developed and followed by proposing the workflow for the manual needle insertion. A study of the finite element analysis is established and utilized to improve the mechanism weaknesses under some inevitable external forces to ensure the minimum structure deformation. The procedure for attaching a sterile plastic drape on the robot manipulator is discussed. The introduced robotic manipulator herein is aimed for the clinically prostate biopsy and brachytherapy applications. PMID:24683502

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

    Science.gov (United States)

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

    2005-12-01

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

  9. Development of Heavy-Duty and High-Precision Hydraulic Manipulator for Inspection, Maintenance and Decommission of Nuclear Power Plants

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Sung Uk; Seo, Yong-chil; Jung, Kyung Min; Kim, Chang-hoi; Choi, Byung-seon; Moon, Jei-kwon [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2016-10-15

    Robotic manipulators have been used for inspection, maintenance and decommission of nuclear power plants because nuclear power plants have high radiation and human workers cannot easily access the plants. And also, to inspecting, maintaining and decommissioning nuclear power plants require various manipulators. Only one manipulator cannot response to many required tasks. The existing manipulators that was used at nuclear power plants can only operate only focused specific task and cannot be used at several tasks. The actuators used at manipulators are varied and many companies sell actuators depending on power, torque and speed. However, the commercial product is not standardized. Therefore, the development of manipulator is time consuming and expensive. The essential item of a manipulator is an actuator module. If actuator module is standardized, it’s easier to develop a manipulator and also maintain a manipulator. Recently, manipulator having high-radiation, high-duty and high-precision is necessary to inspection, maintain and decommissioning of nuclear power plants. Hydraulic actuator has been used to development high-duty manipulator. But control performance of a hydraulic actuator is not better than that of an electric actuator so that hydraulic manipulator cannot easily satisfy the required precision. In this paper, we developed high-duty and high-precision actuator modules and hydraulic manipulator using the developed actuator modules. The developed hydraulic manipulator have a payload of 250kg and a precision of ±1mm. Four modularized hydraulic actuator modules were developed for inspection, maintenance and decommission. Using the developed actuator modules, the manipulator for decommissioning is easily developed. And also, various manipulators having different kinematic structure for specific tasks will be easily developed by using hydraulic modules.

  10. Replacing a Missing Tooth

    Science.gov (United States)

    ... vessels in the tooth pulps are rather large. Drilling down these teeth for crowns may expose the ... porcelain replacement tooth is held in place by metal extensions cemented to the backs of the adjacent ...

  11. Hormone Replacement Therapy

    Science.gov (United States)

    ... before and during menopause, the levels of female hormones can go up and down. This can cause ... hot flashes and vaginal dryness. Some women take hormone replacement therapy (HRT), also called menopausal hormone therapy, ...

  12. Knee joint replacement

    Science.gov (United States)

    ... of your kneecap. Your kneecap is called the patella. The replacement part is usually made from a ... long. Then your surgeon will: Move your kneecap (patella) out of the way, then cut the ends ...

  13. Knee joint replacement - slideshow

    Science.gov (United States)

    ... this page: //medlineplus.gov/ency/presentations/100088.htm Knee joint replacement - series—Normal anatomy To use the ... to slide 4 out of 4 Overview The knee is a complex joint. It contains the distal ...

  14. PLM system support for modular product development

    DEFF Research Database (Denmark)

    Bruun, Hans Peter Lomholt; Mortensen, Niels Henrik; Harlou, Ulf

    2015-01-01

    properties such as cost and performance. Companies often use a PLM tool for management of CAD files, documents, and drawings, but they do not take advantage of the full potential of the PLM system to support the development activities of modular product designs. The key result of this paper......A modular design strategy both enables, but also demands, parallelism in design activities and collaboration between a diversity of disciplines in companies, which often involves supporting computer-based tools for enhancing interaction, design management, and communication. Product data management...... (PDM) and product lifecycle management (PLM) systems offer support by automating and managing some of the operational complexity of modular design activities. PLM system tools are used for handling a variety of product definitions, to manage workflow of development activities, and to measure relational...

  15. Inverse theta functions as quantum modular forms

    CERN Document Server

    Bringmann, Kathrin; Rolen, Larry

    2014-01-01

    In this paper, we consider the Fourier coefficients of a special class of meromorphic Jaocbi forms of negative index. Much recent work has been done on the Fourier coefficients of meromorphic Jacobi forms of positive index, but almost nothing is known for Jacobi forms of negative index. Here we show from two different perspectives that their Fourier coefficients have a simple decomposition in terms of partial theta functions. The first perspective uses the language of Lie super algebras, and the second applies the theory of elliptic functions. In particular, we find a new infinite family of rank-crank type PDEs generalizing the famous example of Atkin and Garvan. We then describe the modularity properties of these coefficients, showing that they are \\emph{mixed quantum modular forms}, along the way determining a new class of quantum modular partial theta functions.

  16. Eigenvector dynamics under perturbation of modular networks

    Science.gov (United States)

    Sarkar, Somwrita; Chawla, Sanjay; Robinson, P. A.; Fortunato, Santo

    2016-06-01

    Rotation dynamics of eigenvectors of modular network adjacency matrices under random perturbations are presented. In the presence of q communities, the number of eigenvectors corresponding to the q largest eigenvalues form a "community" eigenspace and rotate together, but separately from that of the "bulk" eigenspace spanned by all the other eigenvectors. Using this property, the number of modules or clusters in a network can be estimated in an algorithm-independent way. A general argument and derivation for the theoretical detectability limit for sparse modular networks with q communities is presented, beyond which modularity persists in the system but cannot be detected. It is shown that for detecting the clusters or modules using the adjacency matrix, there is a "band" in which it is hard to detect the clusters even before the theoretical detectability limit is reached, and for which the theoretically predicted detectability limit forms the sufficient upper bound. Analytic estimations of these bounds are presented and empirically demonstrated.

  17. More Modular Invariant Anomalous U(1) Breaking

    CERN Document Server

    Gaillard, Mary Katherin; Gaillard, Mary K.; Giedt, Joel

    2002-01-01

    We consider the case of several scalar fields, charged under a number of U(1) factors, acquiring vacuum expectation values due to an anomalous U(1). We demonstrate how to make redefinitions at the superfield level in order to account for tree-level exchange of vector supermultiplets in the effective supergravity theory of the light fields in the supersymmetric vacuum phase. Our approach builds upon previous results that we obtained in a more elementary case. We find that the modular weights of light fields are typically shifted from their original values, allowing an interpretation in terms of the preservation of modular invariance in the effective theory. We address various subtleties in defining unitary gauge that are associated with the noncanonical Kahler potential of modular invariant supergravity, the vacuum degeneracy, and the role of the dilaton field. We discuss the effective superpotential for the light fields and note how proton decay operators may be obtained when the heavy fields are integrated o...

  18. Evolution of a Modular Software Network

    CERN Document Server

    Fortuna, Miguel A; Levin, Simon A

    2011-01-01

    "Evolution behaves like a tinkerer" (Francois Jacob, Science, 1977). Software systems provide a unique opportunity to understand biological processes using concepts from network theory. The Debian GNU/Linux operating system allows us to explore the evolution of a complex network in a novel way. The modular design detected during its growth is based on the reuse of existing code in order to minimize costs during programming. The increase of modularity experienced by the system over time has not counterbalanced the increase in incompatibilities between software packages within modules. This negative effect is far from being a failure of design. A random process of package installation shows that the higher the modularity the larger the fraction of packages working properly in a local computer. The decrease in the relative number of conflicts between packages from different modules avoids a failure in the functionality of one package spreading throughout the entire system. Some potential analogies with the evolu...

  19. Product Platform Replacements

    DEFF Research Database (Denmark)

    Sköld, Martin; Karlsson, Christer

    2012-01-01

    Purpose – It is argued in this article that too little is known about product platforms and how to deal with them from a manager's point of view. Specifically, little information exists regarding when old established platforms are replaced by new generations in R&D and production environments...... originality and value is achieved by focusing on product platform replacements believed to represent a growing management challenge....

  20. Manipulation detection and preference alterations in a choice blindness paradigm.

    Directory of Open Access Journals (Sweden)

    Fumihiko Taya

    Full Text Available It is commonly believed that individuals make choices based upon their preferences and have access to the reasons for their choices. Recent studies in several areas suggest that this is not always the case. In choice blindness paradigms, two-alternative forced-choice in which chosen-options are later replaced by the unselected option, individuals often fail to notice replacement of their chosen option, confabulate explanations for why they chose the unselected option, and even show increased preferences for the unselected-but-replaced options immediately after choice (seconds. Although choice blindness has been replicated across a variety of domains, there are numerous outstanding questions. Firstly, we sought to investigate how individual- or trial-factors modulated detection of the manipulations. Secondly, we examined the nature and temporal duration (minutes vs. days of the preference alterations induced by these manipulations.Participants performed a computerized choice blindness task, selecting the more attractive face between presented pairs of female faces, and providing a typewritten explanation for their choice on half of the trials. Chosen-face cue manipulations were produced on a subset of trials by presenting the unselected face during the choice explanation as if it had been selected. Following all choice trials, participants rated the attractiveness of each face individually, and rated the similarity of each face pair. After approximately two weeks, participants re-rated the attractiveness of each individual face online.Participants detected manipulations on only a small proportion of trials, with detections by fewer than half of participants. Detection rates increased with the number of prior detections, and detection rates subsequent to first detection were modulated by the choice certainty. We show clear short-term modulation of preferences in both manipulated and non-manipulated explanation trials compared to choice-only trials

  1. 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.

  2. Nutrición parenteral modular: ¿un nuevo concepto? Modular parenteral nutrition: a new concept?

    Directory of Open Access Journals (Sweden)

    J. M. Llop Talaverón

    2007-08-01

    Full Text Available Introducción: Definimos Nutrición Parenteral Modular (NPM como las mezclas de nutrición parenteral (NP obtenidas a partir de la adición de diferentes macronutrientes a preparados estándar (NPE tanto binarios (aminoácidos y glucosa como ternarios (aminoácidos, lípidos y glucosa. Objetivos: El objetivo de este estudio es demostrar que utilizando la NPM se pueden ajustar las fórmulas de NP a las necesidades individuales de cada paciente y disminuir la carga de trabajo. Material y métodos: Estudio retrospectivo de casos y controles de las NP preparadas durante el primer semestre de los años 1995, 2000 y 2005. Las NP se subdividen en: estándar (NPE -dispensadas sin manipular-, individualizadas (NPI y modulares. Se comparan los protocolos en los diferentes periodos, y para evaluar la carga de trabajo se relaciona el volumen de fluido trasvasado con el volumen total preparado. Se aplican los tests de chi cuadrado y t de Student con significación para p Introduction: We may define Modular Parenteral Nutrition (MPN as parenteral nutrition (PN mixtures obtained from adding different macronutrients to standard formulations (SPN both binary (amino acids and glucose and ternary (amino acids, lipids, and glucose. Objectives: The aim of this study is to demonstrate that PN formulations may be adapted to individual needs of each patient and workload may be reduced by using MPN. Material and methods: Case-control retrospective study of PN prepared during the first semester of the years 1995, 2000, and 2005. PN are categorized in: standard (SPN -given without manipulation-, individualized (IPN, and modular parenteral nutrition (MPN. The protocols are compared at the different periods, and the volume of transferred fluid is related with total prepared volume in order to calculate the workload. The Chi squared and student's t tests with a significance level of p < 0.05 are used. Results: In 1995, virtually only individualized formulations were used. In

  3. Understanding Complex Construction Systems Through Modularity

    DEFF Research Database (Denmark)

    Jensen, Tor Clarke; Bekdik, Baris; Thuesen, Christian

    2014-01-01

    finds that the main driver of complexity is the fragmentation of the design and production, which causes the production modules to construct and install new product types and variants for each project as the designers are swapped for every project. The many interfaces are characteristics of an integral......This paper develops a framework for understanding complexity in construction projects by combining theories of complexity management and modularization. The framework incorporates three dimensions of product, process, and organizational modularity with the case of gypsum wall elements. The analysis...

  4. Parallel Relational Universes – experiments in modularity

    DEFF Research Database (Denmark)

    Pagliarini, Luigi; Lund, Henrik Hautop

    2015-01-01

    : We here describe Parallel Relational Universes, an artistic method used for the psychological analysis of group dynamics. The design of the artistic system, which mediates group dynamics, emerges from our studies of modular playware and remixing playware. Inspired from remixing modular playware......, where users remix samples in the form of physical and functional modules, we created an artistic instantiation of such a concept with the Parallel Relational Universes, allowing arts alumni to remix artistic expressions. Here, we report the data emerged from a first pre-test, run with gymnasium’s alumni...

  5. Aspects and modular reasoning in nonmonotonic logic

    DEFF Research Database (Denmark)

    Ostermann, Klaus

    2008-01-01

    Nonmonotonic logic is a branch of logic that has been developed to model situations with incomplete information. We argue that there is a connection between AOP and nonmonotonic logic which deserves further study. As a concrete technical contribution and "appetizer", we outline an AO semantics de...... defined in default logic (a form of nonmonotonic logic), propose a definition of modular reasoning, and show that the default logic version of the language semantics admits modular reasoning whereas a conventional language semantics based on weaving does not....

  6. Proving relations between modular graph functions

    Science.gov (United States)

    Basu, Anirban

    2016-12-01

    We consider modular graph functions that arise in the low energy expansion of the four graviton amplitude in type II string theory. The vertices of these graphs are the positions of insertions of vertex operators on the toroidal worldsheet, while the links are the scalar Green functions connecting the vertices. Graphs with four and five links satisfy several non-trivial relations, which have been proved recently. We prove these relations by using elementary properties of Green functions and the details of the graphs. We also prove a relation between modular graph functions with six links.

  7. Modular arrangement of regulatory RNA elements

    Science.gov (United States)

    Roßmanith, Johanna; Narberhaus, Franz

    2017-01-01

    ABSTRACT Due to their simple architecture and control mechanism, regulatory RNA modules are attractive building blocks in synthetic biology. This is especially true for riboswitches, which are natural ligand-binding regulators of gene expression. The discovery of various tandem riboswitches inspired the design of combined RNA modules with activities not yet found in nature. Riboswitches were placed in tandem or in combination with a ribozyme or temperature-responsive RNA thermometer resulting in new functionalities. Here, we compare natural examples of tandem riboswitches with recently designed artificial RNA regulators suggesting substantial modularity of regulatory RNA elements. Challenges associated with modular RNA design are discussed. PMID:28010165

  8. Research in Green Modularity Design Methodology

    Institute of Scientific and Technical Information of China (English)

    LI Fang-yi; LI Jian-feng; DUAN Guang-hong; ZHANG Hong-chao; XU Jin-yong; MA Kai-ling

    2005-01-01

    Green design and manufacturing is a proactive approach to minimize wastes during a product's design stage, thus preventing future environmental impacts. Current modular design method mainly focuses on productfunctional and manufacturing issues. In this paper,a theoretical scheme of multi-objective modularity analysis for discrete electromechanical product design was proposed. Product physical architecture was represented by a fuzzy graph, where fuzzy relationships contain environmental objectives and influence module formulation. Finally the optimal product modules combining all objectives can be searched by clustering algorithm.

  9. Successes and failures in modular genetic engineering.

    Science.gov (United States)

    Kittleson, Joshua T; Wu, Gabriel C; Anderson, J Christopher

    2012-08-01

    Synthetic biology relies on engineering concepts such as abstraction, standardization, and decoupling to develop systems that address environmental, clinical, and industrial needs. Recent advances in applying modular design to system development have enabled creation of increasingly complex systems. However, several challenges to module and system development remain, including syntactic errors, semantic errors, parameter mismatches, contextual sensitivity, noise and evolution, and load and stress. To combat these challenges, researchers should develop a framework for describing and reasoning about biological information, design systems with modularity in mind, and investigate how to predictively describe the diverse sources and consequences of metabolic load and stress.

  10. Towards a Standard for Modular Petri Nets

    DEFF Research Database (Denmark)

    Kindler, Ekkart; Petrucci, Laure

    2009-01-01

    When designing complex systems, mechanisms for structuring, composing, and reusing system components are crucial. Today, there are many approaches for equipping Petri nets with such mechanisms. In the context of defining a standard interchange format for Petri nets, modular PNML was defined....... Moreover, we present and discuss some more advanced features of modular Petri nets that could be included in the standard. This way, we provide a formal foundation and a basis for a discussion of features to be included in the upcoming standard of a module concept for Petri nets in general and for high...

  11. Modular Forms of Weight One Over Finite Fields

    NARCIS (Netherlands)

    Wiese, Gabor

    2005-01-01

    The thesis deals with certain aspects of Katz modular forms over finite fields, in particular of weight one. A special case of Serre's conjecture is proved and the faithfulness of the Hecke module of modular symbols is studied.

  12. The neurobiology of offensive aggression: Revealing a modular view.

    Science.gov (United States)

    de Boer, S F; Olivier, B; Veening, J; Koolhaas, J M

    2015-07-01

    Experimental studies aimed at understanding the neurobiology of aggression started in the early 20th century, and by employing increasingly sophisticated tools of functional neuroanatomy (i.e., from electric/chemical lesion and stimulation techniques to neurochemical mapping and manipulations) have provided the important framework for the functional brain circuit organization of aggressive behaviors. Recently, newly emerging technologies for mapping,measuring and manipulating neural circuitry at the level of molecular and genetically defined neuronal subtypes promise to further delineate the precise neural microcircuits mediating the initiation and termination of aggressive behavior, and characterize its dynamic neuromolecular functioning. This paper will review some of the behavioral, neuroanatomical and neurochemical evidence in support of a modular view of the neurobiology of offensive aggressive behavior. Although aggressive behavior likely arises from a specific concerted activity within a distributed neural network across multiple brain regions, emerging opto- and pharmacogenetic neuronal manipulation studies make it clear that manipulation of molecularly-defined neurons within a single node of this global interconnected network seems to be both necessary and sufficient to evoke aggressive attacks. However, the evidence so far also indicates that in addition to behavior-specific neurons there are neuronal systems that should be considered as more general behavioral control modules. The answer to the question of behavioral specificity of brain structures at the level of individual neurons requires a change of the traditional experimental setup. Studies using c-fos expression mapping usually compare the activation patterns induced by for example aggression with a home cage control. However, to reveal the behavioral specificity of this neuronal activation pattern, a comparison with other social and non-social related behaviors such as mating, defensive burying

  13. Manipulation with molecules

    Directory of Open Access Journals (Sweden)

    M.D Barnes

    2002-09-01

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

  14. Interactive protein manipulation

    Energy Technology Data Exchange (ETDEWEB)

    SNCrivelli@lbl.gov

    2003-07-01

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

  15. How to manipulate polls

    Directory of Open Access Journals (Sweden)

    Balăşescu. M.

    2011-01-01

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

  16. Fixed Points of Multivalued Maps in Modular Function Spaces

    Directory of Open Access Journals (Sweden)

    Kutbi MarwanA

    2009-01-01

    Full Text Available The purpose of this paper is to study the existence of fixed points for contractive-type and nonexpansive-type multivalued maps in the setting of modular function spaces. We also discuss the concept of -modular function and prove fixed point results for weakly-modular contractive maps in modular function spaces. These results extend several similar results proved in metric and Banach spaces settings.

  17. The manipulation of online newspapers

    OpenAIRE

    CONSTANTIN SCHIFIRNEŢ

    2008-01-01

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

  18. Inverse Dynamics of Flexible Manipulators

    OpenAIRE

    Moberg, Stig; Hanssen, Sven

    2010-01-01

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

  19. Evolved Design, Integration, and Test of a Modular, Multi-Link, Spacecraft-Based Robotic Manipulator

    Science.gov (United States)

    2016-06-01

    Astronautics ARFR Astronaut Reference Flying Robot ASCII American Standard Code for Information Interchange CAD computer -aided drafting ccp...Spacecraft Simulator GNC guidance, navigation, and control GUI graphic user interface ICATT International Conference on Astrodynamics Tools and Techniques...for implementing these pieces into a functional system ( mechatronics ). In areas that are inherently dangerous or inaccessible to humans, like outer

  20. Non-manipulation quantitative designs.

    Science.gov (United States)

    Rumrill, Phillip D

    2004-01-01

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

  1. Pick'n'Fix: Capturing Control Flow in Modular Compilers

    DEFF Research Database (Denmark)

    Day, Laurence E.; Bahr, Patrick

    2014-01-01

    We present a modular framework for implementing languages with effects and control structures such as loops and conditionals. This framework enables modular definitions of both syntax and semantics as well as modular implementations of compilers and virtual machines. In order to compile control s...

  2. Procedure-modular specification and verification of temporal safety properties

    NARCIS (Netherlands)

    Soleimanifard, Siavash; Gurov, Dilian; Huisman, Marieke

    2015-01-01

    This paper describes ProMoVer, a tool for fully automated procedure-modular verification of Java programs equipped with method-local and global assertions that specify safety properties of sequences of method invocations. Modularity at the procedure-level is a natural instantiation of the modular ve

  3. Siegel modular forms of genus 2 and level 2

    NARCIS (Netherlands)

    Cléry, F.; van der Geer, G.; Grushevsky, S.

    2015-01-01

    We study vector-valued Siegel modular forms of genus 2 on the three level 2 groups Γ[2] ◁ Γ1[2] ◁ Γ0[2] ⊂ Sp(4, ℤ). We give generating functions for the dimension of spaces of vector-valued modular forms, construct various vector-valued modular forms by using theta functions and describe the structu

  4. Control to range for diabetes: functionality and modular architecture.

    Science.gov (United States)

    Kovatchev, Boris; Patek, Stephen; Dassau, Eyal; Doyle, Francis J; Magni, Lalo; De Nicolao, Giuseppe; Cobelli, Claudio

    2009-09-01

    Closed-loop control of type 1 diabetes is receiving increasing attention due to advancement in glucose sensor and insulin pump technology. Here the function and structure of a class of control algorithms designed to exert control to range, defined as insulin treatment optimizing glycemia within a predefined target range by preventing extreme glucose fluctuations, are studied. The main contribution of the article is definition of a modular architecture for control to range. Emphasis is on system specifications rather than algorithmic realization. The key system architecture elements are two interacting modules: range correction module, which assesses the risk for incipient hyper- or hypoglycemia and adjusts insulin rate accordingly, and safety supervision module, which assesses the risk for hypoglycemia and attenuates or discontinues insulin delivery when necessary. The novel engineering concept of range correction module is that algorithm action is relative to a nominal open-loop strategy-a predefined combination of basal rate and boluses believed to be optimal under nominal conditions. A proof of concept of the feasibility of our control-to-range strategy is illustrated by using a prototypal implementation tested in silico on patient use cases. These functional and architectural distinctions provide several advantages, including (i) significant insulin delivery corrections are only made if relevant risks are detected; (ii) drawbacks of integral action are avoided, e.g., undershoots with consequent hypoglycemic risks; (iii) a simple linear model is sufficient and complex algorithmic constraints are replaced by safety supervision; and (iv) the nominal profile provides straightforward individualization for each patient. We believe that the modular control-to-range system is the best approach to incremental development, regulatory approval, industrial deployment, and clinical acceptance of closed-loop control for diabetes. 2009 Diabetes Technology Society.

  5. Logarithmic conformal field theory, log-modular tensor categories and modular forms

    CERN Document Server

    Creutzig, Thomas

    2016-01-01

    The two pillars of rational conformal field theory and rational vertex operator algebras are modularity of characters on the one hand and its interpretation of modules as objects in a modular tensor category on the other one. Overarching these pillars is the Verlinde formula. In this paper we consider the more general class of logarithmic conformal field theories and $C_2$-cofinite vertex operator algebras. We suggest that their modular pillar are trace functions with insertions corresponding to intertwiners of the projective cover of the vacuum, and that the categorical pillar are finite tensor categories $\\mathcal C$ which are ribbon and whose double is isomorphic to the Deligne product $\\mathcal C\\otimes \\mathcal C^{opp}$. Overarching these pillars is then a logarithmic variant of Verlinde's formula. Numerical data realizing this are the modular $S$-matrix and modified traces of open Hopf links. The representation categories of $C_2$-cofinite and logarithmic conformal field theories that are fairly well un...

  6. Consciousness in SLA: A Modular Perspective

    Science.gov (United States)

    Truscott, John

    2015-01-01

    Understanding the place of consciousness in second language acquisition (SLA) is crucial for an understanding of how acquisition occurs. Considerable work has been done on this topic, but nearly all of it assumes a highly non-modular view, according to which language and its development is "nothing special". As this assumption runs…

  7. Modular Engineering Concept at Novo Nordisk Engineering

    DEFF Research Database (Denmark)

    Moelgaard, Gert; Miller, Thomas Dedenroth

    1997-01-01

    This report describes the concept of a new engineering method at Novo Nordisk Engineering: Modular Engineering (ME). Three tools are designed to support project phases with different levels of detailing and abstraction. ME supports a standard, cross-functional breakdown of projects that facilitates...

  8. Modular Engineering Concept at Novo Nordisk Engineering

    DEFF Research Database (Denmark)

    Moelgaard, Gert; Miller, Thomas Dedenroth

    1997-01-01

    This report describes the concept of a new engineering method at Novo Nordisk Engineering: Modular Engineering (ME). Three tools are designed to support project phases with different levels of detailing and abstraction. ME supports a standard, cross-functional breakdown of projects that facilitates...

  9. Modularizing a DSL implementation with Rascal

    NARCIS (Netherlands)

    Timmer, J.J.W.

    2013-01-01

    To make compilers more maintainable, one could build the language implementation in a modular way. This would mean adding only new les to the existing base language. Rascal is a language workbench that supports this for Domain Specific Languages (DSLs), as claimed by it's developers. To test this, a

  10. Honeywell Modular Automation System Computer Software Documentation

    Energy Technology Data Exchange (ETDEWEB)

    CUNNINGHAM, L.T.

    1999-09-27

    This document provides a Computer Software Documentation for a new Honeywell Modular Automation System (MAS) being installed in the Plutonium Finishing Plant (PFP). This system will be used to control new thermal stabilization furnaces in HA-211 and vertical denitration calciner in HC-230C-2.

  11. GAMBIT: Global And Modular BSM Inference Tool

    Science.gov (United States)

    GAMBIT Collaboration; Athron, Peter; Balazs, Csaba; Bringmann, Torsten; Buckley, Andy; Chrzä Szcz, Marcin; Conrad, Jan; Cornell, Jonathan M.; Dal, Lars A.; Dickinson, Hugh; Edsjö, Joakim; Farmer, Ben; Jackson, Paul; Krislock, Abram; Kvellestad, Anders; Lundberg, Johan; McKay, James; Mahmoudi, Farvah; Martinez, Gregory D.; Putze, Antje Raklev, Are; Ripken, Joachim; Rogan, Christopher; Saavedra, Aldo; Savage, Christopher; Scott, Pat; Seo, Seon-Hee; Serra, Nicola; Weniger, Christoph; White, Martin; Wild, Sebastian

    2017-08-01

    GAMBIT (Global And Modular BSM Inference Tool) performs statistical global fits of generic physics models using a wide range of particle physics and astrophysics data. Modules provide native simulations of collider and astrophysics experiments, a flexible system for interfacing external codes (the backend system), a fully featured statistical and parameter scanning framework, and additional tools for implementing and using hierarchical models.

  12. Higher-order (non-)modularity

    NARCIS (Netherlands)

    Appel, Claus; Oostrom, V. van; Grue Simonsen, Jakob

    2010-01-01

    We show that, contrary to the situation in first-order term rewriting, almost none of the usual properties of rewriting are modular for higher-order rewriting, irrespective of the higher-order rewriting format. For the particular format of simply typed applicative term rewriting systems we prove tha

  13. Modular Infrastructure for Rapid Flight Software Development

    Science.gov (United States)

    Pires, Craig

    2010-01-01

    This slide presentation reviews the use of modular infrastructure to assist in the development of flight software. A feature of this program is the use of model based approach for application unique software. A review of two programs that this approach was use on are: the development of software for Hover Test Vehicle (HTV), and Lunar Atmosphere and Dust Environment Experiment (LADEE).

  14. Enablers & Barriers for Realizing Modularity Benefits

    DEFF Research Database (Denmark)

    Storbjerg, Simon Haahr; Brunø, Thomas Ditlev; Thyssen, Jesper

    2012-01-01

    are the organizational and systems related aspects. Recognizing the need for guidance to realize the benefits of modularity, the purpose of this study is through a literature study and a case study to improve the insight into the organizational and systems related enablers and barriers with regard to obtaining the full...

  15. Modularity, Working Memory and Language Acquisition

    Science.gov (United States)

    Baddeley, Alan D.

    2017-01-01

    The concept of modularity is used to contrast the approach to working memory proposed by Truscott with the Baddeley and Hitch multicomponent model. This proposes four sub components comprising the "central executive," an executive control system of limited attentional capacity that utilises storage based on separate but interlinked…

  16. Modular microfluidic system for biological sample preparation

    Energy Technology Data Exchange (ETDEWEB)

    Rose, Klint A.; Mariella, Jr., Raymond P.; Bailey, Christopher G.; Ness, Kevin Dean

    2015-09-29

    A reconfigurable modular microfluidic system for preparation of a biological sample including a series of reconfigurable modules for automated sample preparation adapted to selectively include a) a microfluidic acoustic focusing filter module, b) a dielectrophoresis bacteria filter module, c) a dielectrophoresis virus filter module, d) an isotachophoresis nucleic acid filter module, e) a lyses module, and f) an isotachophoresis-based nucleic acid filter.

  17. Modular evolution of the Cetacean vertebral column.

    Science.gov (United States)

    Buchholtz, Emily A

    2007-01-01

    Modular theory predicts that hierarchical developmental processes generate hierarchical phenotypic units that are capable of independent modification. The vertebral column is an overtly modular structure, and its rapid phenotypic transformation in cetacean evolution provides a case study for modularity. Terrestrial mammals have five morphologically discrete vertebral series that are now known to be coincident with Hox gene expression patterns. Here, I present the hypothesis that in living Carnivora and Artiodactyla, and by inference in the terrestrial ancestors of whales, the series are themselves components of larger precaudal and caudal modular units. Column morphology in a series of fossil and living whales is used to predict the type and sequence of developmental changes responsible for modification of that ancestral pattern. Developmental innovations inferred include independent meristic additions to the precaudal column in basal archaeocetes and basilosaurids, stepwise homeotic reduction of the sacral series in protocetids, and dissociation of the caudal series into anterior tail and fluke subunits in basilosaurids. The most dramatic change was the novel association of lumbar and anterior caudal vertebrae in a module that crosses the precaudal/caudal boundary. This large unit is defined by shared patterns of vertebral morphology, count, and size in all living whales (Neoceti).

  18. Higher-Order (Non-)Modularity

    DEFF Research Database (Denmark)

    Appel, Claus; van Oostrom, Vincent; Simonsen, Jakob Grue

    2010-01-01

    We show that, contrary to the situation in first-order term rewriting, almost none of the usual properties of rewriting are modular for higher-order rewriting, irrespective of the higher-order rewriting format. We show that for the particular format of simply typed applicative term rewriting syst...

  19. Consciousness in SLA: A Modular Perspective

    Science.gov (United States)

    Truscott, John

    2015-01-01

    Understanding the place of consciousness in second language acquisition (SLA) is crucial for an understanding of how acquisition occurs. Considerable work has been done on this topic, but nearly all of it assumes a highly non-modular view, according to which language and its development is "nothing special". As this assumption runs…

  20. Automatic configuration of modular vault walls

    Directory of Open Access Journals (Sweden)

    Grković Vladan

    2012-01-01

    Full Text Available Products such as modular partition walls of vault rooms (with or without vault doors are made at the request of the client who chooses the safety degree and provides the available dimensions of the wall that should be made. Modular construction of vault walls is the system of construction of industrially made elements which are composed in situ, which allows design of products adjusted to individual requirements of clients. Since the vault wall modules repeat in every new project and since they differ only by their number and dimensions, the use of modern CA (Computer Aided tools and the possibility of application of parameter and variant design shorten design time and eliminate possible errors in the process of design of modular vault walls, which reduces the costs of production and increases the level of product quality. The paper presents the procedure for calculation of parameters of parts, modules and the entire vault wall in Microsoft Excel based on which the 3D model of a modular vault wall is automatically configured and developed in software package Autodesk Inventor. [Projekat Ministarstva nauke Republike Srbije, br. TR37020

  1. Higher-order (non-)modularity

    DEFF Research Database (Denmark)

    Appel, Claus; van Oostrom, Vincent; Simonsen, Jakob Grue

    2010-01-01

    We show that, contrary to the situation in first-order term rewriting, almost none of the usual properties of rewriting are modular for higher-order rewriting, irrespective of the higher-order rewriting format. We show that for the particular format of simply typed applicative term rewriting syst...

  2. A Modular SOS for Action Notation - Revisited

    DEFF Research Database (Denmark)

    Mosses, Peter David

    A draft modular SOS for the new version of AN, referred to as AN-2, has been available since 2000. It is written in CASL and has been checked for well-formedness using CATS (CASL Tool Set). It appears to be significantly more accessible than the original SOS of AN-1. However, it now appears that ...

  3. Principles for Implementing Modularity in Healthcare

    DEFF Research Database (Denmark)

    Soffers, Ruter; Meijboom, Bert; Hsuan, Juliana

    in a modular way. We identify three principles to do so: 1) the service architecture should be decomposable; 2) a proper service specification process should be introduced; and 3) the presence of interfaces should be ensured. Followingthese principles should help policy makers as well as managers to implement...

  4. A Modified Feistel Cipher Involving Modular Arithmetic Addition and Modular Arithmetic Inverse of a Key Matrix

    Directory of Open Access Journals (Sweden)

    K. Anup Kumar

    2012-07-01

    Full Text Available In this investigation, we have modified the Feistel cipher by taking the plaintext in the form of a pair of square matrices. Here we have introduced the operation multiplication with the key matrices and the modular arithmetic addition in encryption. The modular arithmetic inverse of the key matrix is introduced in decryption. The cryptanalysis carried out in this paper clearly indicate that this cipher cannot be broken by the brute force attack and the known plaintext attack.

  5. Manipulating and Visualizing Proteins

    Energy Technology Data Exchange (ETDEWEB)

    Simon, Horst D.

    2003-12-05

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

  6. Affordance estimation for vision-based object replacement on a humanoid robot

    DEFF Research Database (Denmark)

    Mustafa, Wail; Wächter, Mirko; Szedmak, Sandor

    2016-01-01

    In this paper, we address the problem of finding replacements of missing objects, involved in the execution of manipulation tasks. Our approach is based on estimating functional affordances for the unknown objects in order to propose replacements. We use a vision-based affordance estimation syste...

  7. Modularity for Motor Control and Motor Learning.

    Science.gov (United States)

    d'Avella, Andrea

    2016-01-01

    How the central nervous system (CNS) overcomes the complexity of multi-joint and multi-muscle control and how it acquires or adapts motor skills are fundamental and open questions in neuroscience. A modular architecture may simplify control by embedding features of both the dynamic behavior of the musculoskeletal system and of the task into a small number of modules and by directly mapping task goals into module combination parameters. Several studies of the electromyographic (EMG) activity recorded from many muscles during the performance of different tasks have shown that motor commands are generated by the combination of a small number of muscle synergies, coordinated recruitment of groups of muscles with specific amplitude balances or activation waveforms, thus supporting a modular organization of motor control. Modularity may also help understanding motor learning. In a modular architecture, acquisition of a new motor skill or adaptation of an existing skill after a perturbation may occur at the level of modules or at the level of module combinations. As learning or adapting an existing skill through recombination of modules is likely faster than learning or adapting a skill by acquiring new modules, compatibility with the modules predicts learning difficulty. A recent study in which human subjects used myoelectric control to move a mass in a virtual environment has tested this prediction. By altering the mapping between recorded muscle activity and simulated force applied on the mass, as in a complex surgical rearrangement of the tendons, it has been possible to show that it is easier to adapt to a perturbation that is compatible with the muscle synergies used to generate hand force than to a similar but incompatible perturbation. This result provides direct support for a modular organization of motor control and motor learning.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1998-03-01

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

  9. Elementary School Teachers' Manipulative Use

    Science.gov (United States)

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

    2010-01-01

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

  10. Ideological Manipulation in Translation Practice

    Institute of Scientific and Technical Information of China (English)

    张靖

    2011-01-01

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

  11. Thermoelectrical manipulation of nanomagnets

    Science.gov (United States)

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

    2010-06-01

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

  12. Genetic Manipulations in Dermatophytes.

    Science.gov (United States)

    Alshahni, Mohamed Mahdi; Yamada, Tsuyoshi

    2017-02-01

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

  13. The Impact of Product and Service Modularity on Business Performance

    DEFF Research Database (Denmark)

    Hsuan, Juliana; Frandsen, Thomas; Raja, Jawwad

    Modularity has been proposed as a powerful way of managing complexity. The emerging literature points to the importance of modularity of service architecture, with case based studies in logistics and healthcare. Little is known about the relationship between product and service modularity...... and their effects on business performance, both empirically and theoretically. This paper explores the relationship between product and service modularity and their effects on business performance based on a survey of Danish manufacturers. We provide empirical and theoretical insights into the emerging fields...... of service modularity and industrial services....

  14. Understanding the Modularity of Socio-technical Production Systems

    DEFF Research Database (Denmark)

    Thuesen, Christian Langhoff

    This paper seeks to contribute to the development of Configurational Theory by offering a reinterpretation of the modularity concept from a socio-technical perspective in general and Actor Network Theory (ANT) in particular. By formulating modularity from an ANT perspective covering social......, material and process aspects, the modularity of a socio-technical system can be understood as an entanglement of product, process, organizational and institutional modularity dimension. The developed theoretical framework is used for analyzing the modularity of three different production systems the pre......-modern, modern and post-modern construction practices....

  15. The VirtualwindoW: A Reconfigurable, Modular, Stereo Vision System

    Energy Technology Data Exchange (ETDEWEB)

    M. D. McKay; M. O. Anderson; R. A. Kinoshita; W. D. Willis

    1999-02-01

    An important need while using unmanned vehicles is the ability for the remote operator or observer to easily and accurately perceive the operating environment. A classic problem in providing a complete representation of the remote work area is sensory overload or excessive complexity in the human-machine interface. In addition, remote operations often benefit from depth perception capability while viewing or manipulating objects. Thus, there is an ongoing effort within the remote and teleoperated robotic field to develop better human-machine interfaces. The Department of Energy's Idaho National Engineering and Environmental Laboratory (INEEL) has been researching methods to simplify the human-machine interface using atypical operator techniques. Initial telepresence research conducted at the INEEL developed and implemented a concept called the VirtualwindoW. This system minimized the complexity of remote stereo viewing controls and provided the operator the ''feel'' of viewing the environment, including depth perception, in a natural setting. The VirtualwindoW has shown that the human-machine interface can be simplified while increasing operator performance. This paper deals with the continuing research and development of the VirtualwindoW to provide a reconfigurable, modular system that easily utilizes commercially available off the shelf components. This adaptability is well suited to several aspects of unmanned vehicle applications, most notably environmental perception and vehicle control.

  16. The VirtualwindoW: A Reconfigurable, Modular, Stereo Vision System

    Energy Technology Data Exchange (ETDEWEB)

    Kinoshita, Robert Arthur; Anderson, Matthew Oley; Mckay, Mark D; Willis, Walter David

    1999-04-01

    An important need while using unmanned vehicles is the ability for the remote operator or observer to easily and accurately perceive the operating environment. A classic problem in providing a complete representation of the remote work area is sensory overload or excessive complexity in the human-machine interface. In addition, remote operations often benefit from depth perception capability while viewing or manipulating objects. Thus, there is an on going effort within the remote and teleoperated robotic field to develop better human-machine interfaces. The Department of Energy's Idaho National Engineering and Environmental Laboratory (INEEL) has been researching methods to simplify the human-machine interface using atypical operator techniques. Initial telepresence research conducted at the INEEL developed and implemented a concept called the VirtualwindoW. This system minimized the complexity of remote stereo viewing controls and provided the operator the "feel" of viewing the environment, including depth perception, in a natural setting. The VirtualwindoW has shown that the human-machine interface can be simplified while increasing operator performance. This paper deals with the continuing research and development of the VirtualwindoW to provide a reconfigurable, modular system that easily utilizes commercially available off the shelf components. This adaptability is well suited to several aspects of unmanned vehicle applications, most notably environmental perception and vehicle control.

  17. The Manipulative Discourse of Gandalf

    Directory of Open Access Journals (Sweden)

    Farid Mohammadi

    2014-07-01

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

  18. Robotic mitral valve replacement.

    Science.gov (United States)

    Senay, Sahin; Gullu, Ahmet Umit; Kocyigit, Muharrem; Degirmencioglu, Aleks; Karabulut, Hasan; Alhan, Cem

    2014-01-01

    Robotic surgical techniques allow surgeons to perform mitral valve surgery. This procedure has gained acceptance, particularly for mitral valve repair in degenerative mitral disease. However, mitral repair may not always be possible, especially in severely calcified mitral valve of rheumatic origin. This study demonstrates the basic concepts and technique of robotic mitral valve replacement for valve pathologies that are not suitable for repair.

  19. Replacing America's Job Bank

    Science.gov (United States)

    Vollman, Jim

    2009-01-01

    The Job Central National Labor Exchange (www.jobcentral.com) has become the effective replacement for America's Job Bank with state workforce agencies and, increasingly, with community colleges throughout the country. The American Association of Community Colleges (AACC) has formed a partnership with Job Central to promote its use throughout the…

  20. Replacing America's Job Bank

    Science.gov (United States)

    Vollman, Jim

    2009-01-01

    The Job Central National Labor Exchange (www.jobcentral.com) has become the effective replacement for America's Job Bank with state workforce agencies and, increasingly, with community colleges throughout the country. The American Association of Community Colleges (AACC) has formed a partnership with Job Central to promote its use throughout the…

  1. "Little Helper" - An Autonomous Industrial Mobile Manipulator Concept

    Directory of Open Access Journals (Sweden)

    Mads Hvilshoj

    2011-06-01

    Full Text Available This paper presents the concept "autonomous industrial mobile manipulation" (AIMM based on the mobile manipulator "Little Helper" - an ongoing research project at Aalborg University, Denmark, concerning the development of an autonomous and flexible manufacturing assistant. The paper focuses on the contextual aspects and the working principles of AIMM. Furthermore, the paper deals with the design principles and overall hardware and software architectures of "Little Helper" from a functional and modular mechatronics point of view, in order to create a generic AIMM platform. The design challenges faced in the project is to integrate commercial off‐the‐shelf (COTS and dedicated highly integrated systems into an autonomous mobile manipulator system with the ability to perform diverse tasks in industrial environments. We propose an action based domain specific communication language for AIMM for routine and task definition, in order to lower the entry barriers for the users of the technology. To demonstrate the "Little Helper" concept a full‐scale prototype has been built and different application examples carried out. Experiences and knowledge gained from this show promising results regarding industrial integration, exploitation and maturation of the AIMM technology.

  2. Modularity and the Spread of Perturbations in Complex Dynamical Systems

    CERN Document Server

    Kolchinsky, Artemy; Rocha, Luis M

    2015-01-01

    We propose a method to decompose a multivariate dynamical system into weakly-coupled modules based on the idea that module boundaries constrain the spread of perturbations. Using a novel quality function called 'perturbation modularity', we find system coarse-grainings that optimally separate the dynamics of perturbation spreading into fast intra-modular and slow inter-modular components. Our method is defined directly in terms of system dynamics, unlike approaches that find communities in networks (whether in structural networks or 'functional networks' of statistical dependencies) or that impose arbitrary dynamics onto graphs. Due to this, we are able to capture the variation of modular organization across states, timescales, and in response to different perturbations, aspects of modularity which are all relevant to real-world dynamical systems. However, in certain cases, mappings exist between perturbation modularity and community detection methods of `Markov stability' and Newman's modularity. Our approac...

  3. Community Detection via Maximization of Modularity and Its Variants

    CERN Document Server

    Chen, Mingming; Szymanski, Boleslaw K

    2015-01-01

    In this paper, we first discuss the definition of modularity (Q) used as a metric for community quality and then we review the modularity maximization approaches which were used for community detection in the last decade. Then, we discuss two opposite yet coexisting problems of modularity optimization: in some cases, it tends to favor small communities over large ones while in others, large communities over small ones (so called the resolution limit problem). Next, we overview several community quality metrics proposed to solve the resolution limit problem and discuss Modularity Density (Qds) which simultaneously avoids the two problems of modularity. Finally, we introduce two novel fine-tuned community detection algorithms that iteratively attempt to improve the community quality measurements by splitting and merging the given network community structure. The first of them, referred to as Fine-tuned Q, is based on modularity (Q) while the second one is based on Modularity Density (Qds) and denoted as Fine-tu...

  4. On the Classification of Weakly Integral Modular Categories

    Energy Technology Data Exchange (ETDEWEB)

    Bruillard, Paul J.; Galindo, Cesar; Ng, Siu Hung; Plavnik, Julia Y.; Rowell, Eric C.; Wang, Zhenghan

    2016-09-01

    In this paper we classify all modular categories of dimension 4m, where m is an odd square-free integer, and all rank 6 and rank 7 weakly integral modular categories. This completes the classification of weakly integral modular categories through rank 7. In particular, our results imply that all integral modular categories of rank at most 7 are pointed (that is, every simple object has dimension 1). All the non-integral (but weakly integral) modular categories of ranks 6 and 7 have dimension 4m, with m an odd square free integer, so their classification is an application of our main result. The classification of rank 7 integral modular categories is facilitated by an analysis of the two group actions on modular categories: the Galois group of the field generated by the entries of the S-matrix and the group of invertible isomorphism classes of objects. We derive some valuable arithmetic consequences from these actions.

  5. A large divertor manipulator for ASDEX Upgrade

    Energy Technology Data Exchange (ETDEWEB)

    Herrmann, Albrecht, E-mail: albrecht.herrmann@ipp.mpg.de; Jaksic, Nikola; Leitenstern, Peter; Greuner, Henri; Krieger, Karl; Marné, Pascal de; Oberkofler, Martin; Rohde, Volker; Schall, Gerd

    2015-10-15

    Highlights: • A large divertor manipulator for ASDEX Upgrade is developed and tested. • It allows replacing a relevant part of the divertor by dedicated targets and probes. • Modified solid standard targets. • Electrical and mechanical probes for dedicated investigations. • Test of actively cooled component. - Abstract: In 2013 a new bulk tungsten divertor, Div-III, was installed in ASDEX Upgrade (AUG). During the concept and design phase of Div-III the option of adaptable divertor instrumentation and divertor modification as contribution for divertor investigations in preparation of ITER was given a high priority. To gain flexibility for the test of divertor modifications without affecting the operational space of AUG, the large divertor manipulator, DIM-II, was designed and installed. DIM-II allows to retract 2 out of 128 outer divertor target tiles including the water cooled support structure into a target exchange box and to replace these targets without breaking the vacuum of the AUG vessel. DIM-II is based on a carriage-rail system with a driving rod pushing a front-end with the target module into the divertor position for plasma operation. Three types of front-ends are foreseen for physics investigations: (i) modified standard targets clamped to the standard cooling structure, (ii) dedicated front-ends making use of the whole available volume of about 230 × 160 × 80 mm{sup 3} and (iii) actively cooled/heated targets for cooling water temperatures up to 230 °C. This paper presents the DIM-II design including the FEM calculations for the modified divertor support structure and the front-end options, as well as the test procedure and operation mode.

  6. Challenges in the application of modular open system architecture to weapons

    Science.gov (United States)

    Shaver, Jonathan; Rose, Leo; Young, Quinn; Christensen, Jacob

    2016-05-01

    The overarching objective for Flexible Weapons is to replace current inventory weapons that will not fully utilize the increased capabilities of 6th generation platforms, with a single weapons kit made up of flexible, open architecture components. Flexible Weapon will develop a common architecture to enable modular subsystems to achieve flexible weapons capability while allowing technology refresh at the pace of technology discovery in an affordable and sustainable design. The various combinations of weapons to address multiple missions must be 100% compatible with 6th generation delivery platforms (fighters, bombers, RPAs) and backwards compatible with 4th and 5th generation platforms.

  7. Omnidirectional Analysis of Spatial Manipulator

    Directory of Open Access Journals (Sweden)

    Yuquan Leng

    2015-01-01

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

  8. Manipulator control by exact linearization

    Science.gov (United States)

    Kruetz, K.

    1987-01-01

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

  9. Modular quantum-information processing by dissipation

    Science.gov (United States)

    Marshall, Jeffrey; Campos Venuti, Lorenzo; Zanardi, Paolo

    2016-11-01

    Dissipation can be used as a resource to control and simulate quantum systems. We discuss a modular model based on fast dissipation capable of performing universal quantum computation, and simulating arbitrary Lindbladian dynamics. The model consists of a network of elementary dissipation-generated modules and it is in principle scalable. In particular, we demonstrate the ability to dissipatively prepare all single-qubit gates, and the controlled-not gate; prerequisites for universal quantum computing. We also show a way to implement a type of quantum memory in a dissipative environment, whereby we can arbitrarily control the loss in both coherence, and concurrence, over the evolution. Moreover, our dissipation-assisted modular construction exhibits a degree of inbuilt robustness to Hamiltonian and, indeed, Lindbladian errors, and as such is of potential practical relevance.

  10. Modular PEM Fuel Cell SCADA & Simulator System

    Directory of Open Access Journals (Sweden)

    Francisca Segura

    2015-09-01

    Full Text Available The paper presents a Supervision, Control, Data Acquisition and Simulation (SCADA & Simulator system that allows for real-time training in the actual operation of a modular PEM fuel cell system. This SCADA & Simulator system consists of a free software tool that operates in real time and simulates real situations like failures and breakdowns in the system. This developed SCADA & Simulator system allows us to properly operate a fuel cell and helps us to understand how fuel cells operate and what devices are needed to configure and run the fuel cells, from the individual stack up to the whole fuel cell system. The SCADA & Simulator system governs a modular system integrated by three PEM fuel cells achieving power rates higher than tens of kilowatts.

  11. Mapping Modular SOS to Rewriting Logic

    DEFF Research Database (Denmark)

    Braga, Christiano de Oliveira; Haeusler, Erik Hermann; Meseguer, José;

    Modular SOS (MSOS) is a framework created to improve the modularity of structural operational semantics specifications, a formalism frequently used in the fields of programming languages semantics and process algebras. With the objective of defining formal tools to support the execution and verif......-performance implementation of RWL. In this paper we characterize the mapping and the MSOS-SL Interpreter. The reader is assumed to have some basic knowledge of structural operational semantics and object-oriented concepts....... and verification of MSOS specifications, we have defined a mapping, named , from MSOS to rewriting logic (RWL), a logic which has been proposed as a logical and semantic framework. We have proven the correctness of and implemented it as a prototype, the MSOS-SL Interpreter, in the Maude system, a high...

  12. Versatile microrobotics using simple modular subunits

    Science.gov (United States)

    Cheang, U. Kei; Meshkati, Farshad; Kim, Hoyeon; Lee, Kyoungwoo; Fu, Henry Chien; Kim, Min Jun

    2016-07-01

    The realization of reconfigurable modular microrobots could aid drug delivery and microsurgery by allowing a single system to navigate diverse environments and perform multiple tasks. So far, microrobotic systems are limited by insufficient versatility; for instance, helical shapes commonly used for magnetic swimmers cannot effectively assemble and disassemble into different size and shapes. Here by using microswimmers with simple geometries constructed of spherical particles, we show how magnetohydrodynamics can be used to assemble and disassemble modular microrobots with different physical characteristics. We develop a mechanistic physical model that we use to improve assembly strategies. Furthermore, we experimentally demonstrate the feasibility of dynamically changing the physical properties of microswimmers through assembly and disassembly in a controlled fluidic environment. Finally, we show that different configurations have different swimming properties by examining swimming speed dependence on configuration size.

  13. Reasoning about modular datatypes with Mendler induction

    Directory of Open Access Journals (Sweden)

    Paolo Torrini

    2015-09-01

    Full Text Available In functional programming, datatypes a la carte provide a convenient modular representation of recursive datatypes, based on their initial algebra semantics. Unfortunately it is highly challenging to implement this technique in proof assistants that are based on type theory, like Coq. The reason is that it involves type definitions, such as those of type-level fixpoint operators, that are not strictly positive. The known work-around of impredicative encodings is problematic, insofar as it impedes conventional inductive reasoning. Weak induction principles can be used instead, but they considerably complicate proofs. This paper proposes a novel and simpler technique to reason inductively about impredicative encodings, based on Mendler-style induction. This technique involves dispensing with dependent induction, ensuring that datatypes can be lifted to predicates and relying on relational formulations. A case study on proving subject reduction for structural operational semantics illustrates that the approach enables modular proofs, and that these proofs are essentially similar to conventional ones.

  14. Modular Curvature for Noncommutative Two-Tori

    CERN Document Server

    Connes, Alain

    2011-01-01

    Starting from the description of the conformal geometry of noncommutative 2-tori in the framework of modular spectral triples, we explicitly compute the local curvature functionals determined by the value at zero of the zeta functions affiliated with these spectral triples. We give a closed formula for the Ray-Singer analytic torsion in terms of the Dirichlet quadratic form and the generating function for Bernoulli numbers applied to the modular operator. The gradient of the Ray-Singer analytic torsion is then expressed in terms of these functionals, and yields the analogue of scalar curvature. Computing this gradient in two ways elucidates the meaning of the complicated two variable functions occurring in the formula for the scalar curvature. Moreover, the corresponding evolution equation for the metric produces the appropriate analogue of Ricci curvature. We prove the analogue of the classical result which asserts that in every conformal class the maximum value of the determinant of the Laplacian on metrics...

  15. Pipelined Two-Operand Modular Adders

    Directory of Open Access Journals (Sweden)

    M. Czyzak

    2015-04-01

    Full Text Available Pipelined two-operand modular adder (TOMA is one of basic components used in digital signal processing (DSP systems that use the residue number system (RNS. Such modular adders are used in binary/residue and residue/binary converters, residue multipliers and scalers as well as within residue processing channels. The design of pipelined TOMAs is usually obtained by inserting an appriopriate number of latch layers inside a nonpipelined TOMA structure. Hence their area is also determined by the number of latches and the delay by the number of latch layers. In this paper we propose a new pipelined TOMA that is based on a new TOMA, that has the smaller area and smaller delay than other known structures. Comparisons are made using data from the very large scale of integration (VLSI standard cell library.

  16. Hierarchical State Machines as Modular Horn Clauses

    Directory of Open Access Journals (Sweden)

    Pierre-Loïc Garoche

    2016-07-01

    Full Text Available In model based development, embedded systems are modeled using a mix of dataflow formalism, that capture the flow of computation, and hierarchical state machines, that capture the modal behavior of the system. For safety analysis, existing approaches rely on a compilation scheme that transform the original model (dataflow and state machines into a pure dataflow formalism. Such compilation often result in loss of important structural information that capture the modal behaviour of the system. In previous work we have developed a compilation technique from a dataflow formalism into modular Horn clauses. In this paper, we present a novel technique that faithfully compile hierarchical state machines into modular Horn clauses. Our compilation technique preserves the structural and modal behavior of the system, making the safety analysis of such models more tractable.

  17. Discrete optimization in architecture extremely modular systems

    CERN Document Server

    Zawidzki, Machi

    2017-01-01

    This book is comprised of two parts, both of which explore modular systems: Pipe-Z (PZ) and Truss-Z (TZ), respectively. It presents several methods of creating PZ and TZ structures subjected to discrete optimization. The algorithms presented employ graph-theoretic and heuristic methods. The underlying idea of both systems is to create free-form structures using the minimal number of types of modular elements. PZ is more conceptual, as it forms single-branch mathematical knots with a single type of module. Conversely, TZ is a skeletal system for creating free-form pedestrian ramps and ramp networks among any number of terminals in space. In physical space, TZ uses two types of modules that are mirror reflections of each other. The optimization criteria discussed include: the minimal number of units, maximal adherence to the given guide paths, etc.

  18. Siegel Modular Forms and Black Hole Entropy

    CERN Document Server

    Belin, Alexandre; Gomes, Joao; Keller, Christoph A

    2016-01-01

    We discuss the application of Siegel Modular Forms to Black Hole entropy counting. The role of the Igusa cusp form $\\chi_{10}$ in the D1D5P system is well-known, and its transformation properties are what allows precision microstate counting in this case. We implement this counting for other Siegel modular and paramodular forms, and we show that they could serve as candidates for other types of black holes. We investigate the growth of their coefficients, identifying the dominant contributions and the leading logarithmic corrections in various regimes. We also discuss similarities and differences to the behavior of $\\chi_{10}$, and possible physical interpretations of such forms both from a microscopic and gravitational point of view.

  19. CosmoSIS: modular cosmological parameter estimation

    CERN Document Server

    Zuntz, Joe; Jennings, Elise; Rudd, Douglas; Manzotti, Alessandro; Dodelson, Scott; Bridle, Sarah; Sehrish, Saba; Kowalkowski, James

    2014-01-01

    Cosmological parameter estimation is entering a new era. Large collaborations need to coordinate high-stakes analyses using multiple methods; furthermore such analyses have grown in complexity due to sophisticated models of cosmology and systematic uncertainties. In this paper we argue that modularity is the key to addressing these challenges: calculations should be broken up into interchangeable modular units with inputs and outputs clearly defined. We present a new framework for cosmological parameter estimation, CosmoSIS, designed to connect together, share, and advance development of inference tools across the community. We describe the modules already available in CosmoSIS, including CAMB, Planck, cosmic shear calculations, and a suite of samplers. We illustrate it using demonstration code that you can run out-of-the-box with the installer available at http://bitbucket.org/joezuntz/cosmosis

  20. A modular guitar for teaching musical acoustics

    DEFF Research Database (Denmark)

    Marozeau, Jeremy

    2016-01-01

    In order to keep students activated in a course on musical acoustics, they were asked to build a modular guitar, designed to be updated throughout the course. In the first stage, dedicated to the physics of strings, a guitar was made out of three strings attached to a long piece of wood. The stud......In order to keep students activated in a course on musical acoustics, they were asked to build a modular guitar, designed to be updated throughout the course. In the first stage, dedicated to the physics of strings, a guitar was made out of three strings attached to a long piece of wood....... The students measured the effect of the place of plucking on the mode of the vibrations of the strings. The second stage was dedicated to the acoustic resonances. Using a laser cutter, the students built a wooden box that was coupled to their guitar using straps. New acoustical measurements were made to study...

  1. Robustness and modular structure in networks

    CERN Document Server

    Bagrow, James P; Ahn, Yong-Yeol

    2011-01-01

    Many complex systems, from power grids and the internet, to the brain and society, can be modeled using modular networks. Modules, densely interconnected groups of elements, often overlap due to elements that belong to multiple modules. The elements and modules of these networks perform individual and collective tasks such as generating and consuming electrical load, transmitting data, or executing parallelized computations. We study the robustness of these systems to the failure of random elements. We show that it is possible for the modules themselves to become isolated or uncoupled (non-overlapping) well before the network falls apart. When modular organization is critical to overall functionality, networks may be far more vulnerable than expected.

  2. Versatile microrobotics using simple modular subunits.

    Science.gov (United States)

    Cheang, U Kei; Meshkati, Farshad; Kim, Hoyeon; Lee, Kyoungwoo; Fu, Henry Chien; Kim, Min Jun

    2016-07-28

    The realization of reconfigurable modular microrobots could aid drug delivery and microsurgery by allowing a single system to navigate diverse environments and perform multiple tasks. So far, microrobotic systems are limited by insufficient versatility; for instance, helical shapes commonly used for magnetic swimmers cannot effectively assemble and disassemble into different size and shapes. Here by using microswimmers with simple geometries constructed of spherical particles, we show how magnetohydrodynamics can be used to assemble and disassemble modular microrobots with different physical characteristics. We develop a mechanistic physical model that we use to improve assembly strategies. Furthermore, we experimentally demonstrate the feasibility of dynamically changing the physical properties of microswimmers through assembly and disassembly in a controlled fluidic environment. Finally, we show that different configurations have different swimming properties by examining swimming speed dependence on configuration size.

  3. Modular Chemical Process Intensification: A Review.

    Science.gov (United States)

    Kim, Yong-Ha; Park, Lydia K; Yiacoumi, Sotira; Tsouris, Costas

    2017-06-07

    Modular chemical process intensification can dramatically improve energy and process efficiencies of chemical processes through enhanced mass and heat transfer, application of external force fields, enhanced driving forces, and combinations of different unit operations, such as reaction and separation, in single-process equipment. These dramatic improvements lead to several benefits such as compactness or small footprint, energy and cost savings, enhanced safety, less waste production, and higher product quality. Because of these benefits, process intensification can play a major role in industrial and manufacturing sectors, including chemical, pulp and paper, energy, critical materials, and water treatment, among others. This article provides an overview of process intensification, including definitions, principles, tools, and possible applications, with the objective to contribute to the future development and potential applications of modular chemical process intensification in industrial and manufacturing sectors. Drivers and barriers contributing to the advancement of process intensification technologies are discussed.

  4. Modular, bluetooth enabled, wireless electroencephalograph (EEG) platform.

    Science.gov (United States)

    Lovelace, Joseph A; Witt, Tyler S; Beyette, Fred R

    2013-01-01

    A design for a modular, compact, and accurate wireless electroencephalograph (EEG) system is proposed. EEG is the only non-invasive measure for neuronal function of the brain. Using a number of digital signal processing (DSP) techniques, this neuronal function can be acquired and processed into meaningful representations of brain activity. The system described here utilizes Bluetooth to wirelessly transmit the digitized brain signal for an end application use. In this way, the system is portable, and modular in terms of the device to which it can interface. Brain Computer Interface (BCI) has become a popular extension of EEG systems in modern research. This design serves as a platform for applications using BCI capability.

  5. Modular stellarator reactor: a fusion power plant

    Energy Technology Data Exchange (ETDEWEB)

    Miller, R.L.; Bathke, C.G.; Krakowski, R.A.; Heck, F.M.; Green, L.; Karbowski, J.S.; Murphy, J.H.; Tupper, R.B.; DeLuca, R.A.; Moazed, A.

    1983-07-01

    A comparative analysis of the modular stellarator and the torsatron concepts is made based upon a steady-state ignited, DT-fueled, reactor embodiment of each concept for use as a central electric-power station. Parametric tradeoff calculations lead to the selection of four design points for an approx. 4-GWt plant based upon Alcator transport scaling in l = 2 systems of moderate aspect ratio. The four design points represent high-aspect ratio. The four design points represent high-(0.08) and low-(0.04) beta versions of the modular stellarator and torsatron concepts. The physics basis of each design point is described together with supporting engineering and economic analyses. The primary intent of this study is the elucidation of key physics and engineering tradeoffs, constraints, and uncertainties with respect to the ultimate power reactor embodiment.

  6. Modular architecture for robotics and teleoperation

    Science.gov (United States)

    Anderson, Robert J.

    1996-12-03

    Systems and methods for modularization and discretization of real-time robot, telerobot and teleoperation systems using passive, network based control laws. Modules consist of network one-ports and two-ports. Wave variables and position information are passed between modules. The behavior of each module is decomposed into uncoupled linear-time-invariant, and coupled, nonlinear memoryless elements and then are separately discretized.

  7. A Modular Toolkit for Distributed Interactions

    Directory of Open Access Journals (Sweden)

    Julien Lange

    2011-10-01

    Full Text Available We discuss the design, architecture, and implementation of a toolkit which supports some theories for distributed interactions. The main design principles of our architecture are flexibility and modularity. Our main goal is to provide an easily extensible workbench to encompass current algorithms and incorporate future developments of the theories. With the help of some examples, we illustrate the main features of our toolkit.

  8. Integrated modular propulsion for launch vehicles

    Science.gov (United States)

    Knuth, William; Crawford, Roger; Litchford, Ron

    1993-01-01

    The paper proposes a modular approach to rocket propulsion which offers a versatile method for realizing the goals of low cost, safety, reliability, and ease of operation. It is shown that, using practical modules made up of only 4-6 individual elements, it is possible to achieve thrust levels of 2-3 mln lbf and more, using turbomachinery, thrust chambers, lines, and valves about the size of SSME hardware. The approach is illustrated by a LOX/LH2 configuration.

  9. A Modular Approach for Automating Video Analysis

    OpenAIRE

    Nadarajan, Gayathri; Renouf, Arnaud

    2007-01-01

    International audience; Automating the steps involved in video processing has yet to be tackled with much success by vision developers and knowledge engineers. This is due to the difficulty in formulating vision problems and their solutions in a generalised manner. In this collaborated work, we introduce a modular approach that utilises ontologies to capture the goals, domain description and capabilities for performing video analysis. This modularisation is tested on real-world videos from an...

  10. Maass Forms and Quantum Modular Forms

    Science.gov (United States)

    Rolen, Larry

    This thesis describes several new results in the theory of harmonic Maass forms and related objects. Maass forms have recently led to a flood of applications throughout number theory and combinatorics in recent years, especially following their development by the work of Bruinier and Funke the modern understanding Ramanujan's mock theta functions due to Zwegers. The first of three main theorems discussed in this thesis concerns the integrality properties of singular moduli. These are well-known to be algebraic integers, and they play a beautiful role in complex multiplication and explicit class field theory for imaginary quadratic fields. One can also study "singular moduli" for special non-holomorphic functions, which are algebraic but are not necessarily algebraic integers. Here we will explain the phenomenon of integrality properties and provide a sharp bound on denominators of symmetric functions in singular moduli. The second main theme of the thesis concerns Zagier's recent definition of a quantum modular form. Since their definition in 2010 by Zagier, quantum modular forms have been connected to numerous different topics such as strongly unimodal sequences, ranks, cranks, and asymptotics for mock theta functions. Motivated by Zagier's example of the quantum modularity of Kontsevich's "strange" function F(q), we revisit work of Andrews, Jimenez-Urroz, and Ono to construct a natural vector-valued quantum modular form whose components. The final chapter of this thesis is devoted to a study of asymptotics of mock theta functions near roots of unity. In his famous deathbed letter, Ramanujan introduced the notion of a mock theta function, and he offered some alleged examples. The theory of mock theta functions has been brought to fruition using the framework of harmonic Maass forms, thanks to Zwegers. Despite this understanding, little attention has been given to Ramanujan's original definition. Here we prove that Ramanujan's examples do indeed satisfy his

  11. The Galois closure of Drinfeld modular towers

    DEFF Research Database (Denmark)

    Bassa, Alp; Beelen, Peter

    2011-01-01

    In this article we study Drinfeld modular curves X0(pn) associated to congruence subgroups Γ0(pn) of GL(2,Fq[T]) where p is a prime of Fq[T]. For n>r>0 we compute the extension degrees and investigate the structure of the Galois closures of the covers X0(pn)→X0(pr) and some of their variations. T...

  12. Modular Zero Energy. BrightBuilt Home

    Energy Technology Data Exchange (ETDEWEB)

    Aldrich, Robb [Steven Winter Associates, Inc., Norwalk, CT (United States); Butterfield, Karla [Steven Winter Associates, Inc., Norwalk, CT (United States)

    2016-03-01

    With funding from the Building America Program, part of the U.S. Department of Energy Building Technologies Office, the Consortium for Advanced Residential Buildings (CARB) worked with BrightBuilt Home (BBH) to evaluate and optimize building systems. CARB’s work focused on a home built by Black Bros. Builders in Lincolnville, Maine (International Energy Conservation Code Climate Zone 6). As with most BBH projects to date, modular boxes were built by Keiser Homes in Oxford, Maine.

  13. Bifurcated, modular syntheses of chiral annulet triazacyclononanes.

    Science.gov (United States)

    Argouarch, Gilles; Stones, Graham; Gibson, Colin L; Kennedy, Alan R; Sherrington, David C

    2003-12-21

    Three chiral 2,6-disubstituted tri-N-methyl azamacrocycles have been prepared by modular methods. These macrocycles were accessed from three chiral 1,4,7-triazaheptanes intermediates that were prepared by two independent routes. The first of these routes involved the benzylamine opening of chiral tosyl aziridines followed by debenzylation but was problematic on solubility grounds. A second, more effective, route was developed which avoided debenzylation by using ammonia in the nucleophilic opening of chiral tosyl aziridines.

  14. AP1000{sup TM} plant modularization

    Energy Technology Data Exchange (ETDEWEB)

    Cantarero L, C.; Demetri, K. J. [Westinghouse Electric Co., 1000 Westinghouse Drive, Cranberry Township, PA 16066 (United States); Quintero C, F. P., E-mail: cantarc@westinghouse.com [Westinghouse Electric Spain, Padilla 17, 28006 Madrid (Spain)

    2016-09-15

    The AP1000{sup TM} plant is an 1100 M We pressurized water reactor (PWR) with passive safety features and extensive plant simplifications that enhance construction, operation, maintenance and safety. Modules are used extensively in the design of the AP1000 plant nuclear island. The AP1000 plant uses modern, modular-construction techniques for plant construction. The design incorporates vendor-designed skids and equipment packages, as well as large, multi-ton structural modules and special equipment modules. Modularization allows traditionally sequential construction tasks to be completed simultaneously. Factory-built modules can be installed at the site in a planned construction schedule. The modularized AP1000 plant allows many more construction activities to proceed in parallel. This reduces plant construction calendar time, thus lowering the costs of plant financing. Furthermore, performing less work onsite significantly reduces the amount of skilled field-craft labor, which costs more than shop labor. In addition to labor cost savings, doing more welding and fabrication in a factory environment raises the quality of work, allowing more scheduling flexibility and reducing the amount of specialized tools required onsite. The site layout for the AP1000 plant has been established to support modular construction and efficient operations during construction. The plant layout is compact, using less space than previous conventional plant layouts. This paper provides and overview of the AP1000 plant modules with an emphasis on structural modules. Currently the Westinghouse AP1000 plant has four units under construction in China and four units under construction in the United States. All have shown successful fabrication and installation of various AP1000 plant modules. (Author)

  15. The small (or large) modular CANDU

    Energy Technology Data Exchange (ETDEWEB)

    Meneley, D.; Harvel, G. [Univ. of Ontario Inst. of Tech., Oshawa, Ontario (Canada)

    2013-07-01

    This presentation outlines the design for small (or large) modular CANDU. The origins of this work go back many years to a comment by John Foster, then President of AECL CANDU. Foster noted that the CANDU reactor, with its many small fuel channels, was like a wood campfire. To make a bigger fire, just throw on some more logs (channels). If you want a smaller fire, just use fewer logs. The design process is greatly simplified.

  16. Modular Avionics for Seamless Reconfigurable UAS Missions

    OpenAIRE

    2008-01-01

    Abstract Integrated Modular Avionics (IMA) architecture is a trend in current avionics that employs a partitioned environment in which different avionics functions share a unique computing environment. UAS avionics, especially in small UAS, are usually of less complexity than not the present on airliners, however, in real autonomous UAS, the onboard avionics should control not only the flight and navigation but also the mission and payload of the aircraft. This involves more complex softwa...

  17. Modular vaccine packaging increases packing efficiency.

    Science.gov (United States)

    Norman, Bryan A; Rajgopal, Jayant; Lim, Jung; Gorham, Katrin; Haidari, Leila; Brown, Shawn T; Lee, Bruce Y

    2015-06-17

    Within a typical vaccine supply chain, vaccines are packaged into individual cylindrical vials (each containing one or more doses) that are bundled together in rectangular "inner packs" for transport via even larger groupings such as cold boxes and vaccine carriers. The variability of vaccine inner pack and vial size may hinder efficient vaccine distribution because it constrains packing of cold boxes and vaccine carriers to quantities that are often inappropriate or suboptimal in the context of country-specific vaccination guidelines. We developed in Microsoft Excel (Microsoft Corp., Redmond, WA) a spreadsheet model that evaluated the impact of different packing schemes for the Benin routine regimen plus the introduction of the Rotarix vaccine. Specifically, we used the model to compare the current packing scheme to that of a proposed modular packing scheme. Conventional packing of a Dometic RCW25 that aims to maximize fully-immunized children (FICs) results in 123 FICs and a packing efficiency of 81.93% compared to a maximum of 155 FICs and 94.1% efficiency for an alternative modular packaging system. Our analysis suggests that modular packaging systems could offer significant advantages over conventional vaccine packaging systems with respect to space efficiency and potential FICs, when they are stored in standard vaccine carrying devices. This allows for more vaccines to be stored within the same volume while also simplifying the procedures used by field workers to pack storage devices. Ultimately, modular packaging systems could be a simple way to help increase vaccine coverage worldwide. Copyright © 2015. Published by Elsevier Ltd.

  18. Good families of Drinfeld modular curves

    DEFF Research Database (Denmark)

    Bassa, Alp; Beelen, Peter; Nguyen, Nhut

    2015-01-01

    In this paper, we investigate examples of good and optimal Drinfeld modular towers of function fields. Surprisingly, the optimality of these towers has not been investigated in full detail in the literature. We also give an algorithmic approach for obtaining explicit defining equations for some...... of these towers and, in particular, give a new explicit example of an optimal tower over a quadratic finite field....

  19. Ulnar head replacement.

    Science.gov (United States)

    Herbert, Timothy J; van Schoonhoven, Joerg

    2007-03-01

    Recent years have seen an increasing awareness of the anatomical and biomechanical significance of the distal radioulnar joint (DRUJ). With this has come a more critical approach to surgical management of DRUJ disorders and a realization that all forms of "excision arthroplasty" can only restore forearm rotation at the expense of forearm stability. This, in turn, has led to renewed interest in prosthetic replacement of the ulnar head, a procedure that had previously fallen into disrepute because of material failures with early implants, in particular, the Swanson silicone ulnar head replacement. In response to these early failures, a new prosthesis was developed in the early 1990s, using materials designed to withstand the loads across the DRUJ associated with normal functional use of the upper limb. Released onto the market in 1995 (Herbert ulnar head prosthesis), clinical experience during the last 10 years has shown that this prosthesis is able to restore forearm function after ulnar head excision and that the materials (ceramic head and noncemented titanium stem), even with normal use of the limb, are showing no signs of failure in the medium to long term. As experience with the use of an ulnar head prosthesis grows, so does its acceptance as a viable and attractive alternative to more traditional operations, such as the Darrach and Sauve-Kapandji procedures. This article discusses the current indications and contraindications for ulnar head replacement and details the surgical procedure, rehabilitation, and likely outcomes.

  20. Topological Strings And (Almost) Modular Forms

    Energy Technology Data Exchange (ETDEWEB)

    Aganagic, Mina; Bouchard, Vincent; Klemm, Albrecht

    2007-05-04

    The B-model topological string theory on a Calabi-Yau threefold X has a symmetry group {Lambda}, generated by monodromies of the periods of X. This acts on the topological string wave function in a natural way, governed by the quantum mechanics of the phase space H{sup 3}(X). We show that, depending on the choice of polarization, the genus g topological string amplitude is either a holomorphic quasi-modular form or an almost holomorphic modular form of weight 0 under {Lambda}. Moreover, at each genus, certain combinations of genus g amplitudes are both modular and holomorphic. We illustrate this for the local Calabi-Yau manifolds giving rise to Seiberg-Witten gauge theories in four dimensions and local IP{sub 2} and IP{sub 1} x IP{sub 1}. As a byproduct, we also obtain a simple way of relating the topological string amplitudes near different points in the moduli space, which we use to give predictions for Gromov-Witten invariants of the orbifold C{sub 3}/ZZ{sub 3}.

  1. Using Modularity with Rough Decision Models

    Directory of Open Access Journals (Sweden)

    Ahmed T. Shawky

    2012-01-01

    Full Text Available Many real world applications need to deal with imprecise data. Therefore, there is a need for new techniques which can manage such imprecision. Computational Intelligence (CI techniques are the most appropriate for dealing with imprecise data to help decision makers. It is well known that soft computing techniques like genetic algorithms, neural networks, and fuzzy logic are effective in dealing with problems without explicit model and characterized by uncertainties Using fuzzy set theory considered as major techniques, which allows decision makers to take a good decision using imprecise inexact data and knowledge. Now using rough set is getting quite necessary to be used for its ability to mining such type of data. In this research, we are looking forward to propose a novel technique, which depends on the integration between fuzzy set concepts and rough set theory in mining relational databases. The proposed model allows introducing modularity mechanism, by building a virtual modular decision tables according to variety of decision makers points of view. And introduce decision grouping mechanism for getting the optimizing decision. This approach provides flexibility in decision making verifies all decision standards and determines decision requirements, through modularizing rough decision table, extraction of rough association rules and developing mechanisms for decision grouping.

  2. USING MODULARITY WITH ROUGH DECISION MODELS

    Directory of Open Access Journals (Sweden)

    Ahmed T. Shawky

    2012-02-01

    Full Text Available Many real world applications need to deal with imprecise data. Therefore, there is a need for newtechniques which can manage such imprecision. Computational Intelligence (CI techniques are the mostappropriate for dealing with imprecise data to help decision makers. It is well known that soft computingtechniques like genetic algorithms, neural networks, and fuzzy logic are effective in dealing with problemswithout explicit model and characterized by uncertainties Using fuzzy set theory considered as majortechniques, which allows decision makers to take a good decision using imprecise inexact data andknowledge. Now using rough set is getting quite necessary to be used for its ability to mining such type ofdata. In this research, we are looking forward to propose a novel technique, which depends on theintegration between fuzzy set concepts and rough set theory in mining relational databases. The proposedmodel allows introducing modularity mechanism, by building a virtual modular decision tables accordingto variety of decision makers points of view. And introduce decision grouping mechanism for getting theoptimizing decision. This approach provides flexibility in decision making verifies all decision standardsand determines decision requirements, through modularizing rough decision table, extraction of roughassociation rules and developing mechanisms for decision grouping.

  3. Modular Zero Energy. BrightBuilt Home

    Energy Technology Data Exchange (ETDEWEB)

    Aldrich, Robb [Consortium for Advanced Residential Buildings (CARB), Norwalk, CT (United States). Steven Winters Associates, Inc.; Butterfield, Karla [Consortium for Advanced Residential Buildings (CARB), Norwalk, CT (United States). Steven Winters Associates, Inc.

    2016-03-01

    Kaplan Thompson Architects (KTA) has specialized in sustainable, energy-efficient buildings, and they have designed several custom, zero-energy homes in New England. These zero-energy projects have generally been high-end, custom homes with budgets that could accommodate advanced energy systems. In an attempt to make zero energy homes more affordable and accessible to a larger demographic, KTA explored modular construction as way to provide high-quality homes at lower costs. In the mid-2013, KTA formalized this concept when they launched BrightBuilt Home (BBH). The BBH mission is to offer a line of architect-designed, high-performance homes that are priced to offer substantial savings off the lifetime cost of a typical home and can be delivered in less time. For the past two years, CARB has worked with BBH and Keiser Homes (the primary modular manufacturer for BBH) to discuss challenges related to wall systems, HVAC, and quality control. In Spring of 2014, CARB and BBH began looking in detail on a home to be built in Lincolnville, ME by Black Bros. Builders. This report details the solution package specified for this modular plan and the challenges that arose during the project.

  4. Modular injection systems for miniature engines

    Science.gov (United States)

    Cochran, Mike

    1992-07-01

    Mission requirements for Kinetic Energy Weapons will require miniaturization of current vehicle propulsion systems for future Space Defence Iniative Programs. A modular injection system (MIS) valve is presented which will decrease cost, size and weight of miniaturized storable bipropellant rocket engines and features two poppet-type propellant valve modules pneumatically linked to a pilot solenoid module. A prototype modular injection valve sized for 100lbf thrust was designed and is being tested to show lower costs, fewer moving parts and a reduction in weight and size. Results show that this valve meets objectives of one-half weight, one-half cost and one-fifth the envelopment of current production valves. Studies indicate that a cruciform configuration of four nominal 100lbf thrust engines can be controlled by four modular injection valve systems in a single housing of less than 1.0 m3. Following further development and correlation of results this concept may be scaled to control four higher thrust engines.

  5. Evolution of a modular software network.

    Science.gov (United States)

    Fortuna, Miguel A; Bonachela, Juan A; Levin, Simon A

    2011-12-13

    "Evolution behaves like a tinkerer" (François Jacob, Science, 1977). Software systems provide a singular opportunity to understand biological processes using concepts from network theory. The Debian GNU/Linux operating system allows us to explore the evolution of a complex network in a unique way. The modular design detected during its growth is based on the reuse of existing code in order to minimize costs during programming. The increase of modularity experienced by the system over time has not counterbalanced the increase in incompatibilities between software packages within modules. This negative effect is far from being a failure of design. A random process of package installation shows that the higher the modularity, the larger the fraction of packages working properly in a local computer. The decrease in the relative number of conflicts between packages from different modules avoids a failure in the functionality of one package spreading throughout the entire system. Some potential analogies with the evolutionary and ecological processes determining the structure of ecological networks of interacting species are discussed.

  6. RAMS (Risk Analysis - Modular System) methodology

    Energy Technology Data Exchange (ETDEWEB)

    Stenner, R.D.; Strenge, D.L.; Buck, J.W. [and others

    1996-10-01

    The Risk Analysis - Modular System (RAMS) was developed to serve as a broad scope risk analysis tool for the Risk Assessment of the Hanford Mission (RAHM) studies. The RAHM element provides risk analysis support for Hanford Strategic Analysis and Mission Planning activities. The RAHM also provides risk analysis support for the Hanford 10-Year Plan development activities. The RAMS tool draws from a collection of specifically designed databases and modular risk analysis methodologies and models. RAMS is a flexible modular system that can be focused on targeted risk analysis needs. It is specifically designed to address risks associated with overall strategy, technical alternative, and `what if` questions regarding the Hanford cleanup mission. RAMS is set up to address both near-term and long-term risk issues. Consistency is very important for any comparative risk analysis, and RAMS is designed to efficiently and consistently compare risks and produce risk reduction estimates. There is a wide range of output information that can be generated by RAMS. These outputs can be detailed by individual contaminants, waste forms, transport pathways, exposure scenarios, individuals, populations, etc. However, they can also be in rolled-up form to support high-level strategy decisions.

  7. Modular load flow for restructured power systems

    CERN Document Server

    Hariharan, M V; Gupta, Pragati P

    2016-01-01

    In the subject of power systems, authors felt that a re-look is necessary at some conventional methods of analysis. In this book, the authors have subjected the time-honoured load flow to a close scrutiny. Authors have discovered and discussed a new load flow procedure – Modular Load Flow. Modular Load Flow explores use of power – a scalar – as source for electrical circuits which are conventionally analysed by means of phasors – the ac voltages or currents. The method embeds Kirchhoff’s circuit laws as topological property into its scalar equations and results in a unique wonderland where phase angles do not exist! Generators are shown to have their own worlds which can be superimposed to obtain the state of the composite power system. The treatment is useful in restructured power systems where stakeholders and the system operators may desire to know individual generator contributions in line flows and line losses for commercial reasons. Solution in Modular Load Flow consists of explicit expression...

  8. Survey on research and development of reconfigurable modular robots

    Directory of Open Access Journals (Sweden)

    Jinguo Liu

    2016-08-01

    Full Text Available This article presents a comprehensive survey of reconfigurable modular robots, which covers the origin, history, the state of the art, key technologies, challenges, and applications of reconfigurable modular robots. An elaborative classification of typical reconfigurable modular robots is proposed based on the characteristics of the modules and the reconfiguration mechanism. As the system characteristics of reconfigurable modular robots are mainly dependent on the functions of modules, the mechanical and electrical design features of modules of typical reconfigurable modular robots are discussed in detail. Furthermore, an in-depth comparison analysis is conducted, which encompasses discussions of module shape, module degrees of freedom, module attribute, connection mechanisms, interface autonomy, locomotion modes, and workspace. Meanwhile, many reconfigurable modular robot researches focus on the study of self-X capabilities (i.e. self-reconfiguration, self-assembly, self-adaption, etc., which embodies autonomy performance of reconfigurable modular robots in certain extent. An evolutionary cobweb evaluation model is proposed in this article to evaluate the autonomy level of reconfigurable modular robots. Although various reconfigurable modular robots have been developed and some of them have been put into practical applications such as search and rescue missions, there still exist many open theoretical, technical, and practical challenges in this field. This work is hopefully to offer a reference for the further developments of reconfigurable modular robots.

  9. Evaluating quality of care using modular nursing on a multispecialty unit.

    Science.gov (United States)

    Bechtel, G A; Printz, V

    1994-03-01

    The purpose of this study was to examine performance outcome measures of nurses who work on a general medical unit and those who work on specialized or modular units. A sample of 82 nurses were reassigned to patients in either specialty modules or a general medical unit. Findings suggest that large nursing units staffed according to modular groups based on common diagnosis may improve nursing care quality. Modular nurses assigned to patients on a general medical unit made more medication errors, charted nursing interventions less frequently, and were less likely to provide prompt PRN medication administration. Of concern is the care provided to chronically ill; elderly clients not admitted to a predetermined specialty module received the poorest nursing care. We support development of specialty nursing modules to replace large, general medical units, it does not measure the impact of retention, cost, or other key variables on nurse staffing. We suggest that large medical units be divided into specialty modules and that staff rotation to general medical units be minimized.

  10. Dominating Manipulations in Voting with Partial Information

    CERN Document Server

    Conitzer, Vincent; Xia, Lirong

    2011-01-01

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

  11. Autonomous Industrial Mobile Manipulation (AIMM)

    DEFF Research Database (Denmark)

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

    2012-01-01

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

  12. SOCIAL MECHANISMS AND TECHNOLOGIES OF MANIPULATIVE MANAGEMENT OF THE PERSON

    Directory of Open Access Journals (Sweden)

    N. G. Osipova

    2016-01-01

    Full Text Available The article analyzes the different points of view on individual and social conditioning of the individual exposure to manipulative influences. The special attention paid to broad social context of modern transformations when the increasing stream of the information and the new forms of its giving which literally has fallen upon the person. In last decades it conducts to the “incoherence” of sensations, when the confidence and the fixed standards were replaced by uncertainty, incite to superficial perception of things, to sensation of the feeling immediacy of life and to negation of historical regularities. Authors assert that in such situation activity of the organizations and the separate persons which purpose is influence rendering on people, submission to their specific private interests is especially stirred up. The main element of the manipulative influence is the ability to impose their own solutions of urgent problems or engage in manipulation of networks of people who are predisposed to it. This article analyzes the concepts that explain susceptibility to manipulative influences of congenital mental qualities of the person; discusses the theory of “patterns”, launched by domestic explorer V.V. Krasikov. Authors allocate concrete socially-psychological mechanisms which allow people to be subjected to manipulative management, as well as the proven fact of socially conditioned cultivation conformal thinking in a certain social, economic and political circumstances. 

  13. The ongoing impact of modular localization on particle theory

    CERN Document Server

    Schroer, Bert

    2014-01-01

    Modular localization is the concise conceptual formulation of causal localization in the setting of local quantum physics. Unlike QM it does not refer to individual operators but rather to ensembles of observables which share the same localization region, as a result it explains the probabilistic aspects of QFT in terms of the impure KMS nature arising from the local restriction of the pure vacuum. Whereas it played no important role in the perturbation theory of low spin particles, it becomes indispensible for interactions which involve higher spin s fields, where is leads to the replacement of the operator (BRST) gauge theory setting in Krein space by a new formulation in terms of stringlocal fields in Hilbert space. The main purpose of this paper is to present new results which lead to a rethinking of important issues of the Standard Model concerning massive gauge theories and the Higgs mechanism. We place these new findings into the broader context of ongoing conceptual changes within QFT which already le...

  14. Manipulating scattering features by metamaterials

    Directory of Open Access Journals (Sweden)

    Lu Cui

    2016-01-01

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

  15. Manipulating scattering features by metamaterials

    Directory of Open Access Journals (Sweden)

    Lu Cui

    2016-01-01

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

  16. A Comprehensive View On Benefits From Product Modularization

    DEFF Research Database (Denmark)

    Hansen, Poul H. Kyvsgård; Sun, Hongyi

    2010-01-01

    . Definitely, the many various aspects of product modularization have demonstrated substantial potentials regarding improved and enhanced competitiveness, but our empirical studies illustrate that the efforts in regards to realizing specific product modularization benefits need to be managed carefully. Our......In many cases the phenomenon of product modularization is presented in an inherently positive way. Based on the frequency of these positive cases it might be expected that product modularization is a universal cure for any competitive weaknesses experienced by manufacturing or service companies...... studies illustrates that the expected and the realized benefits from a product modularization effort rarely match. In most cases the companies have only weak estimations about both the type and the magnitude of the potential benefits when planning the modularization project. This indicates a serious need...

  17. Research on Modular Manufacture Strategy under New Economic Circumstance

    Institute of Scientific and Technical Information of China (English)

    WU Zhenggang; SHI Chunsheng

    2006-01-01

    Modularity can simplify the process of complex product design and manufacture effectively, and it can also optimize the supply resource to satisfy the customization needs of customers, which has aroused more and more awareness of people both in management theory research and in enterprise practice recently. In the article, we analyze the difficulty of complex product manufacture, introduce the idea of modular manufacture and research the basic content of modular manufacture strategy. Meanwhile, the significance of modular manufacture strategy to build up core competition and fast innovation for the manufacture industry are studied. At last, we discuss the necessity of building modular manufacture strategy and its modes and process. The studies demonstrate that based on modular manufacture is crucial to establish enterprise strategy and optimize enterprise competence.

  18. Summer School and Conference : Computations with Modular Forms

    CERN Document Server

    Wiese, Gabor

    2014-01-01

    This volume contains original research articles, survey articles and lecture notes related to the Computations with Modular Forms 2011 Summer School and Conference, held at the University of Heidelberg. A key theme of the Conference and Summer School was the interplay between theory, algorithms and experiment. The 14 papers offer readers both, instructional courses on the latest algorithms for computing modular and automorphic forms, as well as original research articles reporting on the latest developments in the field. The three Summer School lectures provide an introduction to modern algorithms together with some theoretical background for computations of and with modular forms, including computing cohomology of arithmetic groups, algebraic automorphic forms, and overconvergent modular symbols. The 11 Conference papers cover a wide range of themes related to computations with modular forms, including lattice methods for algebraic modular forms on classical groups, a generalization of the Maeda conjecture, ...

  19. Environmental variability and modularity of bacterial metabolic networks

    Directory of Open Access Journals (Sweden)

    Kashtan Nadav

    2007-09-01

    Full Text Available Abstract Background Biological systems are often modular: they can be decomposed into nearly-independent structural units that perform specific functions. The evolutionary origin of modularity is a subject of much current interest. Recent theory suggests that modularity can be enhanced when the environment changes over time. However, this theory has not yet been tested using biological data. Results To address this, we studied the relation between environmental variability and modularity in a natural and well-studied system, the metabolic networks of bacteria. We classified 117 bacterial species according to the degree of variability in their natural habitat. We find that metabolic networks of organisms in variable environments are significantly more modular than networks of organisms that evolved under more constant conditions. Conclusion This study supports the view that variability in the natural habitat of an organism promotes modularity in its metabolic network and perhaps in other biological systems.

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

    Energy Technology Data Exchange (ETDEWEB)

    Khosla, P.K.; Kanade, Takeo

    1996-12-31

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

  1. Aortic valve replacement

    DEFF Research Database (Denmark)

    Kapetanakis, Emmanouil I; Athanasiou, Thanos; Mestres, Carlos A

    2008-01-01

    BACKGROUND AND AIMS OF THE STUDY: Prompted by anecdotal evidence and observations by surgeons, an investigation was undertaken into the potential differences in implanted aortic valve prosthesis sizes, during aortic valve replacement (AVR) procedures, between northern and southern European...... countries. METHODS: A multi-institutional, non-randomized, retrospective analysis was conducted among 2,932 patients who underwent AVR surgery at seven tertiary cardiac surgery centers throughout Europe. Demographic and perioperative variables including valve size and type, body surface area (BSA) and early...

  2. Total ankle joint replacement.

    Science.gov (United States)

    2016-02-01

    Ankle arthritis results in a stiff and painful ankle and can be a major cause of disability. For people with end-stage ankle arthritis, arthrodesis (ankle fusion) is effective at reducing pain in the shorter term, but results in a fixed joint, and over time the loss of mobility places stress on other joints in the foot that may lead to arthritis, pain and dysfunction. Another option is to perform a total ankle joint replacement, with the aim of giving the patient a mobile and pain-free ankle. In this article we review the efficacy of this procedure, including how it compares to ankle arthrodesis, and consider the indications and complications.

  3. The hyperbolic modular double and Yang-Baxter equation

    CERN Document Server

    Chicherin, D

    2015-01-01

    We construct a hyperbolic modular double -- an algebra lying in between the Faddeev modular double for U_q(sl_2) and the elliptic modular double. The intertwining operator for this algebra leads to an integral operator solution of the Yang-Baxter equation associated with a generalized Faddeev-Volkov lattice model introduced by the second author. We describe also the L-operator and finite-dimensional R-matrices for this model.

  4. A New Modular Multilevel Converter with Integrated Energy Storage

    DEFF Research Database (Denmark)

    Trintis, Ionut; Munk-Nielsen, Stig; Teodorescu, Remus

    2011-01-01

    This paper introduces a new modular converter with integrated energy storage based on the cascaded half-bridge modular multilevel converter with common DC bus. It represents a complete modular solution with power electronics and energy storage building blocks, for medium and high voltage...... in the future HVDC meshed grids. Its functionality and flexibility makes the converter independent on the energy storage unit characteristic. The converter concept with its basic functions and control schemes are described and evaluated in this paper....

  5. A measure of centrality based on modularity matrix

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    In this paper, a kind of measure of structural centrality for networks, called modularity centrality, is introduced. This centrality index is based on the eigenvector belonging to the largest magnitude eigenvalue of modularity matrix. The measure is illustrated and compared with the standard centrality measures using a classic dataset. The statistical distribution of modularity centrality is investigated by con- sidering large computer generated graphs and two networks from the real world.

  6. Cogging torque mitigation of modular permanent magnet machines

    OpenAIRE

    Li, G. J.; Ren, B.; Zhu, Z-Q.; Li, Y X; Ma, J.

    2015-01-01

    This paper proposes a novel cogging torque mitigation method for modular permanent magnet (PM) machines with flux gaps in alternate stator teeth. The slot openings of the modular PM machines are divided into two groups in a special way. By shifting the slot openings of two groups in opposite directions with the same angle, the machine cogging torque can be significantly reduced. Analytical formula of the desired shift angle is derived, and can be applicable to other modular machines with diff...

  7. Modular Permanent Magnet Machines with Alternate Teeth Having Tooth Tips

    OpenAIRE

    Li, G. J.; Zhu, Z.Q.; Foster, M. P.; Stone, D. A.; Zhan, H.L.

    2015-01-01

    This paper presents single layer modular permanent magnet machines with either wound or unwound teeth with tooth tips. The structures with wound teeth having tooth tips are suitable for modular machines with slot number higher than pole number to compensate for the drop in winding factor due to the flux gaps in alternate stator teeth, accordingly to maintain or even to increase their average torques. However, the structures with unwound teeth having tooth tips are suitable for modular machine...

  8. The Optimum Replacement of Weapon

    Institute of Scientific and Technical Information of China (English)

    ZHANG Xiao; ZHANG Jin-chun

    2002-01-01

    The theory of LCC (Life Cycle Cost) is applied in this paper. The relation between the economic life of weapon and the optimum replacement is analyzed. The method to define the optimum replacement time of weapon is discussed.

  9. Inverse Kinematics and Control of a 7-DOF Redundant Manipulator Based on the Closed-Loop Algorithm

    Directory of Open Access Journals (Sweden)

    Jingguo Wang

    2011-01-01

    Full Text Available Closed-loop inverse kinematics (CLIK algorithm mostly resolves the redundancy at the velocity level. In this paper we extend the CLIK algorithm to the acceleration level to meet some applications that require the joint accelerations. The redundancy resolutions at the velocities and acceleration levels via pseudoinverse method are analyzed respectively. The objective function of joint limits avoidance (JLA is combined into the redundancy resolution as an optimization approach of the null space motion. A seven-DOF redundant manipulator is designed to do the computer simulations and the real experiments are carried out on a Powercube modular manipulator. Their results demonstrated the effectiveness of the proposed algorithm.

  10. Compensating Interpolation Distortion by Using New Optimized Modular Method

    CERN Document Server

    Tofighi, Mohammad; Marvasti, Farokh

    2012-01-01

    A modular method was suggested before to recover a band limited signal from the sample and hold and linearly interpolated (or, in general, an nth-order-hold) version of the regular samples. In this paper a novel approach for compensating the distortion of any interpolation based on modular method has been proposed. In this method the performance of the modular method is optimized by adding only some simply calculated coefficients. This approach causes drastic improvement in terms of signal-to-noise ratios with fewer modules compared to the classical modular method. Simulation results clearly confirm the improvement of the proposed method and also its superior robustness against additive noise.

  11. Modularity of tree-like and random regular graphs

    CERN Document Server

    McDiarmid, Colin

    2016-01-01

    Clustering algorithms for large networks typically use the modularity score to compare which partitions better represent modular structure in the data. Given a network, the modularity of a partition of the vertex set is a number in [0, 1) which measures the extent to which edge density is higher within parts than between parts; and the modularity of the network is the maximum modularity of any partition. We show that random cubic graphs usually have modularity in the interval (0.666, 0.804); and random r-regular graphs for large r usually have modularity ${\\Theta}(1/\\sqrt{r})$. Our results can give thresholds for the statistical significance of clustering found in large regular networks. The modularity of cycles and low degree trees is known to be asymptotically 1. We extend these results to all graphs whose product of treewidth and maximum degree is much less than the number of edges. This shows for example that random planar graphs typically have modularity close to 1.

  12. Cascading failures of interdependent modular small-world networks

    Science.gov (United States)

    Zhu, Guowei; Wang, Xianpei; Tian, Meng; Dai, Dangdang; Long, Jiachuan; Zhang, Qilin

    2016-07-01

    Much empirical evidence shows that many real-world networks fall into the broad class of small-world networks and have a modular structure. The modularity has been revealed to have an important effect on cascading failure in isolated networks. However, the corresponding results for interdependent modular small-world networks remain missing. In this paper, we investigate the relationship between cascading failures and the intra-modular rewiring probabilities and inter-modular connections under different coupling preferences, i.e. random coupling with modules (RCWM), assortative coupling in modules (ACIM) and assortative coupling with modules (ACWM). The size of the largest connected component is used to evaluate the robustness from global and local perspectives. Numerical results indicate that increasing intra-modular rewiring probabilities and inter-modular connections can improve the robustness of interdependent modular small-world networks under intra-attacks and inter-attacks. Meanwhile, experiments on three coupling strategies demonstrate that ACIM has a better effect on preventing the cascading failures compared with RCWM and ACWM. These results can be helpful to allocate and optimize the topological structure of interdependent modular small-world networks to improve the robustness of such networks.

  13. Morphological modularity in the vertebral column of Felidae (Mammalia, Carnivora)

    National Research Council Canada - National Science Library

    Marcela Randau; Anjali Goswami

    2017-01-01

    ... (Felidae, Carnivora, Mammalia) with pairwise comparisons of vertebral shape covariation (i.e. integration) and evaluate our results against hypotheses of developmental and functional modularity...

  14. Modular Epidemic Spreading in Small-World Networks

    Institute of Scientific and Technical Information of China (English)

    ZHAO Hui; GAO Zi-You

    2007-01-01

    We study the epidemic spreading of the susceptible-infected-susceptible model on small-world networks with modular structure.It is found that the epidemic threshold increases linearly with the modular strength.Furthermore,the modular structure may influence the infected density in the steady state and the spreading velocity at the beginning of propagation.Practically,the propagation can be hindered by strengthening the modular structure in the view of network topology.In addition,to reduce the probability of reconnection between modules may also help to control the propagation.

  15. Power Plant Replacement Study

    Energy Technology Data Exchange (ETDEWEB)

    Reed, Gary

    2010-09-30

    This report represents the final report for the Eastern Illinois University power plant replacement study. It contains all related documentation from consideration of possible solutions to the final recommended option. Included are the economic justifications associated with the chosen solution along with application for environmental permitting for the selected project for construction. This final report will summarize the results of execution of an EPC (energy performance contract) investment grade audit (IGA) which lead to an energy services agreement (ESA). The project includes scope of work to design and install energy conservation measures which are guaranteed by the contractor to be self‐funding over its twenty year contract duration. The cost recovery is derived from systems performance improvements leading to energy savings. The prime focus of this EPC effort is to provide a replacement solution for Eastern Illinois University’s aging and failing circa 1925 central steam production plant. Twenty‐three ECMs were considered viable whose net impact will provide sufficient savings to successfully support the overall project objectives.

  16. Total disc replacement.

    Science.gov (United States)

    Vital, J-M; Boissière, L

    2014-02-01

    Total disc replacement (TDR) (partial disc replacement will not be described) has been used in the lumbar spine since the 1980s, and more recently in the cervical spine. Although the biomechanical concepts are the same and both are inserted through an anterior approach, lumbar TDR is conventionally indicated for chronic low back pain, whereas cervical TDR is used for soft discal hernia resulting in cervicobrachial neuralgia. The insertion technique must be rigorous, with precise centering in the disc space, taking account of vascular anatomy, which is more complex in the lumbar region, particularly proximally to L5-S1. All of the numerous studies, including prospective randomized comparative trials, have demonstrated non-inferiority to fusion, or even short-term superiority regarding speed of improvement. The main implant-related complication is bridging heterotopic ossification with resulting loss of range of motion and increased rates of adjacent segment degeneration, although with an incidence lower than after arthrodesis. A sufficiently long follow-up, which has not yet been reached, will be necessary to establish definitively an advantage for TDR, particularly in the cervical spine. Copyright © 2014 Elsevier Masson SAS. All rights reserved.

  17. REPLACEMENT OF FRENCH CARDS

    CERN Multimedia

    HR/SOC

    2001-01-01

    The French Ministry of Foreign Affairs has informed the Organization that it is shortly to replace all diplomatic cards, special cards and employment permits ('attestations de fonctions') now held by members of the personnel and their families. Between 2 July and 31 December 2001, these cards are to be replaced by secure, computerized equivalents. The old cards may continue to be used until 31 December 2001. For the purposes of the handover, members of the personnel must go personally to the cards office (33/1-015), in order to fill in a 'fiche individuelle' form, taking the following documents for themselves and members of their families already in possession of a French card : A recent identity photograph in 4.5 cm x 3.5 cm format. The French card in their possession. An A4 photocopy of the same French card, certified by the cards office as being a true copy. Those members of the personnel whose cards (and/or cards belonging to members of their families) are shortly due to expire, or have recently done...

  18. REPLACEMENT OF FRENCH CARDS

    CERN Multimedia

    Human Resources Division; Cards.Service@cern.ch

    2001-01-01

    The French Ministry of Foreign Affairs is currently replacing all diplomatic cards, special cards and employment permits («attestations de fonctions») held by members of the personnel and their families. These cards are replaced by secure, computerized equivalents. The old cards may no longer be used after 31 December 2001. For the purposes of the handover, members of the personnel must go personally to the cards office (33/1-015) between 8h30 and 12h30, in order to fill in a «fiche individuelle» form, taking the following documents for themselves and members of their families already in possession of a French card : A recent identity photograph in 4.5 cm x 3.5 cm format, the French card in their possession, an A4 photocopy of the same French card, certified by the cards office as being a true copy. Those members of the personnel whose cards (and/or cards belonging to members of their families) are shortly due to expire, or have recently done so, are also requested...

  19. REPLACEMENT OF FRENCH CARDS

    CERN Multimedia

    Human Resources Division

    2001-01-01

    The French Ministry of Foreign Affairs has informed the Organization that it is shortly to replace all diplomatic cards, special cards and employment permits ('attestations de fonctions') now held by members of the personnel and their families. Between 2 July and 31 December 2001, these cards are to be replaced by secure, computerized equivalents. The old cards may continue to be used until 31 December 2001. For the purposes of the handover, members of the personnel are asked to go to the cards office (33/1-015), taking the following documents for themselves and members of their families already in possession of a French card : A recent identity photograph in 4.5 cm x 3.5 cm format, The French card in their possession, an A4 photocopy of the same French card, certified by the cards office as being a true copy. Those members of the personnel whose cards (and/or cards belonging to members of their families) are shortly due to expire, or have recently done so, are also requested to take these items to the c...

  20. REPLACEMENT OF FRENCH CARDS

    CERN Multimedia

    Human Resources Division

    2001-01-01

    The French Ministry of Foreign Affairs has informed the Organization that it is shortly to replace all diplomatic cards, special cards and employment permits ('attestations de fonctions') now held by members of the personnel and their families. Between 2 July and 31 December 2001, these cards are to be replaced by secure, computerized equivalents. A 'personnel office' stamped photocopy of the old cards may continue to be used until 31 December 2001. For the purposes of the handover, members of the personnel must go personally to the cards office (33/1-015), between 8:30 and 12:30, in order to fill a 'fiche individuelle' form (in black ink only), which has to be personally signed by themselves and another separately signed by members of their family, taking the following documents for themselves and members of their families already in possession of a French card : A recent identity photograph in 4.5 cm x 3.5 cm format (signed on the back) The French card in their possession an A4 photocopy of the same Fre...

  1. Power Plant Replacement Study

    Energy Technology Data Exchange (ETDEWEB)

    Reed, Gary

    2010-09-30

    This report represents the final report for the Eastern Illinois University power plant replacement study. It contains all related documentation from consideration of possible solutions to the final recommended option. Included are the economic justifications associated with the chosen solution along with application for environmental permitting for the selected project for construction. This final report will summarize the results of execution of an EPC (energy performance contract) investment grade audit (IGA) which lead to an energy services agreement (ESA). The project includes scope of work to design and install energy conservation measures which are guaranteed by the contractor to be self-funding over its twenty year contract duration. The cost recovery is derived from systems performance improvements leading to energy savings. The prime focus of this EPC effort is to provide a replacement solution for Eastern Illinois University's aging and failing circa 1925 central steam production plant. Twenty-three ECMs were considered viable whose net impact will provide sufficient savings to successfully support the overall project objectives.

  2. Faster Replacement Paths

    CERN Document Server

    Williams, Virginia Vassilevska

    2010-01-01

    The replacement paths problem for directed graphs is to find for given nodes s and t and every edge e on the shortest path between them, the shortest path between s and t which avoids e. For unweighted directed graphs on n vertices, the best known algorithm runtime was \\tilde{O}(n^{2.5}) by Roditty and Zwick. For graphs with integer weights in {-M,...,M}, Weimann and Yuster recently showed that one can use fast matrix multiplication and solve the problem in O(Mn^{2.584}) time, a runtime which would be O(Mn^{2.33}) if the exponent \\omega of matrix multiplication is 2. We improve both of these algorithms. Our new algorithm also relies on fast matrix multiplication and runs in O(M n^{\\omega} polylog(n)) time if \\omega>2 and O(n^{2+\\eps}) for any \\eps>0 if \\omega=2. Our result shows that, at least for small integer weights, the replacement paths problem in directed graphs may be easier than the related all pairs shortest paths problem in directed graphs, as the current best runtime for the latter is \\Omega(n^{2.5...

  3. Power Plant Replacement Study

    Energy Technology Data Exchange (ETDEWEB)

    Reed, Gary

    2010-09-30

    This report represents the final report for the Eastern Illinois University power plant replacement study. It contains all related documentation from consideration of possible solutions to the final recommended option. Included are the economic justifications associated with the chosen solution along with application for environmental permitting for the selected project for construction. This final report will summarize the results of execution of an EPC (energy performance contract) investment grade audit (IGA) which lead to an energy services agreement (ESA). The project includes scope of work to design and install energy conservation measures which are guaranteed by the contractor to be self-funding over its twenty year contract duration. The cost recovery is derived from systems performance improvements leading to energy savings. The prime focus of this EPC effort is to provide a replacement solution for Eastern Illinois University’s aging and failing circa 1925 central steam production plant. Twenty-three ECMs were considered viable whose net impact will provide sufficient savings to successfully support the overall project objectives.

  4. Corrosion behavior of tantalum-coated cobalt-chromium modular necks compared to titanium modular necks in a simulator test.

    Science.gov (United States)

    Dorn, Ulrich; Neumann, Daniel; Frank, Mario

    2014-04-01

    This study compared the corrosion behavior of tantalum-coated cobalt-chromium modular necks with that of titanium alloy modular necks at their junction to titanium-alloy femoral stem. Tests were performed in a dry assembly and two wet assemblies, one contaminated with calf serum and the other contaminated with calf serum and bone particles. Whereas the titanium modular neck tested in the dry assembly showed no signs of corrosion, the titanium modular necks tested in both wet assemblies showed marked depositions and corrosive attacks. By contrast, the tantalum-coated cobalt-chromium modular necks showed no traces of corrosion or chemical attack in any of the three assemblies. This study confirms the protective effect of tantalum coating the taper region of cobalt-chromium modular neck components, suggesting that the use of tantalum may reduce the risk of implant failure due to corrosion.

  5. The iDuo Bi-compartmental Knee Replacement: Our Early Experience.

    Directory of Open Access Journals (Sweden)

    Peter Jemmett

    2016-12-01

    Our early results suggest that the iDuo knee is a good option for those with isolated bi-compartmental disease and outcome scores are comparable with those reported for the BKA. This bi-compartmental design may bridge the gap between the uni-compartmental and total knee replacement. The choice between monolithic or modular designs remains in debate. We will continue to use this prosthesis for a carefully selected group of patients.

  6. Ethics of Mitochondrial Replacement Techniques: A Habermasian Perspective.

    Science.gov (United States)

    Palacios-González, César

    2017-01-01

    Jürgen Habermas is regarded as a central bioconservative commentator in the debate on the ethics of human prenatal genetic manipulations. While his main work on this topic, The Future of Human Nature, has been widely examined in regard to his position on prenatal genetic enhancement, his arguments regarding prenatal genetic therapeutic interventions have for the most part been overlooked. In this work I do two things. First, I present the three necessary conditions that Habermas establishes for a prenatal genetic manipulation to be regarded as morally permissible. Second, I examine if mitochondrial replacement techniques meet these necessary conditions. I investigate, specifically, the moral permissibility of employing pronuclear transfer and maternal spindle transfer. I conclude that, according to a Habermasian perspective on prenatal genetic manipulation, maternal spindle transfer (without using a preselected sperm and egg) and pronuclear transfer are morally impermissible. Maternal spindle transfer is, in principle, morally permissible, but only when we have beforehand preselected a sperm and an egg for our reproductive purpose. These findings are relevant for bioconservatives, both for those who hold a Habermasian stance and for those who hold something akin to a Habermasian stance, because they answer the question: what should bioconservatives do regarding mitochondrial replacement techniques? In fact, the answer to this question does not only normatively prescribe what bioconservatives should do in terms of their personal morality, but it also points towards what kind of legislation regulating mitochondrial replacement techniques they should aim at.

  7. Integrated Modular Avionics for Spacecraft: Earth Observation Use Case Demonstrator

    Science.gov (United States)

    Deredempt, Marie-Helene; Rossignol, Alain; Hyounet, Philippe

    2013-08-01

    Integrated Modular Avionics (IMA) for Space, as European Space Agency initiative, aimed to make applicable to space domain the time and space partitioning concepts and particularly the ARINC 653 standard [1][2]. Expected benefits of such an approach are development flexibility, capability to provide differential V&V for different criticality level functionalities and to integrate late or In-Orbit delivery. This development flexibility could improve software subcontracting, industrial organization and software reuse. Time and space partitioning technique facilitates integration of software functions as black boxes and integration of decentralized function such as star tracker in On Board Computer to save mass and power by limiting electronics resources. In aeronautical domain, Integrated Modular Avionics architecture is based on a network of LRU (Line Replaceable Unit) interconnected by AFDX (Avionic Full DupleX). Time and Space partitioning concept is applicable to LRU and provides independent partitions which inter communicate using ARINC 653 communication ports. Using End System (LRU component) intercommunication between LRU is managed in the same way than intercommunication between partitions in LRU. In such architecture an application developed using only communication port can be integrated in an LRU or another one without impacting the global architecture. In space domain, a redundant On Board Computer controls (ground monitoring TM) and manages the platform (ground command TC) in terms of power, solar array deployment, attitude, orbit, thermal, maintenance, failure detection and recovery isolation. In addition, Payload units and platform units such as RIU, PCDU, AOCS units (Star tracker, Reaction wheels) are considered in this architecture. Interfaces are mainly realized through MIL-STD-1553B busses and SpaceWire and this could be considered as the main constraint for IMA implementation in space domain. During the first phase of IMA SP project, ARINC653

  8. Selective Manipulation of Neural Circuits.

    Science.gov (United States)

    Park, Hong Geun; Carmel, Jason B

    2016-04-01

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

  9. Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel Manipulators

    CERN Document Server

    Pashkevich, Anatoly; Wenger, Philippe

    2008-01-01

    The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-d.o.f. virtual springs. In contrast to other works, the method includes a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations, which allows computing the stiffness matrix for the overconstrained architectures and for the singular manipulator postures. The advantages of the developed technique are confirmed by application examples, which deal with comparative stiffness analysis of two translational parallel manipulators.

  10. Lightweight composites for modular panelized construction

    Science.gov (United States)

    Vaidya, Amol S.

    Rapid advances in construction materials technology have enabled civil engineers to achieve impressive gains in the safety, economy, and functionality of structures built to serve the common needs of society. Modular building systems is a fast-growing modern, form of construction gaining recognition for its increased efficiency and ability to apply modern technology to the needs of the market place. In the modular construction technique, a single structural panel can perform a number of functions such as providing thermal insulation, vibration damping, and structural strength. These multifunctional panels can be prefabricated in a manufacturing facility and then transferred to the construction site. A system that uses prefabricated panels for construction is called a "panelized construction system". This study focuses on the development of pre-cast, lightweight, multifunctional sandwich composite panels to be used for panelized construction. Two thermoplastic composite panels are proposed in this study, namely Composite Structural Insulated Panels (CSIPs) for exterior walls, floors and roofs, and Open Core Sandwich composite for multifunctional interior walls of a structure. Special manufacturing techniques are developed for manufacturing these panels. The structural behavior of these panels is analyzed based on various building design codes. Detailed descriptions of the design, cost analysis, manufacturing, finite element modeling and structural testing of these proposed panels are included in this study in the of form five peer-reviewed journal articles. The structural testing of the proposed panels involved in this study included flexural testing, axial compression testing, and low and high velocity impact testing. Based on the current study, the proposed CSIP wall and floor panels were found satisfactory, based on building design codes ASCE-7-05 and ACI-318-05. Joining techniques are proposed in this study for connecting the precast panels on the construction

  11. Interfaces in service modularity : A typology developed in modular health care provision

    NARCIS (Netherlands)

    de Blok, C.; Meijboom, B.R.; Luijkx, K.G.; Schols, J.M.G.A.; Schroeder, R.G.

    2014-01-01

    We conduct case research in a particular service context, i.e. the sector for elderly care, in order to explore characteristics of interfaces and the role they play in service customization. Even though the study of modularity in areas other than goods production is increasing, little is known about

  12. Interfaces in service modularity : A typology developed in modular health care provision

    NARCIS (Netherlands)

    de Blok, C.; Meijboom, B.R.; Luijkx, K.G.; Schols, J.M.G.A.; Schroeder, R.G.

    2014-01-01

    We conduct case research in a particular service context, i.e. the sector for elderly care, in order to explore characteristics of interfaces and the role they play in service customization. Even though the study of modularity in areas other than goods production is increasing, little is known about

  13. Modular software-controlled electrochemical system

    Science.gov (United States)

    Hagan, D.; Spivey, J.; Niculescu, V. A.

    1987-03-01

    A modular microcomputer-controlled three-electrode potentiostat configured with graphics is presented. The system is designed for metallic surface characterization and is capable of performing in different modes of operation including single sweep voltammetry, cyclic voltammetry, and chronoamperometry. An integrated and flexible software system for control, data taking, data storage, and transfer is described. Data analysis software for the IBM-PC computer including two- and three-dimensional plotting as well as menu-driven theoretical modeling, simulation, and curvefitting has been developed.

  14. Robustness and modular structure in networks

    DEFF Research Database (Denmark)

    Bagrow, James P.; Lehmann, Sune; Ahn, Yong-Yeol

    2015-01-01

    Complex networks have recently attracted much interest due to their prevalence in nature and our daily lives [1, 2]. A critical property of a network is its resilience to random breakdown and failure [3-6], typically studied as a percolation problem [7-9] or by modeling cascading failures[10......-12]. Many complex systems, from power grids and the Internet to the brain and society [13-15], can be modeled using modular networks comprised of small, densely connected groups of nodes [16, 17]. These modules often overlap, with network elements belonging to multiple modules [18, 19]. Yet existing work...

  15. Modular system design for plastic euro pallets

    Directory of Open Access Journals (Sweden)

    J. Tepić

    2012-04-01

    Full Text Available Although pallet, as a tool, yields significant and widely recognized economic effects in production and distribution systems, it is still not fully utilized, indicating that it needs to be defined and developed as a specific product. Euro pallet product was designed using PRO/ENGINEER software system CAD module, as one of the most popular Cax systems, yielding a pallet of novel modular design that meets all the operational requirements of the existing range. The chosen material ensures high pallet longevity and durability, in line with the concept of sustainable development.

  16. Morphology Independent Learning in Modular Robots

    DEFF Research Database (Denmark)

    Christensen, David Johan; Bordignon, Mirko; Schultz, Ulrik Pagh

    2009-01-01

    Hand-coding locomotion controllers for modular robots is difficult due to their polymorphic nature. Instead, we propose to use a simple and distributed reinforcement learning strategy. ATRON modules with identical controllers can be assembled in any configuration. To optimize the robot’s locomotion...... speed its modules independently and in parallel adjust their behavior based on a single global reward signal. In simulation, we study the learning strategy’s performance on different robot configurations. On the physical platform, we perform learning experiments with ATRON robots learning to move as fast...

  17. Data Acquisition for Modular Biometric Monitoring System

    Science.gov (United States)

    Chmiel, Alan J. (Inventor); Humphreys, Bradley T. (Inventor); Grodsinsky, Carlos M. (Inventor)

    2014-01-01

    A modular system for acquiring biometric data includes a plurality of data acquisition modules configured to sample biometric data from at least one respective input channel at a data acquisition rate. A representation of the sampled biometric data is stored in memory of each of the plurality of data acquisition modules. A central control system is in communication with each of the plurality of data acquisition modules through a bus. The central control system is configured to collect data asynchronously, via the bus, from the memory of the plurality of data acquisition modules according to a relative fullness of the memory of the plurality of data acquisition modules.

  18. Shape optimization of the modular press body

    Directory of Open Access Journals (Sweden)

    Pabiszczak Stanisław

    2016-12-01

    Full Text Available A paper contains an optimization algorithm of cross-sectional dimensions of a modular press body for the minimum mass criterion. Parameters of the wall thickness and the angle of their inclination relative to the base of section are assumed as the decision variables. The overall dimensions are treated as a constant. The optimal values of parameters were calculated using numerical method of the tool Solver in the program Microsoft Excel. The results of the optimization procedure helped reduce body weight by 27% while maintaining the required rigidity of the body.

  19. The Axion Mass in Modular Invariant Supergravity

    CERN Document Server

    Butter, D; Butter, Daniel; Gaillard, Mary K.

    2005-01-01

    When supersymmetry is broken by condensates with a single condensing gauge group, there is a nonanomalous R-symmetry that prevents the universal axion from acquiring a mass. It has been argued that, in the context of supergravity, higher dimension operators will break this symmetry and may generate an axion mass too large to allow the identification of the universal axion with the QCD axion. We show that such contributions to the axion mass are highly suppressed in a class of models where the effective Lagrangian for gaugino and matter condensation respects modular invariance (T-duality).

  20. Modularizing and Specifying Protocols among Threads

    Directory of Open Access Journals (Sweden)

    Farhad Arbab

    2013-02-01

    Full Text Available We identify three problems with current techniques for implementing protocols among threads, which complicate and impair the scalability of multicore software development: implementing synchronization, implementing coordination, and modularizing protocols. To mend these deficiencies, we argue for the use of domain-specific languages (DSL based on existing models of concurrency. To demonstrate the feasibility of this proposal, we explain how to use the model of concurrency Reo as a high-level protocol DSL, which offers appropriate abstractions and a natural separation of protocols and computations. We describe a Reo-to-Java compiler and illustrate its use through examples.