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

Indian Academy of Sciences (India)

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

High speed serial link for UA1 microprocessor network

CERN Document Server

Cittolin, S; Zurfluh, E

1981-01-01

The UA1 data acquisition system consists of a set of distributed microprocessor units. An interprocessor link, independent of the CAMAC data readout, has been developed in order to have continuous remote control and run-time data handling, e.g. transmission of calibration programs/parameters, equipment test/status and histogram accumulation. The data transmission system is designed to be used in a loop configuration equipped with transceivers for twisted pair cables (RS-422). As an economical system, it is running as an ancillary serial loop-link between microprocessors, like Data Acquisition Crate Controllers and systems with distributed intelligence. The software driver consists of a loop-controller package, which may run in a BAMBI Computer Language environment and a fully interrupt controlled program for all other secondary stations. A special single-character mode provides a handy link for remote debugging in a pseudo-full-duplex mode. The format is based on the HDLC protocol without sequence numbering. ...

High speed serial link for UA1 microprocessor network

CERN Document Server

Cittolin, Sergio; Zurfluh, E

1981-01-01

The UA1 data acquisition system consists of a set of distributed microprocessor units. An interprocessor link, independent of the CAMAC data readout, has been developed in order to have continuous remote control and run-time data handling, e.g. transmission of calibration programs/parameters, equipment test/status and histogram accumulation. The data transmission system is designed to be used in a loop configuration equipped with transceivers for twisted pair cables (RS-422). As an economical system, it is running as an ancillary serial loop-link between microprocessors, like data acquisition crate controllers and systems with distributed intelligence. The software driver consists of a loop-controller package, which may run in a BAMBI computer language environment and a fully interrupt controlled program for all other secondary stations. A special single-character mode provides a handy link for remote debugging in a pseudo-full-duplex mode. The format is based on the HDLC protocol without sequence numbering. ...

Development and commissioning of a links type inspection manipulator

International Nuclear Information System (INIS)

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

1988-01-01

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

Closed-Loop Analysis of Soft Decisions for Serial Links

Science.gov (United States)

Lansdowne, Chatwin A.; Steele, Glen F.; Zucha, Joan P.; Schlesinger, Adam M.

2013-01-01

We describe the benefit of using closed-loop measurements for a radio receiver paired with a counterpart transmitter. We show that real-time analysis of the soft decision output of a receiver can provide rich and relevant insight far beyond the traditional hard-decision bit error rate (BER) test statistic. We describe a Soft Decision Analyzer (SDA) implementation for closed-loop measurements on single- or dual- (orthogonal) channel serial data communication links. The analyzer has been used to identify, quantify, and prioritize contributors to implementation loss in live-time during the development of software defined radios. This test technique gains importance as modern receivers are providing soft decision symbol synchronization as radio links are challenged to push more data and more protocol overhead through noisier channels, and software-defined radios (SDRs) use error-correction codes that approach Shannon's theoretical limit of performance.

High speed serial link for UA1 microprocessor network

International Nuclear Information System (INIS)

Cittolin, S.; Loefstedt, B.; Zurfluh, E.

1981-01-01

The UA1 data acquisition system consists of a set of distributed microprocessor units. An interprocessor link, independent of the CAMAC data readout, has been developed in order to have continuous remote control and run-time data handling, e.g. transmission of calibration programs/parameters, equipment rest/status and histogram accumulation. The data transmission system is designed to be used in a loop configuration equipped with transceivers for twisted pair cables (RS-422). As an economical system it is running as an ancillary serial loop-link between microprocessors Like Data Acquisition Crate Controllers and systems with distributed intelligence. The software driver consists of a loop-controller package, which may run in a BAMBI Computer Language environment and a fully interrupt controlled program for all other secondary stations. A special single-character mode provides a handy link for remote debugging in a pseudo-full-duplex mode. The format is based on the HDLC protocol without sequence numbering. The Chip MC-6854 from Motorola, Inc. enables an implementation with few components. (orig.)

Development of FPGA-based High Speed Serial Links for High Energy Physics Experiments

CERN Document Server

Perrella, Sabrina; Giordano, Raffaele; Izzo, Vincenzo

Ricerca Simple Search Advanced Search Ultime accessioni Browse Browse by Author Browse by Subject Browse by Year Browse by Type Browse by Accessibilità del full-text Informazioni Policy About FAQ Contatti Perrella, Sabrina (2016) Development of FPGA-based High-Speed serial links for High Energy Physics Experiments. [Tesi di dottorato] [img] Text Perrella_Sabrina_28.pdf Download (59MB) | Preview [error in script] [error in script] Item Type: Tesi di dottorato Lingua: English Title: Development of FPGA-based High-Speed serial links for High Energy Physics Experiments Creators: Creators\tEmail Perrella, Sabrina\tsa.perrella@gmail.com Date: 31 March 2016 Number of Pages: 113 Institution: Università degli Studi di Napoli Federico II Department: Fisica Scuola di dottorato: Scienze fisiche Dottorato: Fisica fondamentale ed applicata Ciclo di dottorato: 28 Coordinatore del Corso di dottorato: nome\temail Velotta, Raffaele\tvelotta@na.infn.it Tutor: nome\temail Alviggi, Mariagrazia\tUNSPECIFIED Giordano, ...

Experimental determination of frequency response function estimates for flexible joint industrial manipulators with serial kinematics

Science.gov (United States)

Saupe, Florian; Knoblach, Andreas

2015-02-01

Two different approaches for the determination of frequency response functions (FRFs) are used for the non-parametric closed loop identification of a flexible joint industrial manipulator with serial kinematics. The two applied experiment designs are based on low power multisine and high power chirp excitations. The main challenge is to eliminate disturbances of the FRF estimates caused by the numerous nonlinearities of the robot. For the experiment design based on chirp excitations, a simple iterative procedure is proposed which allows exploiting the good crest factor of chirp signals in a closed loop setup. An interesting synergy of the two approaches, beyond validation purposes, is pointed out.

Modelling and Intelligent Control of an Elastic Link Robot Manipulator

Directory of Open Access Journals (Sweden)

Malik Loudini

2013-01-01

Full Text Available In this paper, precise control of the end-point position of a planar single-link elastic manipulator robot is discussed. The Timoshenko beam theory (TBT has been used to characterize the structural link elasticity including important damping mechanisms. A suitable nonlinear model is derived based on the Lagrangian assumed modes method. Elastic link manipulators are classified as systems possessing highly complex dynamics. In addition, the environment in which they operate may have a lot of disturbances. These give rise to special problems that may be solved using intelligent control techniques. The application of two advanced control strategies based on fuzzy set theory is investigated. The first closed-loop control scheme to be applied is the standard Proportional-Derivative (PD type fuzzy logic controller (FLC, also known as PD-type Mamdani's FLC (MPDFLC. Then, a genetic algorithm (GA is used to optimize the MPDFLC parameters with innovative tuning procedures. Both the MPDFLC and the GA optimized FLC (GAOFLC are implemented and tested to achieve a precise control of the manipulator end-point. The performances of the adopted closed-loop intelligent control strategies are examined via simulation experiments.

Development of High-Speed, Low-fixed Latency Serial Links for the Router of ATLAS NSW sTGC Detector

CERN Document Server

Hu, Xueye; The ATLAS collaboration

2014-01-01

The ATLAS experiment at the Large Hadron Collider (LHC) needs to be upgraded in order to cope with the increased luminosity and particle rates expected for the High Luminosity LHC (HL­LHC) running. Part of the phase­1 upgrade, to be done in the 2018/19 shutdown, is the replacement of the present muon forward detector (wheel) by a new detector, the so called New Small Wheel (NSW). The NSW detector consists of two detector technologies and the work here is on the small­strip Thin­Gap Chambers (sTGC). For sTGC, it requires very high­speed electronic triggering of signal events. The data must be quickly digitized, serialized, and transmitted off­detector for computer processing. The serialized data is sent to the trigger processor through a routing system that serves as a switchyard for all active signals. Design requirements on the router are low latency and stable/predictable data transfer timing with high­speed serial links (4.8 Gbps). We describe a 4.8 Gbps (maximum 6.6 Gbps) serial link structure base...

Kinematics and dynamics analysis of a novel serial-parallel dynamic simulator

Energy Technology Data Exchange (ETDEWEB)

Hu, Bo; Zhang, Lian Dong; Yu, Jingjing [Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei (China)

2016-11-15

A serial-parallel dynamics simulator based on serial-parallel manipulator is proposed. According to the dynamics simulator motion requirement, the proposed serial-parallel dynamics simulator formed by 3-RRS (active revolute joint-revolute joint-spherical joint) and 3-SPR (Spherical joint-active prismatic joint-revolute joint) PMs adopts the outer and inner layout. By integrating the kinematics, constraint and coupling information of the 3-RRS and 3-SPR PMs into the serial-parallel manipulator, the inverse Jacobian matrix, velocity, and acceleration of the serial-parallel dynamics simulator are studied. Based on the principle of virtual work and the kinematics model, the inverse dynamic model is established. Finally, the workspace of the (3-RRS)+(3-SPR) dynamics simulator is constructed.

Kinematics and dynamics analysis of a novel serial-parallel dynamic simulator

International Nuclear Information System (INIS)

Hu, Bo; Zhang, Lian Dong; Yu, Jingjing

2016-01-01

A serial-parallel dynamics simulator based on serial-parallel manipulator is proposed. According to the dynamics simulator motion requirement, the proposed serial-parallel dynamics simulator formed by 3-RRS (active revolute joint-revolute joint-spherical joint) and 3-SPR (Spherical joint-active prismatic joint-revolute joint) PMs adopts the outer and inner layout. By integrating the kinematics, constraint and coupling information of the 3-RRS and 3-SPR PMs into the serial-parallel manipulator, the inverse Jacobian matrix, velocity, and acceleration of the serial-parallel dynamics simulator are studied. Based on the principle of virtual work and the kinematics model, the inverse dynamic model is established. Finally, the workspace of the (3-RRS)+(3-SPR) dynamics simulator is constructed

A deterministic, gigabit serial timing, synchronization and data link for the RHIC LLRF

International Nuclear Information System (INIS)

Hayes, T.; Smith, K.S.; Severino, F.

2011-01-01

A critical capability of the new RHIC low level rf (LLRF) system is the ability to synchronize signals across multiple locations. The 'Update Link' provides this functionality. The 'Update Link' is a deterministic serial data link based on the Xilinx RocketIO protocol that is broadcast over fiber optic cable at 1 gigabit per second (Gbps). The link provides timing events and data packets as well as time stamp information for synchronizing diagnostic data from multiple sources. The new RHIC LLRF was designed to be a flexible, modular system. The system is constructed of numerous independent RF Controller chassis. To provide synchronization among all of these chassis, the Update Link system was designed. The Update Link system provides a low latency, deterministic data path to broadcast information to all receivers in the system. The Update Link system is based on a central hub, the Update Link Master (ULM), which generates the data stream that is distributed via fiber optic links. Downstream chassis have non-deterministic connections back to the ULM that allow any chassis to provide data that is broadcast globally.

Position Analysis of a Hybrid Serial-Parallel Manipulator in Immersion Lithography

Directory of Open Access Journals (Sweden)

Jie-jie Shao

2015-01-01

Full Text Available This paper proposes a novel hybrid serial-parallel mechanism with 6 degrees of freedom. The new mechanism combines two different parallel modules in a serial form. 3-P̲(PH parallel module is architecture of 3 degrees of freedom based on higher joints and specializes in describing two planes’ relative pose. 3-P̲SP parallel module is typical architecture which has been widely investigated in recent researches. In this paper, the direct-inverse position problems of the 3-P̲SP parallel module in the couple mixed-type mode are analyzed in detail, and the solutions are obtained in an analytical form. Furthermore, the solutions for the direct and inverse position problems of the novel hybrid serial-parallel mechanism are also derived and obtained in the analytical form. The proposed hybrid serial-parallel mechanism is applied to regulate the immersion hood’s pose in an immersion lithography system. Through measuring and regulating the pose of the immersion hood with respect to the wafer surface simultaneously, the immersion hood can track the wafer surface’s pose in real-time and the gap status is stabilized. This is another exploration to hybrid serial-parallel mechanism’s application.

Inverse dynamic analysis of general n-link robot manipulators

International Nuclear Information System (INIS)

Yih, T.C.; Wang, T.Y.; Burks, B.L.; Babcock, S.M.

1996-01-01

In this paper, a generalized matrix approach is derived to analyze the dynamic forces and moments (torques) required by the joint actuators. This method is general enough to solve the problems of any n-link open-chain robot manipulators with joint combinations of R(revolute), P(prismatic), and S(spherical). On the other hand, the proposed matrix solution is applicable to both nonredundant and redundant robotic systems. The matrix notation is formulated based on the Newton-Euler equations under the condition of quasi-static equilibrium. The 4 x 4 homogeneous cylindrical coordinates-Bryant angles (C-B) notation is applied to model the robotic systems. Displacements, velocities, and accelerations of each joint and link center of gravity (CG) are calculated through kinematic analysis. The resultant external forces and moments exerted on the CG of each link are considered as known inputs. Subsequently, a 6n x 6n displacement coefficient matrix and a 6n x 1 external force/moment vector can be established. At last, the joint forces and moments needed for the joint actuators to control the robotic system are determined through matrix inversion. Numerical examples will be illustrated for the nonredundant industrial robots: Bendix AA/CNC (RRP/RRR) and Unimate 2000 spherical (SP/RRR) robots; and the redundant light duty utility arm (LDUA), modified LDUA, and tank waste retrieval manipulator system

Two-Link Flexible Manipulator Control Using Sliding Mode Control Based Linear Matrix Inequality

Science.gov (United States)

Zulfatman; Marzuki, Mohammad; Alif Mardiyah, Nur

2017-04-01

Two-link flexible manipulator is a manipulator robot which at least one of its arms is made of lightweight material and not rigid. Flexible robot manipulator has some advantages over the rigid robot manipulator, such as lighter, requires less power and costs, and to result greater payload. However, suitable control algorithm to maintain the two-link flexible robot manipulator in accurate positioning is very challenging. In this study, sliding mode control (SMC) was employed as robust control algorithm due to its insensitivity on the system parameter variations and the presence of disturbances when the system states are sliding on a sliding surface. SMC algorithm was combined with linear matrix inequality (LMI), which aims to reduce the effects of chattering coming from the oscillation of the state during sliding on the sliding surface. Stability of the control algorithm is guaranteed by Lyapunov function candidate. Based on simulation works, SMC based LMI resulted in better performance improvements despite the disturbances with significant chattering reduction. This was evident from the decline of the sum of squared tracking error (SSTE) and the sum of squared of control input (SSCI) indexes respectively 25.4% and 19.4%.

Efficient dynamic simulation of flexible link manipulators with PID control

NARCIS (Netherlands)

Aarts, Ronald G.K.M.; Jonker, Jan B.; Mook, D.T.; Balachandran, B.

2001-01-01

For accurate simulations of the dynamic behavior of flexible manipulators the combination of a perturbation method and modal analysis is proposed. First, the vibrational motion is modeled as a first-order perturbation of a nominal rigid link motion. The vibrational motion is then described by a set

Transmission Characteristics on Wire-Driven Links of a Bridge Transported Servo Manipulator for the ACP Equipment Maintenance

International Nuclear Information System (INIS)

Park, Byung Suk; Jin, Jae Hyun; Song, Tae Gil; Kim, Sung Hyun; Yoon, Ji Sup

2004-01-01

A bridge transported servo manipulator (BTSM) system for the advanced spent fuel conditioning process (ACP) has been developed to overcome the limitation of access, which is a drawback of mechanical master-slave manipulators (MSM) for the equipment maintenance. The servo manipulator is composed of a slave manipulator attached to the telescoping tube sets equipped with the overhead bridge installed at a hot cell and a master manipulator installed at an out-of-hot cell. Each manipulator has 7 degrees-of-freedom (DOF): a body rotation, an upper-arm tilt, a lower-arm tilt, a lower-arm rotation, a wrist pan and tilt, and a grasp motion. A wire-driven mechanism for a lower-arm rotation, a wrist pan and tilt, and a grasp motion of the manipulator has been adopted to increase the handling capacity compared to the manipulator weight and decrease the friction. The main disadvantage of the wire-driven mechanism is that if one link is in motion, other links can be affected. In this paper, the transmission characteristics among the wire-driven links have been formulated to overcome this drawback. The unexpected behaviors are confirmed by analyses of transmission characteristics as well as experiments. Also, the experimental results show that the unexpected behaviors are greatly decreased by the proposed compensation equations

Implementation of data acquisition interface using on-board field-programmable gate array (FPGA) universal serial bus (USB) link

International Nuclear Information System (INIS)

Nolida Yussup; Maslina Mohd Ibrahim; Lojius Lombigit; Nur Aira Abdul Rahman; Muhammad Rawi Mohamed Zin

2013-01-01

Full-text: Typically a system consists of hardware as the controller and software which is installed in the personal computer (PC). In the effective nuclear detection, the hardware involves the detection setup and the electronics used, with the software consisting of analysis tools and graphical display on PC. A data acquisition interface is necessary to enable the communication between the controller hardware and PC. Nowadays, Universal Serial Bus (USB) has become a standard connection method for computer peripherals and has replaced many varieties of serial and parallel ports. However the implementation of USB is complex. This paper describes the implementation of data acquisition interface between a field-programmable gate array (FPGA) board and a PC by exploiting the USB link of the FPGA board. The USB link is based on an FTDI chip which allows direct access of input and output to the Joint Test Action Group (JTAG) signals from a USB host and a complex programmable logic device (CPLD) with a 24 MHz clock input to the USB link. The implementation and results of using the USB link of FPGA board as the data interfacing are discussed. (author)

Implementation of data acquisition interface using on-board field-programmable gate array (FPGA) universal serial bus (USB) link

International Nuclear Information System (INIS)

Yussup, N.; Ibrahim, M. M.; Lombigit, L.; Rahman, N. A. A.; Zin, M. R. M.

2014-01-01

Typically a system consists of hardware as the controller and software which is installed in the personal computer (PC). In the effective nuclear detection, the hardware involves the detection setup and the electronics used, with the software consisting of analysis tools and graphical display on PC. A data acquisition interface is necessary to enable the communication between the controller hardware and PC. Nowadays, Universal Serial Bus (USB) has become a standard connection method for computer peripherals and has replaced many varieties of serial and parallel ports. However the implementation of USB is complex. This paper describes the implementation of data acquisition interface between a field-programmable gate array (FPGA) board and a PC by exploiting the USB link of the FPGA board. The USB link is based on an FTDI chip which allows direct access of input and output to the Joint Test Action Group (JTAG) signals from a USB host and a complex programmable logic device (CPLD) with a 24 MHz clock input to the USB link. The implementation and results of using the USB link of FPGA board as the data interfacing are discussed

Computationally efficient dynamic modeling of robot manipulators with multiple flexible-links using acceleration-based discrete time transfer matrix method

DEFF Research Database (Denmark)

Zhang, Xuping; Sørensen, Rasmus; RahbekIversen, Mathias

2018-01-01

This paper presents a novel and computationally efficient modeling method for the dynamics of flexible-link robot manipulators. In this method, a robot manipulator is decomposed into components/elements. The component/element dynamics is established using Newton–Euler equations, and then is linea......This paper presents a novel and computationally efficient modeling method for the dynamics of flexible-link robot manipulators. In this method, a robot manipulator is decomposed into components/elements. The component/element dynamics is established using Newton–Euler equations......, and then is linearized based on the acceleration-based state vector. The transfer matrices for each type of components/elements are developed, and used to establish the system equations of a flexible robot manipulator by concatenating the state vector from the base to the end-effector. With this strategy, the size...... manipulators, and only involves calculating and transferring component/element dynamic equations that have small size. The numerical simulations and experimental testing of flexible-link manipulators are conducted to validate the proposed methodologies....

Pupil-linked arousal is driven by decision uncertainty and alters serial choice bias

Science.gov (United States)

Urai, Anne E.; Braun, Anke; Donner, Tobias H.

2017-03-01

While judging their sensory environments, decision-makers seem to use the uncertainty about their choices to guide adjustments of their subsequent behaviour. One possible source of these behavioural adjustments is arousal: decision uncertainty might drive the brain's arousal systems, which control global brain state and might thereby shape subsequent decision-making. Here, we measure pupil diameter, a proxy for central arousal state, in human observers performing a perceptual choice task of varying difficulty. Pupil dilation, after choice but before external feedback, reflects three hallmark signatures of decision uncertainty derived from a computational model. This increase in pupil-linked arousal boosts observers' tendency to alternate their choice on the subsequent trial. We conclude that decision uncertainty drives rapid changes in pupil-linked arousal state, which shape the serial correlation structure of ongoing choice behaviour.

Kinematics/statics analysis of a novel serial-parallel robotic arm with hand

Energy Technology Data Exchange (ETDEWEB)

Lu, Yi; Dai, Zhuohong; Ye, Nijia; Wang, Peng [Yanshan University, Hebei (China)

2015-10-15

A robotic arm with fingered hand generally has multi-functions to complete various complicated operations. A novel serial-parallel robotic arm with a hand is proposed and its kinematics and statics are studied systematically. A 3D prototype of the serial-parallel robotic arm with a hand is constructed and analyzed by simulation. The serial-parallel robotic arm with a hand is composed of an upper 3RPS parallel manipulator, a lower 3SPR parallel manipulator and a hand with three finger mechanisms. Its kinematics formulae for solving the displacement, velocity, acceleration of are derived. Its statics formula for solving the active/constrained forces is derived. Its reachable workspace and orientation workspace are constructed and analyzed. Finally, an analytic example is given for solving the kinematics and statics of the serial-parallel robotic arm with a hand and the analytic solutions are verified by a simulation mechanism.

Kinematics/statics analysis of a novel serial-parallel robotic arm with hand

International Nuclear Information System (INIS)

Lu, Yi; Dai, Zhuohong; Ye, Nijia; Wang, Peng

2015-01-01

A robotic arm with fingered hand generally has multi-functions to complete various complicated operations. A novel serial-parallel robotic arm with a hand is proposed and its kinematics and statics are studied systematically. A 3D prototype of the serial-parallel robotic arm with a hand is constructed and analyzed by simulation. The serial-parallel robotic arm with a hand is composed of an upper 3RPS parallel manipulator, a lower 3SPR parallel manipulator and a hand with three finger mechanisms. Its kinematics formulae for solving the displacement, velocity, acceleration of are derived. Its statics formula for solving the active/constrained forces is derived. Its reachable workspace and orientation workspace are constructed and analyzed. Finally, an analytic example is given for solving the kinematics and statics of the serial-parallel robotic arm with a hand and the analytic solutions are verified by a simulation mechanism.

Inverse Kinematics of a Serial Robot

Directory of Open Access Journals (Sweden)

Amici Cinzia

2016-01-01

Full Text Available This work describes a technique to treat the inverse kinematics of a serial manipulator. The inverse kinematics is obtained through the numerical inversion of the Jacobian matrix, that represents the equation of motion of the manipulator. The inversion is affected by numerical errors and, in different conditions, due to the numerical nature of the solver, it does not converge to a reasonable solution. Thus a soft computing approach is adopted to mix different traditional methods to obtain an increment of algorithmic convergence.

CMOS continuous-time adaptive equalizers for high-speed serial links

CERN Document Server

Gimeno Gasca, Cecilia; Aldea Chagoyen, Concepción

2015-01-01

This book introduces readers to the design of adaptive equalization solutions integrated in standard CMOS technology for high-speed serial links. Since continuous-time equalizers offer various advantages as an alternative to discrete-time equalizers at multi-gigabit rates, this book provides a detailed description of continuous-time adaptive equalizers design - both at transistor and system levels-, their main characteristics and performances. The authors begin with a complete review and analysis of the state of the art of equalizers for wireline applications, describing why they are necessary, their types, and their main applications. Next, theoretical fundamentals of continuous-time adaptive equalizers are explored. Then, new structures are proposed to implement the different building blocks of the adaptive equalizer: line equalizer, loop-filters, power comparator, etc.  The authors demonstrate the design of a complete low-power, low-voltage, high-speed, continuous-time adaptive equalizer. Finally, a cost-...

The Associative Memory Serial Link Processor for the Fast TracKer (FTK) at ATLAS

International Nuclear Information System (INIS)

Andreani, A; Citterio, M; Liberali, V; Annovi, A; Beretta, M; Beccherle, R; Crescioli, F; Biesuz, N; Billereau, W; Combe, J M; Cipriani, R; Citraro, S; Donati, S; Giannetti, P; Luciano, P; Colombo, A; Dimas, D; Gentsos, C; Kordas, K; Lanza, A

2014-01-01

The Fast TracKer (FTK) is an extremely powerful and very compact processing unit, essential for efficient Level 2 trigger selection in future high-energy physics experiments at the LHC. FTK employs Associative Memories (AM) to perform pattern recognition; input and output data are transmitted over serial links at 2 Gbit/s to reduce routing congestion at the board level. Prototypes of the AM chip and of the AM board have been manufactured and tested, in preparation of the imminent design of the final version

From animal cruelty to serial murder: applying the graduation hypothesis.

Science.gov (United States)

Wright, Jeremy; Hensley, Christopher

2003-02-01

Although serial murder has been recorded for centuries, limited academic attention has been given to this important topic. Scholars have attempted to examine the causality and motivations behind the rare phenomenon of serial murder. However, scant research exists which delves into the childhood characteristics of serial murderers. Using social learning theory, some of these studies present supporting evidence for a link between childhood animal cruelty and adult aggression toward humans. Based on five case studies of serial murderers, we contribute to the existing literature by exploring the possible link between childhood cruelty toward animals and serial murder with the application of the graduation hypothesis.

Classifying serial killers.

Science.gov (United States)

Promish, D I; Lester, D

1999-11-08

We attempted to match the appearance and demeanor of 27 serial killers to the postmortem 'signatures' found on their victims' bodies. Our results suggest that a link may exist between postmortem signatures and two complementary appearance-demeanor types.

Computer control of a multi-link manipulator

International Nuclear Information System (INIS)

Holt, J.E.; Thiruarooran, C.

1988-01-01

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

Coupling characteristics of rigid body motion and elastic deformation of a 3-PRR parallel manipulator with flexible links

International Nuclear Information System (INIS)

Zhang Xuping; Mills, James K.; Cleghorn, William L.

2009-01-01

Modeling of multibody dynamics with flexible links is a challenging task, which not only involves the effect of rigid body motion on elastic deformations, but also includes the influence of elastic deformations on rigid body motion. This paper presents coupling characteristics of rigid body motions and elastic motions of a 3-PRR parallel manipulator with three flexible intermediate links. The intermediate links are modeled as Euler-Bernoulli beams with pinned-pinned boundary conditions based on the assumed mode method (AMM). Using Lagrange multipliers, the fully coupled equations of motions of the flexible parallel manipulator are developed by incorporating the rigid body motions with elastic motions. The mutual dependence of elastic deformations and rigid body motions are investigated from the analysis of the derived equations of motion. Open-loop simulation without joint motion controls and closed-loop simulation with joint motion controls are performed to illustrate the effect of elastic motion on rigid body motions and the coupling effect amongst flexible links. These analyses and results provide valuable insight to the design and control of the parallel manipulator with flexible intermediate links

Inverse kinematics algorithm for a six-link manipulator using a polynomial expression

International Nuclear Information System (INIS)

Sasaki, Shinobu

1987-01-01

This report is concerned with the forward and inverse kinematics problem relevant to a six-link robot manipulator. In order to derive the kinematic relationships between links, the vector rotation operator was applied instead of the conventional homogeneous transformation. The exact algorithm for solving the inverse problem was obtained by transforming kinematics equations into a polynomial. As shown in test calculations, the accuracies of numerical solutions obtained by means of the present approach are found to be quite high. The algorithm proposed permits to find out all feasible solutions for the given inverse problem. (author)

Spatial attention interacts with serial-order retrieval from verbal working memory.

Science.gov (United States)

van Dijck, Jean-Philippe; Abrahamse, Elger L; Majerus, Steve; Fias, Wim

2013-09-01

The ability to maintain the serial order of events is recognized as a major function of working memory. Although general models of working memory postulate a close link between working memory and attention, such a link has so far not been proposed specifically for serial-order working memory. The present study provided the first empirical demonstration of a direct link between serial order in verbal working memory and spatial selective attention. We show that the retrieval of later items of a sequence stored in working memory-compared with that of earlier items-produces covert attentional shifts toward the right. This observation suggests the conceptually surprising notion that serial-order working memory, even for nonspatially defined verbal items, draws on spatial attention.

Analytical solution for the inverse kinematics of a redundant 7DoF manipulator with link offsets

CSIR Research Space (South Africa)

Singh, GK

2010-10-01

Full Text Available This work addresses the inverse kinematics problem for the 7 Degrees of Freedom Barrett Whole Arm Manipulator with link offsets. The presence of link offsets gives rise to the possibility of the in-elbow & out-elbow poses for a given end...

CAMAC serial highway interface for the LSI-11

International Nuclear Information System (INIS)

Lau, N.H.

1980-01-01

A CAMAC Serial Highway Interface has been designed for the Local Control and Instrumentation System of the Mirror Fusion Test Facility. There are over 50 distinguishable systems in the facility, each of which consists of the LSI-11 computer, fiber optic communication links, and the CAMAC system. The LSI-11 computer includes a 32k memory, serial modem interface and the CAMAC Serial Highway Interface

Serial-order learning impairment and hypersensitivity-to-interference in dyscalculia.

Science.gov (United States)

De Visscher, Alice; Szmalec, Arnaud; Van Der Linden, Lize; Noël, Marie-Pascale

2015-11-01

In the context of heterogeneity, the different profiles of dyscalculia are still hypothetical. This study aims to link features of mathematical difficulties to certain potential etiologies. First, we wanted to test the hypothesis of a serial-order learning deficit in adults with dyscalculia. For this purpose we used a Hebb repetition learning task. Second, we wanted to explore a recent hypothesis according to which hypersensitivity-to-interference hampers the storage of arithmetic facts and leads to a particular profile of dyscalculia. We therefore used interfering and non-interfering repeated sequences in the Hebb paradigm. A final test was used to assess the memory trace of the non-interfering sequence and the capacity to manipulate it. In line with our predictions, we observed that people with dyscalculia who show good conceptual knowledge in mathematics but impaired arithmetic fluency suffer from increased sensitivity-to-interference compared to controls. Secondly, people with dyscalculia who show a deficit in a global mathematical test suffer from a serial-order learning deficit characterized by a slow learning and a quick degradation of the memory trace of the repeated sequence. A serial-order learning impairment could be one of the explanations for a basic numerical deficit, since it is necessary for the number-word sequence acquisition. Among the different profiles of dyscalculia, this study provides new evidence and refinement for two particular profiles. Copyright © 2015 Elsevier B.V. All rights reserved.

Pulse shaping for all-optical signal processing of ultra-high bit rate serial data signals

DEFF Research Database (Denmark)

Palushani, Evarist

The following thesis concerns pulse shaping and optical waveform manipulation for all-optical signal processing of ultra-high bit rate serial data signals, including generation of optical pulses in the femtosecond regime, serial-to-parallel conversion and terabaud coherent optical time division...

A links manipulator simulation program interim report

International Nuclear Information System (INIS)

Noble, R.A.

1987-04-01

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

Fast Grasp Contact Computation for a Serial Robot

Science.gov (United States)

Shi, Jianying (Inventor); Hargrave, Brian (Inventor); Diftler, Myron A. (Inventor)

2015-01-01

A system includes a controller and a serial robot having links that are interconnected by a joint, wherein the robot can grasp a three-dimensional (3D) object in response to a commanded grasp pose. The controller receives input information, including the commanded grasp pose, a first set of information describing the kinematics of the robot, and a second set of information describing the position of the object to be grasped. The controller also calculates, in a two-dimensional (2D) plane, a set of contact points between the serial robot and a surface of the 3D object needed for the serial robot to achieve the commanded grasp pose. A required joint angle is then calculated in the 2D plane between the pair of links using the set of contact points. A control action is then executed with respect to the motion of the serial robot using the required joint angle.

Kinematic and dynamic analysis of a serial-link robot for inspection process in EAST vacuum vessel

Energy Technology Data Exchange (ETDEWEB)

Peng Xuebing, E-mail: pengxb@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, P.O. Box 1126, Shushanhu Road 350, Hefei, Anhui 230031 (China); Yuan Jianjun; Zhang Weijun [Research Institute of Robotics, Mechanical Engineering School, Shanghai Jiao Tong University, No.800, Dong Chuan Road, Min Hang District, Shanghai 200240 (China); Yang Yang; Song Yuntao [Institute of Plasma Physics, Chinese Academy of Sciences, P.O. Box 1126, Shushanhu Road 350, Hefei, Anhui 230031 (China)

2012-08-15

Highlights: Black-Right-Pointing-Pointer A serial-link robot FIVIR is proposed for inspection of EAST PFCs between plasma shots. Black-Right-Pointing-Pointer The FIVIR is a function modular design and has specially designed curvilinear mechanism for axes 4-6. Black-Right-Pointing-Pointer The D-H coordinate systems, forward and inverse kinematic model can be easily established and solved for the FIVIR. Black-Right-Pointing-Pointer The FIVIR can fulfill the required workspace and has a good dynamic performance in the inspection process. - Abstract: The present paper introduces a serial-link robot which is named flexible in-vessel inspection robot (FIVIR) and developed for Experimental Advanced Superconducting Tokamak (EAST). The task of the robot is to carry process tools, such as viewing camera and leakage detector, to inspect the components installed inside of EAST vacuum vessel. The FIVIR can help to understand the physical phenomena which could be happened in the vacuum vessel during plasma operation and could be one part of EAST remote handling system if needed. The FIVIR was designed with the consideration of having easy control and a good mechanics property which drives it resulted in function modular design. The workspace simulation and kinematic analysis are given in this paper. The dynamic behavior of the FIVIR is studied by multi-body system simulation using ADAMS software. The study result shows the FIVIR has ascendant kinematic and dynamic performance and can fulfill the design requirement for inspection process in EAST vacuum vessel.

Kinematic and dynamic analysis of a serial-link robot for inspection process in EAST vacuum vessel

International Nuclear Information System (INIS)

Peng Xuebing; Yuan Jianjun; Zhang Weijun; Yang Yang; Song Yuntao

2012-01-01

Highlights: ► A serial-link robot FIVIR is proposed for inspection of EAST PFCs between plasma shots. ► The FIVIR is a function modular design and has specially designed curvilinear mechanism for axes 4–6. ► The D-H coordinate systems, forward and inverse kinematic model can be easily established and solved for the FIVIR. ► The FIVIR can fulfill the required workspace and has a good dynamic performance in the inspection process. - Abstract: The present paper introduces a serial-link robot which is named flexible in-vessel inspection robot (FIVIR) and developed for Experimental Advanced Superconducting Tokamak (EAST). The task of the robot is to carry process tools, such as viewing camera and leakage detector, to inspect the components installed inside of EAST vacuum vessel. The FIVIR can help to understand the physical phenomena which could be happened in the vacuum vessel during plasma operation and could be one part of EAST remote handling system if needed. The FIVIR was designed with the consideration of having easy control and a good mechanics property which drives it resulted in function modular design. The workspace simulation and kinematic analysis are given in this paper. The dynamic behavior of the FIVIR is studied by multi-body system simulation using ADAMS software. The study result shows the FIVIR has ascendant kinematic and dynamic performance and can fulfill the design requirement for inspection process in EAST vacuum vessel.

Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots

Science.gov (United States)

Hannan, Michael W.; Walker, Ian D.

2003-01-01

Traditionally, robot manipulators have been a simple arrangement of a small number of serially connected links and actuated joints. Though these manipulators prove to be very effective for many tasks, they are not without their limitations, due mainly to their lack of maneuverability or total degrees of freedom. Continuum style (i.e., continuous "back-bone") robots, on the other hand, exhibit a wide range of maneuverability, and can have a large number of degrees of freedom. The motion of continuum style robots is generated through the bending of the robot over a given section; unlike traditional robots where the motion occurs in discrete locations, i.e., joints. The motion of continuum manipulators is often compared to that of biological manipulators such as trunks and tentacles. These continuum style robots can achieve motions that could only be obtainable by a conventionally designed robot with many more degrees of freedom. In this paper we present a detailed formulation and explanation of a novel kinematic model for continuum style robots. The design, construction, and implementation of our continuum style robot called the elephant trunk manipulator is presented. Experimental results are then provided to verify the legitimacy of our model when applied to our physical manipulator. We also provide a set of obstacle avoidance experiments that help to exhibit the practical implementation of both our manipulator and our kinematic model. c2003 Wiley Periodicals, Inc.

Some Considerations on Seriality and Synchronicity

OpenAIRE

Elena Nechita

2010-01-01

This paper presents an overview of the results that have been obtained lately on seriality and synchronicity and their link, in the light of the new theories and within the frame of complexity science.

Serial murder: An unusual stereotype.

Science.gov (United States)

Sane, Mandar R; Mugadlimath, Anand B; Farooqui, Jamebaseer M; Janagond, Anand B; Mishra, Pradeep K

2017-12-01

Serial murders attract attention from the media, mental health experts, academia, and the general public. We present a case of serial murders that took place in a limited area and which caused public anxiety and anguish in central India. All the victims were homeless beggars, who were bludgeoned to death (crush injury). Individual murders were initially investigated by different police stations; fortunately, since they sent all the bodies to a common autopsy centre, a forensic pathologist was able to link all the cases, the first person to do so. This emphasises the need for sharing information among police stations and autopsy centres.

Influence of Spinal Manipulative Therapy Force Magnitude and Application Site on Spinal Tissue Loading: A Biomechanical Robotic Serial Dissection Study in Porcine Motion Segments.

Science.gov (United States)

Funabashi, Martha; Nougarou, François; Descarreaux, Martin; Prasad, Narasimha; Kawchuk, Greg

In order to define the relation between spinal manipulative therapy (SMT) input parameters and the distribution of load within spinal tissues, the aim of this study was to determine the influence of force magnitude and application site when SMT is applied to cadaveric spines. In 10 porcine cadavers, a servo-controlled linear actuator motor provided a standardized SMT simulation using 3 different force magnitudes (100N, 300N, and 500N) to 2 different cutaneous locations: L3/L4 facet joint (FJ), and L4 transverse processes (TVP). Vertebral kinematics were tracked optically using indwelling bone pins, the motion segment removed and mounted in a parallel robot equipped with a 6-axis load cell. The kinematics of each SMT application were replicated robotically. Serial dissection of spinal structures was conducted to quantify loading characteristics of discrete spinal tissues. Forces experienced by the L3/L4 segment and spinal structures during SMT replication were recorded and analyzed. Spinal manipulative therapy force magnitude and application site parameters influenced spinal tissues loading. A significant main effect (P < .05) of force magnitude was observed on the loads experienced by the intact specimen and supra- and interspinous ligaments. The main effect of application site was also significant (P < .05), influencing the loading of the intact specimen and facet joints, capsules, and ligamentum flavum (P < .05). Spinal manipulative therapy input parameters of force magnitude and application site significantly influence the distribution of forces within spinal tissues. By controlling these SMT parameters, clinical outcomes may potentially be manipulated. Copyright © 2017. Published by Elsevier Inc.

Implementation of a Multichannel Serial Data Streaming Algorithm using the Xilinx Serial RapidIO Solution

Science.gov (United States)

Doxley, Charles A.

2016-01-01

In the current world of applications that use reconfigurable technology implemented on field programmable gate arrays (FPGAs), there is a need for flexible architectures that can grow as the systems evolve. A project has limited resources and a fixed set of requirements that development efforts are tasked to meet. Designers must develop robust solutions that practically meet the current customer demands and also have the ability to grow for future performance. This paper describes the development of a high speed serial data streaming algorithm that allows for transmission of multiple data channels over a single serial link. The technique has the ability to change to meet new applications developed for future design considerations. This approach uses the Xilinx Serial RapidIO LOGICORE Solution to implement a flexible infrastructure to meet the current project requirements with the ability to adapt future system designs.

Repetition Blindness Reveals Differences between the Representations of Manipulable and Nonmanipulable Objects

Science.gov (United States)

Harris, Irina M.; Murray, Alexandra M.; Hayward, William G.; O'Callaghan, Claire; Andrews, Sally

2012-01-01

We used repetition blindness to investigate the nature of the representations underlying identification of manipulable objects. Observers named objects presented in rapid serial visual presentation streams containing either manipulable or nonmanipulable objects. In half the streams, 1 object was repeated. Overall accuracy was lower when streams…

An improved method of inverse kinematics calculation for a six-link manipulator

International Nuclear Information System (INIS)

Sasaki, Shinobu

1987-07-01

As one method of solving the inverse problem related to a six-link manipulator, an improvement was made of previously proposed calculation algorithm based on a solution of an algebraic equation of the 24-th order. In this paper, the same type of a polynomial was derived in the form of the equation of 16-th order, i.e., the order reduced by 8, as compared to previous algorithm. The accuracy of solutions was identified to be much refined. (author)

Computationally efficient dynamic modeling of robot manipulators with multiple flexible-links using acceleration-based discrete time transfer matrix method

DEFF Research Database (Denmark)

Zhang, Xuping; Sørensen, Rasmus; RahbekIversen, Mathias

2018-01-01

, and then is linearized based on the acceleration-based state vector. The transfer matrices for each type of components/elements are developed, and used to establish the system equations of a flexible robot manipulator by concatenating the state vector from the base to the end-effector. With this strategy, the size...... manipulators, and only involves calculating and transferring component/element dynamic equations that have small size. The numerical simulations and experimental testing of flexible-link manipulators are conducted to validate the proposed methodologies....

Some Considerations on Seriality and Synchronicity

Directory of Open Access Journals (Sweden)

Elena Nechita

2010-01-01

Full Text Available This paper presents an overview of the results that have been obtained lately on seriality and synchronicity and their link, in the light of the new theories and within the frame of complexity science.

Topological Structure of Manipulators Used in Amusement Parks

Directory of Open Access Journals (Sweden)

Liviu Marian Ungureanu

2014-06-01

Full Text Available This paper focuses on the mobility analysis of spatial and planar manipulators used in amusement parks. In this paper is presented a topological structure analysis for many types of serial and parallel manipulators, referring to the calculation of mobility (degree of freedom of these types of complex mechanisms. It is used a new formula to calculate the mobility according to the number of drivelines, which are considered having identical operations.

Intelligent Hierarchical Modal Control of a Novel Manipulator with Slewing and Deployable Links

Science.gov (United States)

Modi, V. J.; Zhang, J.; de Silva, C. W.

1. Introduction The Space Shuttle based Canada arm has vividly demonstrated its application in launching of satellites as well as retrieval of disabled spacecraft for repair. There have been proposals for free flying robotic systems with appropriate instrumentation to monitor health of spacecraft, identify problems and even perform corrective measures. Most of these applications involve multilink manipulators with revolute joints for which there is a vast body of literature [1]. On the other hand, manipulators with revolute as well as prismatic joints, permitting slewing as well as deployment/retrieval of links, have received relatively little attention [2]. Such variable geometry, snake-like manipulators have distinct advantages of reduced coupling effects leading to simpler equations of motion and inverse kinematics, less number of singularity conditions, and ease of obstacle avoidance [3]. 2. Hierarchical Structure The control system developed for the deployable manipulator has a three-level structure. This hierarchical structure takes the advantages of a crisp controller; specially, a modal controller, with those of a soft, knowledge-based, supervisory control . The overall structure can be separated and developed as three main layers. The first layer is the lowest layer of the control system. It deals with information coming from sensors attached to the plant ( manipulator). This type of information is characterized by a large amount of individual data points of high resolution, produced and collected at high frequency. The crisp controller that is used is a state feedback regulator with its feedback gain matrix determined using the eigenstructure assignment approach. The data processing for monitoring and evaluation of the system performance occurs in this intermediate or second layer. Here high-resolution, crisp data from sensors are filtered to afford representation of the current state of the manipulator. This servo-expert layer acts as an interface

Tension Stiffened and Tendon Actuated Manipulator

Science.gov (United States)

Doggett, William R. (Inventor); Dorsey, John T. (Inventor); Ganoe, George G. (Inventor); King, Bruce D. (Inventor); Jones, Thomas C. (Inventor); Mercer, Charles D. (Inventor); Corbin, Cole K. (Inventor)

2015-01-01

A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge.

A Serializer ASIC at 5 Gbps for Detector Front-end Electronics Readout

CERN Document Server

Gong, D; The ATLAS collaboration; Liu, T; Xiang, A; Ye, J

2010-01-01

High speed and ultra low power serial data transmission over fiber optics plays an essential roll in detector front-end electronics readout for experiments at the LHC. The ATLAS Liquid Argon Calorimeter front-end readout upgrade for the sLHC calls for an optical link system with a data bandwidth of 100 Gbps per each front-end board (FEB), a factor of 62 increase compared with the present optical link system. The transmitter of this optical link will have to withstand the radiation environment where the front-end crates are situated, and stay within the current power dissipation budget limited by the present FEB cooling capacity. To meet these challenges, we developed a 16:1 serializer based on a commercial 0.25 μm silicon-on-sapphire (SOS) CMOS technology. This serializer, designed to work at 5 Gbps, is a key component in an optical link system. Test results of this ASIC will be reported. A system design for the 100 Gbps optical link system will also be presented, with discussions about key components identi...

Finite Element Analysis for Active-force Control on Vibration of a Flexible Single-link Manipulator

Directory of Open Access Journals (Sweden)

Abdul Kadir Muhammad

2015-10-01

Full Text Available The purposes of this research are to formulate the equations of motion of the system, to develop computational codes by a finite element analysis in order to perform dynamics simulation with vibration control, to propose an effective control scheme using active-force (AF control a flexible single-link manipulator. The system used in this paper consists of an aluminum beam as a flexible link, a clamp-part, a servo motor to rotate the link and a piezoelectric actuator to control vibration. Computational codes on time history responses, FFT (Fast Fourier Transform processing and eigenvalues-eigenvectors analysis were developed to calculate dynamic behavior of the link. Furthermore, the AF control was designed to drive the piezoelectric actuator. Calculated results have revealed that the vibration of the system can be suppressed effectively.

Input relegation control for gross motion of a kinematically redundant manipulator

Energy Technology Data Exchange (ETDEWEB)

Unseren, M.A.

1992-10-01

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

A Lie-Theoretic Perspective on O(n) Mass Matrix Inversion for Serial Manipulators and Polypeptide Chains.

Science.gov (United States)

Lee, Kiju; Wang, Yunfeng; Chirikjian, Gregory S

2007-11-01

Over the past several decades a number of O(n) methods for forward and inverse dynamics computations have been developed in the multi-body dynamics and robotics literature. A method was developed in 1974 by Fixman for O(n) computation of the mass-matrix determinant for a serial polymer chain consisting of point masses. In other recent papers, we extended this method in order to compute the inverse of the mass matrix for serial chains consisting of point masses. In the present paper, we extend these ideas further and address the case of serial chains composed of rigid-bodies. This requires the use of relatively deep mathematics associated with the rotation group, SO(3), and the special Euclidean group, SE(3), and specifically, it requires that one differentiates functions of Lie-group-valued argument.

Parallel manipulators with two end-effectors : Getting a grip on Jacobian-based stiffness analysis

NARCIS (Netherlands)

Hoevenaars, A.G.L.

2016-01-01

Robots that are developed for applications which require a high stiffness-over-inertia ratio, such as pick-and-place robots, machining robots, or haptic devices, are often based on parallel manipulators. Parallel manipulators connect an end-effector to an inertial base using multiple serial

DDCMP protocol on a DMA serial-line board

International Nuclear Information System (INIS)

Hunt, D.N.; Kessler, G.C.

1982-01-01

The Nuclear Chemistry Division of Lawrence Livermore National Laboratory is in the midst of an upgrade to their radiation counting facility. The result of this upgrade wil be a computer-based data acquisition network, the Nuclear Chemistry Counting Facility Network (NCCF-NET). This network will consist of forty dedicated LSI-11/2 based controllers, ten interactive LSI-11/23 based workstations and a VAX-11/750 central node for data reduction and storage. One of the data acquisition instruments used in this network is a Nuclear Data pulse-height analyzer, the ND66L. This analyzer communicates to a host system over a 9600-baud serial line, using the DDCMP link level protocol. In order to relieve the host computer from the overhead of handling the DDCMP protocol, an in-house designed DMA serial line board was implemented to communicate with the ND66L. The hardware used and its environment will be duscussed along with the design and implementation of the firmware, which implements the serial DDCMP link

Intelligent tuning of vibration mitigation process for single link manipulator using fuzzy logic

Directory of Open Access Journals (Sweden)

Ahmed A. Ali

2017-08-01

Full Text Available In this work, active vibration mitigation for smart single link manipulator is presented. Two piezoelectric transducers were utilized to act as actuator and sensor respectively. Classical Proportional (P controller was tested numerically and experimentally. The comparison between measured results showed good agreement. The proposed work includes the introducing of fuzzy logic for tuning controller's gain within finite element method. Classical Proportional-Integral (PI, Fuzzy-P and Fuzzy-PI controllers were totally integrated as a series of [IF-Then] states and solved numerically by using Finite Element (FE solver (ANSYS. Proposed method will pave the way on solving the tuning process totally within single FE solver with high efficiency. Proposed method satisfied mitigation in the overall free response with about 52% and 74% of the manipulator settling time when Fuzzy-P and Fuzzy-PI controllers were activated respectively. This contribution can be utilized for many other applications related to fuzzy topics.

Highlights in radiation measuring technique's - Serial Micro Channel SMC 2100

International Nuclear Information System (INIS)

Kandler, M.; Hoffmann, Ch.

2002-01-01

The Serial Micro Channel SMC 2100 offers an ''intelligent stand alone'' electronics for the radiation measuring technique's. First it is designed of being connected to a serial interface RS232 of a PC. With a RS485 serial interface on a PC, a network structure can be generated. It has all functional modules which are necessary for the measurement of detector signals. Hence it is possible to directly connect any detector for radiation measurement to a PC, laptop, or notebook. All variations can be operated without PC support too. It has a modular structure and consists of two blocks, the functional modules and the basic modules. The Serial Micro Channel SMC 2100 may be directly coupled to a detector, which therefore makes the realisation of an ''intelligent radiation detector'' with serial link RS232 or RS485. (orig.)

The Associative Memory Serial Link Processor of the ALTAS Fast TracKer Processing System

CERN Document Server

Sotiropoulou, Calliope Louisa; The ATLAS collaboration

2017-01-01

The upgraded trigger system of the ATLAS experiment at LHC will improve the capability of the detectors to select the events with the greatest scientific potential. The FastTracker (FTK) is one of the ATLAS trigger upgrade that is presently under commissioning. FTK is a hardware system that feeds the High Level Trigger with charged particle tracks reconstructed from hits in silicon detectors at the rate of 105 events per second. Once a track candidate is found, the track reconstruction proceeds by matching low resolution hits to predefined patterns. Selected hits matching the predefined pattern are used in a second processing step for a more precise track fitting algorithm. The main processing element of FTK is the Associative Memory (AM) system that is used to perform pattern matching with high degree of parallelism. Its implementation is called the AM Board Serial Link Processor (AMBSLP) and it is a very efficient pattern matching machine that handles massively parallel data. The AMB SLP consists of two typ...

BRAIN Journal - Some Considerations on Seriality and Synchronicity

OpenAIRE

Elena Nechita

2017-01-01

ABSTRACT This paper presents an overview of the results that have been obtained lately on seriality and synchronicity and their link, in the light of the new theories and within the frame of complexity science.

A high speed serializer ASIC for ATLAS Liquid Argon calorimeter upgrade

CERN Document Server

Liu, T; The ATLAS collaboration

2011-01-01

The current front-end electronics of the ATLAS Liquid Argon calorimeters need to be upgraded to sustain the higher radiation levels and data rates expected at the upgraded LHC machine (HL-LHC), which will have 5 times more luminosity than the LHC in its ultimate configuration. This upgrade calls for an optical link system of 100 Gbps per front-end board (FEB). A high speed, low power, radiation tolerant serializer is the critical component in this system. In this paper, we present the design and test results of a single channel 16:1 serializer and the design of a double-channel 16:1 serializer. Both designs are based on a commercial 0.25 μm silicon-on-sapphire CMOS technology. The single channel serializer consists of a serializing unit, a PLL clock generator and a line driver implemented in current mode logic (CML). The serializing unit multiplexes 16 bit parallel LVDS data into 1-bit width serial CMOS data. The serializing unit is composed of a cascade of 2:1 multiplexing circuits based on static D-flip-fl...

Control of a flexible bracing manipulator: Integration of current research work to realize the bracing manipulator

Science.gov (United States)

Kwon, Dong-Soo

1991-01-01

All research results about flexible manipulator control were integrated to show a control scenario of a bracing manipulator. First, dynamic analysis of a flexible manipulator was done for modeling. Second, from the dynamic model, the inverse dynamic equation was derived, and the time domain inverse dynamic method was proposed for the calculation of the feedforward torque and the desired flexible coordinate trajectories. Third, a tracking controller was designed by combining the inverse dynamic feedforward control with the joint feedback control. The control scheme was applied to the tip position control of a single link flexible manipulator for zero and non-zero initial condition cases. Finally, the contact control scheme was added to the position tracking control. A control scenario of a bracing manipulator is provided and evaluated through simulation and experiment on a single link flexible manipulator.

Word frequency effects in immediate serial recall of pure and mixed lists: tests of the associative link hypothesis.

Science.gov (United States)

Saint-Aubin, Jean; LeBlanc, Jacinthe

2005-12-01

In immediate serial recall, high-frequency words are better recalled than low-frequency words. Recently, it has been suggested that high-frequency words are better recalled because of their better long-term associative links, and not because of the intrinsic properties of their long-term representations. In the experiment reported here, recall performance was compared for pure lists of high- and low-frequency words, and for mixed lists composed of either one low- and five high-frequency words or the reverse. The usual advantage of high-frequency words was found with pure lists and this advantage was reduced, but still significant with mixed lists composed of five low-frequency words. However, the low-frequency word included in a high-frequency list was recalled just as well as high-frequency words. Results are challenging for the associative link hypothesis and are best interpreted within an item-based reconstruction hypothesis, along with a distinctiveness account.

The Associative Memory Serial Link Processor of the ALTAS Fast TracKer Processing System

CERN Document Server

Sotiropoulou, Calliope Louisa; The ATLAS collaboration

2017-01-01

The upgraded Trigger and Data Acquisition (TDAQ) system of the ATLAS experiment at the LHC will improve the capability of the detector to select the events with the greatest scientific potential. The Fast TracKer (FTK) is one of the ATLAS TDAQ upgrades that is presently under commissioning. FTK is a custom hardware system that feeds the High Level Trigger (HLT) with charged particle tracks reconstructed from hits in silicon detectors at the rate of 105 events per second. The main processing element of FTK is the Associative Memory (AM) system that is used to perform pattern matching with a high degree of parallelism. Its implementation is called the AM Board Serial Link Processor (AMBSLP) and it is a very efficient pattern matching machine that handles in parallel massive data samples. The AMBSLP consists of two types of boards: the Little Associative Memory Board (LAMB), a mezzanine where the AM chips are mounted, and the Associative Memory Board (AMB), a 9U VME motherboard that hosts four LAMB daughter-boar...

Synchronic Seriality: The Dissolving of Diegetic Borders Through Metalepsis

Directory of Open Access Journals (Sweden)

Paige M. Piper

2015-12-01

Full Text Available In dialogue with Gérard Genette’s literary concept of metalepsis to television, this paper considers instances of meta-textual actor/character portrayals in serial narratives to show that meta-narrative intrusion fosters a greater empathetic link between the spectator and character, whilst simultaneously inviting the viewer to appreciate the technique as an artifice-aware gesture. The fluidity of diegetic borders brought on by the conflation of performer/performance replicates Baudrillard’s simulacra, creating a synchronic form of seriality and transcending rigid genre classifications.

The death of recency: Relationship between end-state comfort and serial position effects in serial recall: Logan and Fischman (2011) revisited.

Science.gov (United States)

Logan, Samuel W; Fischman, Mark G

2015-12-01

Two experiments examined the dynamic interaction between cognitive resources in short-term memory and bimanual object manipulation by extending recent research by Logan and Fischman (2011). In Experiment 1, 16 participants completed a bimanual end-state comfort task and a memory task requiring serial recall of 12 words or pictures. The end-state comfort task involved moving two glasses between two shelves. Participants viewed the items, performed the end-state comfort task, and then serially recalled the items. Recall was evaluated by the presence or absence of primacy and recency effects. The end-state comfort effect (ESCE) was assessed by the percentage of initial hand positions that allowed the hands to end comfortably. The main findings indicated that the ESCE was disrupted; the primacy effect remained intact; and the recency effect disappeared regardless of the type of memory item recalled. In Experiment 2, 16 participants viewed six items, performed an end-state comfort task, viewed another six items, and then serially recalled all 12 items. Results were essentially the same as in Experiment 1. Findings suggest that executing a bimanual end-state comfort task, regardless of when it is completed during a memory task, diminishes the recency effect irrespective of the type of memory item. Copyright © 2015 Elsevier B.V. All rights reserved.

High precision redundant robotic manipulator

International Nuclear Information System (INIS)

Young, K.K.D.

1998-01-01

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

Digit-color synaesthesia only enhances memory for colors in a specific context: A new method of duration thresholds to measure serial recall.

Science.gov (United States)

Teichmann, A Lina; Nieuwenstein, Mark R; Rich, Anina N

2017-08-01

For digit-color synaesthetes, digits elicit vivid experiences of color that are highly consistent for each individual. The conscious experience of synaesthesia is typically unidirectional: Digits evoke colors but not vice versa. There is an ongoing debate about whether synaesthetes have a memory advantage over non-synaesthetes. One key question in this debate is whether synaesthetes have a general superiority or whether any benefit is specific to a certain type of material. Here, we focus on immediate serial recall and ask digit-color synaesthetes and controls to memorize digit and color sequences. We developed a sensitive staircase method manipulating presentation duration to measure participants' serial recall of both overlearned and novel sequences. Our results show that synaesthetes can activate digit information to enhance serial memory for color sequences. When color sequences corresponded to ascending or descending digit sequences, synaesthetes encoded these sequences at a faster rate than their non-synaesthetes counterparts and faster than non-structured color sequences. However, encoding color sequences is approximately 200 ms slower than encoding digit sequences directly, independent of group and condition, which shows that the translation process is time consuming. These results suggest memory advantages in synaesthesia require a modified dual-coding account, in which secondary (synaesthetically linked) information is useful only if it is more memorable than the primary information to be recalled. Our study further shows that duration thresholds are a sensitive method to measure subtle differences in serial recall performance. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

The Effect of Concurrent Semantic Categorization on Delayed Serial Recall

Science.gov (United States)

Acheson, Daniel J.; MacDonald, Maryellen C.; Postle, Bradley R.

2010-01-01

The influence of semantic processing on the serial ordering of items in short-term memory was explored using a novel dual-task paradigm. Subjects engaged in two picture judgment tasks while simultaneously performing delayed serial recall. List material varied in the presence of phonological overlap (Experiments 1 and 2) and in semantic content (concrete words in Experiment 1 and 3; nonwords in Experiments 2 and 3). Picture judgments varied in the extent to which they required accessing visual semantic information (i.e., semantic categorization and line orientation judgments). Results showed that, relative to line orientation judgments, engaging in semantic categorization judgments increased the proportion of item ordering errors for concrete lists but did not affect error proportions for nonword lists. Furthermore, although more ordering errors were observed for phonologically similar relative to dissimilar lists, no interactions were observed between the phonological overlap and picture judgment task manipulations. These results thus demonstrate that lexical-semantic representations can affect the serial ordering of items in short-term memory. Furthermore, the dual-task paradigm provides a new method for examining when and how semantic representations affect memory performance. PMID:21058880

Time does not cause forgetting in short-term serial recall.

Science.gov (United States)

Lewandowsky, Stephan; Duncan, Matthew; Brown, Gordon D A

2004-10-01

Time-based theories expect memory performance to decline as the delay between study and recall of an item increases. The assumption of time-based forgetting, central to many models of serial recall, underpins their key behaviors. Here we compare the predictions of time-based and event-based models by simulation and test them in two experiments using a novel manipulation of the delay between study and retrieval. Participants were trained, via corrective feedback, to recall at different speeds, thus varying total recall time from 6 to 10 sec. In the first experiment, participants used the keyboard to enter their responses but had to repeat a word (called the suppressor) aloud during recall to prevent rehearsal. In the second experiment, articulation was again required, but recall was verbal and was paced by the number of repetitions of the suppressor in between retrieval of items. In both experiments, serial position curves for all retrieval speeds overlapped, and output time had little or no effect. Comparative evaluation of a time-based and an event-based model confirmed that these results present a particular challenge to time-based approaches. We conclude that output interference, rather than output time, is critical in serial recall.

Serial killer: il database mondiale

Directory of Open Access Journals (Sweden)

Gaetano parente

2016-07-01

Full Text Available The complex and multisided study of serial killers is partly made difficult by the current level of progress that has led these deviant people to evolve in relation to the aspects of shrewdness (concerning the staging and mobility. Despite the important work of some scholars who proposed important theories, all this shows that, concerning serial murders, it is still particularly frequent not to pay attention to links among homicides committed by the same person but in different parts of the world. It is therefore crucial to develop a worldwide database that allows all police forces to access information collected on crime scenes of murders which are particularly absurd and committed without any apparent reason. It will then be up to the profiler, through ad hoc and technologically advanced tools, to collect this information on the crime scene that would be made available to all police forces thanks to the worldwide database.

On Multiple AER Handshaking Channels Over High-Speed Bit-Serial Bidirectional LVDS Links With Flow-Control and Clock-Correction on Commercial FPGAs for Scalable Neuromorphic Systems.

Science.gov (United States)

Yousefzadeh, Amirreza; Jablonski, Miroslaw; Iakymchuk, Taras; Linares-Barranco, Alejandro; Rosado, Alfredo; Plana, Luis A; Temple, Steve; Serrano-Gotarredona, Teresa; Furber, Steve B; Linares-Barranco, Bernabe

2017-10-01

Address event representation (AER) is a widely employed asynchronous technique for interchanging "neural spikes" between different hardware elements in neuromorphic systems. Each neuron or cell in a chip or a system is assigned an address (or ID), which is typically communicated through a high-speed digital bus, thus time-multiplexing a high number of neural connections. Conventional AER links use parallel physical wires together with a pair of handshaking signals (request and acknowledge). In this paper, we present a fully serial implementation using bidirectional SATA connectors with a pair of low-voltage differential signaling (LVDS) wires for each direction. The proposed implementation can multiplex a number of conventional parallel AER links for each physical LVDS connection. It uses flow control, clock correction, and byte alignment techniques to transmit 32-bit address events reliably over multiplexed serial connections. The setup has been tested using commercial Spartan6 FPGAs attaining a maximum event transmission speed of 75 Meps (Mega events per second) for 32-bit events at a line rate of 3.0 Gbps. Full HDL codes (vhdl/verilog) and example demonstration codes for the SpiNNaker platform will be made available.

Measuring propagation delay over a coded serial communication channel using FPGAs

International Nuclear Information System (INIS)

Jansweijer, P.P.M.; Peek, H.Z.

2011-01-01

Measurement and control applications are increasingly using distributed system technologies. In such applications, which may be spread over large distances, it is often necessary to synchronize system timing and know with great precision the time offsets between parts of the system. Measuring the propagation delay over a coded serial communication channel using serializer/deserializer (SerDes) functionality in FPGAs is described. The propagation delay between transmitter and receiver is measured with a resolution of a single unit interval (i.e. a serial link running at 3.125 Gbps provides a 320 ps resolution). The technique has been demonstrated to work over 100 km fibre to verify the feasibility for application in the future KM3NeT telescope.

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

International Nuclear Information System (INIS)

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

2002-01-01

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

Dynamic modelling and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances

Science.gov (United States)

Yang, Xinxin; Ge, Shuzhi Sam; He, Wei

2018-04-01

In this paper, both the closed-form dynamics and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances are developed. The dynamic model of the system is described with assumed modes approach and Lagrangian method. The flexible manipulators are represented as Euler-Bernoulli beams. Based on singular perturbation technique, the displacements/joint angles and flexible modes are modelled as slow and fast variables, respectively. A sliding mode control is designed for trajectories tracking of the slow subsystem under unknown but bounded disturbances, and an adaptive sliding mode control is derived for slow subsystem under unknown slowly time-varying disturbances. An optimal linear quadratic regulator method is proposed for the fast subsystem to damp out the vibrations of the flexible manipulators. Theoretical analysis validates the stability of the proposed composite controller. Numerical simulation results demonstrate the performance of the closed-loop flexible space robot system.

Sex-Linked Mating Strategies Diverge with a Manipulation of Genital Salience.

Science.gov (United States)

Fetterman, Adam K; Kruger, Nicole N; Robinson, Michael D

2015-02-01

Trivers (1972) proposed that evolutionary factors should favor divergent mating strategies for males versus females. Such differences may be less pronounced among human beings than other animals and social norms and sex roles are also pertinent influences. The present experiment ( N = 133 college undergraduates, 74 female) sought to bypass some of these other influences. Participants were randomly assigned to a condition designed to increase attention to the genital region (a downward pointing arrow) or not (an upward pointing arrow). They then reported on their interest in short-term (e.g., a one-night stand) and long-term (e.g., a potential marital partner) mating opportunities. A theory-consistent three-way interaction occurred such that the genital salience manipulation primed a shorter-term reproductive strategy among men and a longer-term reproductive strategy among women. The results provide unique support for evolution-linked ideas about sex differences in the form of a role for bodily attention.

Generic method for deriving the general shaking force balance conditions of parallel manipulators with application to a redundant planar 4-RRR parallel manipulator

NARCIS (Netherlands)

van der Wijk, V.; Krut, S.; Pierrot, F.; Herder, Justus Laurens

2011-01-01

This paper proposes a generic method for deriving the general shaking force balance conditions of parallel manipulators. Instead of considering the balancing of a parallel manipulator link-by-link or leg-by-leg, the architecture is considered altogether. The first step is to write the linear

MATHEMATICAL MODEL MANIPULATOR ROBOTS

Directory of Open Access Journals (Sweden)

O. N. Krakhmalev

2015-12-01

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

Parallel algorithms for computation of the manipulator inertia matrix

Science.gov (United States)

Amin-Javaheri, Masoud; Orin, David E.

1989-01-01

The development of an O(log2N) parallel algorithm for the manipulator inertia matrix is presented. It is based on the most efficient serial algorithm which uses the composite rigid body method. Recursive doubling is used to reformulate the linear recurrence equations which are required to compute the diagonal elements of the matrix. It results in O(log2N) levels of computation. Computation of the off-diagonal elements involves N linear recurrences of varying-size and a new method, which avoids redundant computation of position and orientation transforms for the manipulator, is developed. The O(log2N) algorithm is presented in both equation and graphic forms which clearly show the parallelism inherent in the algorithm.

Multilink manipulator computer control: experience in development and commissioning

International Nuclear Information System (INIS)

Holt, J.E.

1988-11-01

This report describes development which has been carried out on the multilink manipulator computer control system. The system allows the manipulator to be driven using only two joysticks. The leading link is controlled and the other links follow its path into the reactor, thus avoiding any potential obstacles. The system has been fully commissioned and used with the Sizewell ''A'' reactor 2 Multilink T.V. manipulator. Experience of the use of the system is presented, together with recommendations for future improvements. (author)

Kinematics of a Hybrid Manipulator by Means of Screw Theory

International Nuclear Information System (INIS)

Gallardo-Alvarado, J

2005-01-01

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

The Windows serial port programming handbook

CERN Document Server

Bai, Ying

2004-01-01

The fundamentals of serial port communications. Serial port programming in ANSI C and Assembly languages for MS-DOS. Serial ports interface developed in VC++ 6.0. Serial port programming in Visual Basic. Serial port programming in LabVIEW. Serial port programming in MATLAB. Serial port programming in Smalltalk. Serial port programming in Java.

Simulation of robot manipulators

International Nuclear Information System (INIS)

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

1995-01-01

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

A simple optical fibre-linked remote control system for multiple devices

Indian Academy of Sciences (India)

We report on the development of a simple control system which can handle multiple devices through an optical fibre data link. The devices are controlled using a set of DACs through serial data communication via a serial port of a PC. Serial data from the PC get converted to parallel mode using a homemade “serial in ...

Design of analog-type high-speed SerDes using digital components for optical chip-to-chip link

Science.gov (United States)

Sangirov, Jamshid; Nguyen, Nga T. H.; Ngo, Trong-Hieu; Im, Dong-min; Ukaegbu, Augustine I.; Lee, Tae-Woo; Cho, Mu Hee; Park, Hyo-Hoon

2010-02-01

An analog-type high-speed serializer/deserializer (SerDes) has been designed for optical links especially between CPU and memory. The circuit uses a system clock and its phases to multiplex data to the serial link which avoids the need for a PLL-based high frequency clock generation used in serializing parallel data as in conventional SerDes design. The multiplexed link combined with the de-serializing clock is used as a reference signal for de-serialization. The SerDes is being designed in a 0.13 μm Si-CMOS technology. The fabricated serializer has a core chip size of 360 x750 μm2. Power dissipation for the SerDes is 71.4 mW operating up to 6.5 Gbps.

Applicability and conception of the 1471 serial link module

International Nuclear Information System (INIS)

Weidhase, F.

1978-01-01

The 1471 link module developed at the Technical University Dresden is described. The main features are fast data transfer, reliability concerning perturbing effects, seperation of transmitter and receiver self-acting synchronization, completely insulated link modules, high common-mode rejection, self-checking, variable bit repetition frequency, and small demands concerning the transmission cable. Applicabilities are given and a comparison with known link modules is made

Distinguishing manipulated stocks via trading network analysis

Science.gov (United States)

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

2011-10-01

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

Decreasing Serial Cost Sharing

DEFF Research Database (Denmark)

Hougaard, Jens Leth; Østerdal, Lars Peter

The increasing serial cost sharing rule of Moulin and Shenker [Econometrica 60 (1992) 1009] and the decreasing serial rule of de Frutos [Journal of Economic Theory 79 (1998) 245] have attracted attention due to their intuitive appeal and striking incentive properties. An axiomatic characterization...... of the increasing serial rule was provided by Moulin and Shenker [Journal of Economic Theory 64 (1994) 178]. This paper gives an axiomatic characterization of the decreasing serial rule...

Decreasing serial cost sharing

DEFF Research Database (Denmark)

Hougaard, Jens Leth; Østerdal, Lars Peter Raahave

2009-01-01

The increasing serial cost sharing rule of Moulin and Shenker (Econometrica 60:1009-1037, 1992) and the decreasing serial rule of de Frutos (J Econ Theory 79:245-275, 1998) are known by their intuitive appeal and striking incentive properties. An axiomatic characterization of the increasing serial...... rule was provided by Moulin and Shenker (J Econ Theory 64:178-201, 1994). This paper gives an axiomatic characterization of the decreasing serial rule....

Parametric design studies of long-reach manipulators

International Nuclear Information System (INIS)

Kwon, D.S.; March-Leuba, S.; Babcock, S.M.; Burks, B.L.; Hamel, W.R.

1993-01-01

A number of different approaches have been studied for remediation of waste storage tanks at various sites. One of the most promising approaches is the use of a high-capacity, long-reach manipulation (LRM) system with a variety of end effectors for dislodging the waste. LRMs may have characteristics significantly different from those of industrial robots due to the long links needed to cover the large workspace. Because link lengths are much greater than their diameters, link flexibility, as well as joint or drive train flexibility, is likely to be significant. LRMs will be required for a variety of applications in the Environmental Restoration and Waste Management Program. While each application will present specific functional, kinematic, and performance requirements, a design approach for determining the kinematic applicability and performance characteristics considering link flexibility is presented with a focus on waste storage tank remediation. This paper addresses key design issues for LRM-based waste retrieval systems. It discusses the effects of parameters such as payload capacity, storage tanks size, and access port diameter on manipulator structural design. The estimated weight, fundamental natural frequency, and static deflection of the manipulator have been calculated for various parameter conditions

Computational simulator of robotic manipulators

International Nuclear Information System (INIS)

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

1995-01-01

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

Key Design Requirements for Long-Reach Manipulators

Energy Technology Data Exchange (ETDEWEB)

Kwon, D.S.

2001-01-01

Long-reach manipulators differ from industrial robots and teleoperators typically used in the nuclear industry in that the aspect ratio (length to diameter) of links is much greater and link flexibility, as well as joint or drive train flexibility, is likely to be significant. Long-reach manipulators will be required for a variety of applications in the Environmental Restoration and Waste Management Program. While each application will present specific functional, kinematic, and performance requirements, an approach for determining the kinematic applicability and performance characteristics is presented, with a focus on waste storage tank remediation. Requirements are identified, kinematic configurations are considered, and a parametric study of link design parameters and their effects on performance characteristics is presented.

Key design requirements for long-reach manipulators

International Nuclear Information System (INIS)

Kwon, D.S.; March-Leuba, S.; Babcock, S.M.; Hamel, W.R.

1993-09-01

Long-reach manipulators differ from industrial robots and teleoperators typically used in the nuclear industry in that the aspect ratio (length to diameter) of links is much greater and link flexibility, as well as joint or drive train flexibility, is likely to be significant. Long-reach manipulators will be required for a variety of applications in the Environmental Restoration and Waste Management Program. While each application will present specific functional kinematic, and performance requirements an approach for determining the kinematic applicability and performance characteristics is presented, with a focus on waste storage tank remediation. Requirements are identified, kinematic configurations are considered, and a parametric study of link design parameters and their effects on performance characteristics is presented

Key Design Requirements for Long-Reach Manipulators

International Nuclear Information System (INIS)

Kwon, D.S.

2001-01-01

Long-reach manipulators differ from industrial robots and teleoperators typically used in the nuclear industry in that the aspect ratio (length to diameter) of links is much greater and link flexibility, as well as joint or drive train flexibility, is likely to be significant. Long-reach manipulators will be required for a variety of applications in the Environmental Restoration and Waste Management Program. While each application will present specific functional, kinematic, and performance requirements, an approach for determining the kinematic applicability and performance characteristics is presented, with a focus on waste storage tank remediation. Requirements are identified, kinematic configurations are considered, and a parametric study of link design parameters and their effects on performance characteristics is presented

A review of a method for dynamic load distribution, dynamical modeling, and explicit internal force control when two manipulators mutually lift and transport a rigid body object

International Nuclear Information System (INIS)

Unseren, M.A.

1997-01-01

The paper reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restrict the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for the closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system

A review of a method for dynamic load distribution, dynamical modeling, and explicit internal force control when two manipulators mutually lift and transport a rigid body object

Energy Technology Data Exchange (ETDEWEB)

Unseren, M.A.

1997-04-20

The paper reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restrict the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for the closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.

Detailed solution to a complex kinematics chain manipulator

International Nuclear Information System (INIS)

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

1992-01-01

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

Serial position markers in space: visuospatial priming of serial order working memory retrieval.

Directory of Open Access Journals (Sweden)

Maya De Belder

Full Text Available Most general theories on serial order working memory (WM assume the existence of position markers that are bound to the to-be-remembered items to keep track of the serial order. So far, the exact cognitive/neural characteristics of these markers have remained largely underspecified, while direct empirical evidence for their existence is mostly lacking. In the current study we demonstrate that retrieval from verbal serial order WM can be facilitated or hindered by spatial cuing: begin elements of a verbal WM sequence are retrieved faster after cuing the left side of space, while end elements are retrieved faster after cuing the right side of space. In direct complement to our previous work--where we showed the reversed impact of WM retrieval on spatial processing--we argue that the current findings provide us with a crucial piece of evidence suggesting a direct and functional involvement of space in verbal serial order WM. We outline the idea that serial order in verbal WM is coded within a spatial coordinate system with spatial attention being involved when searching through WM, and we discuss how this account can explain several hallmark observations related to serial order WM.

A Research on the Primary Mirror Manipulator of Large Segmented-mirror Telescope

Science.gov (United States)

Zuo, H.

2012-09-01

Since Galileo firstly used the telescope to observe the sky 400 years ago, the aperture of the telescope has become larger and larger to observe the deeper universe, and the segmented-mirror telescope is becoming more and more popular with increasing aperture. In the early 21st century, a series of segmented-mirror telescopes have been constructed including the Large Sky Area Multi-object Fiber Spectroscopic Telescope (LAMOST) of China. LAMOST is a meridian reflecting Schmidt telescope, and the dimension of the primary mirror is about 6.7 m× 6 m, which is composed of 37 hexagonal sub-mirrors. However, a problem about the mirror installation appears with the increasing aperture. If there are hundreds of sub-mirrors in the telescope, it is a challenging job to mount and dismount them to the truss. This problem is discussed in this paper and a manipulator for the primary mirror of LAMOST is designed to perform the mount and dismount work. In chapter 1, all the segmented-mirror telescopes in the world are introduced and how the sub-mirrors of these telescopes are installed has been investigated. After comparing with the serial and the parallel robot, a serial robot manipulator proposal, which has several redundant degrees of freedom (DOFs), has been chosen from a series of design proposals. In chapter 2, the theoretical analysis has been carried out on the basis of the design proposal, which includes the forward kinematics and the inverse kinematics. Firstly the D-H coordinate is built according to the structure of the manipulator, so it is possible to obtain the end-effector position and orientation from the individual joint motion thanks to the forward kinematics. Because of the redundant DOFs of the manipulator, the inverse kinematics solution can be a very trick task, and the result may not be only, therefore a kind of simulation is carried out to get the numerical solution using ADAMS (Automatic Dynamic Analysis of Mechanical System). In the dynamics analysis the

Kinematic modelling of a five-DOFs spatial manipulator used in robot-assisted surgery

Directory of Open Access Journals (Sweden)

Shakti Singh

2016-09-01

Full Text Available Since last three decades, research in the field of robot kinematics is boosted-up among different researchers worldwide. This is mainly due to their increased use in various challenging fields of engineering and science. One such challenging application is the use of master–slave concept in a robot-assisted surgery. The authors have already performed the kinematic study and gravity balancing of seven degrees-of-freedom (DOFs surgeon-side manipulator (Singh et al., 2015a, 2015b. To meet these challenging demands, the most important aspect of a robotic manipulator is to develop an accurate kinematic model. In this direction, different researchers in the literature have made significant contributions. Out of these, the most prominent one is D–H parameters method, which was proposed by Denavit and Hartenberg in 1955. In the present work, this method is applied to a five-DOFs spatial manipulator, named as patient-side manipulator, which tracks the motion of surgeon-side manipulator during a robot-assisted surgery. The prototype considered in this work is a spatial serial manipulator, being developed at CSIR-CSIO Chandigarh. Experimental validations are performed and results are found to be in close agreement.

Serial Expression Analysis: a web tool for the analysis of serial gene expression data

Science.gov (United States)

Nueda, Maria José; Carbonell, José; Medina, Ignacio; Dopazo, Joaquín; Conesa, Ana

2010-01-01

Serial transcriptomics experiments investigate the dynamics of gene expression changes associated with a quantitative variable such as time or dosage. The statistical analysis of these data implies the study of global and gene-specific expression trends, the identification of significant serial changes, the comparison of expression profiles and the assessment of transcriptional changes in terms of cellular processes. We have created the SEA (Serial Expression Analysis) suite to provide a complete web-based resource for the analysis of serial transcriptomics data. SEA offers five different algorithms based on univariate, multivariate and functional profiling strategies framed within a user-friendly interface and a project-oriented architecture to facilitate the analysis of serial gene expression data sets from different perspectives. SEA is available at sea.bioinfo.cipf.es. PMID:20525784

Developments in Serials: 1977

Science.gov (United States)

James, John R.

1978-01-01

Discusses issues and developments relating to several aspects of serials, including economics and acquisitions; bibliographic control; automation; education; serials literature and bibliographies; and copyrights. A bibliography is included. (Author/MBR)

Malaysian Serials: Issues and Problems.

Science.gov (United States)

Bahri, Che Norma

This paper analyzes the issues and problems while looking at the trends and developments of serials publishing in Malaysia. The first section provides background; topics addressed include the country and people of Malaysia, the history of serials publishing in Malaysia, categories and formats of serials publishing, academic publications,…

Force Reflection Control for Master/Slave Tele-manipulators

International Nuclear Information System (INIS)

Kang, Min Sig; Kim, Doo Ho; Choi, Sun Il; Kim, Nam Hyung; Lee, Jong Bee

2009-04-01

This report concerns on a master/slave tele-manipulator which is used in highly hazardous hot cell. To design a force reflection and fine tracking control for the master-slave telemanipulator, the following has been carried out. (1) Variation of the moment of inertia of each link in the operating angle range, (2) Variation of the gratitational torque of each link in the operating angle range, (3) Dynamic characteristic analysis of the master-slave manipulator controlled by an output PD-control through a modal analysis, (4) Optimal static output feedback PD-control design by using modal analysis, (5) Controller design for each joint, (6) Adams-MatLab Simulink simulation model development. The results this project are as follows: (1) Program for analysis of the moment of inertia of each link in the operating angle range and simulation results, (2) Program for analysis of the gratitational torque of each link in the operating angle range and simulation results, (3) Dynamic characteristic of the master-slave manipulator controlled by an output PD-control through a modal analysis, (4) Program for designing optimal output PD-control by using modal analysis, (5) Controller designed for each joint, (6) Adams-MatLab Simulink simulation model, (7) Simulation results form output PD-control, etc

Equations of Motion of Free-Floating Spacecraft-Manipulator Systems: An Engineer's Tutorial

Directory of Open Access Journals (Sweden)

Markus Wilde

2018-04-01

Full Text Available The paper provides a step-by-step tutorial on the Generalized Jacobian Matrix (GJM approach for modeling and simulation of spacecraft-manipulator systems. The General Jacobian Matrix approach describes the motion of the end-effector of an underactuated manipulator system solely by the manipulator joint rotations, with the attitude and position of the base-spacecraft resulting from the manipulator motion. The coupling of the manipulator motion with the base-spacecraft are thus expressed in a generalized inertia matrix and a GJM. The focus of the paper lies on the complete analytic derivation of the generalized equations of motion of a free-floating spacecraft-manipulator system. This includes symbolic analytic expressions for all inertia property matrices of the system, including their time derivatives and joint-angle derivatives, as well as an expression for the generalized Jacobian of a generic point on any link of the spacecraft-manipulator system. The kinematics structure of the spacecraft-manipulator system is described both in terms of direction-cosine matrices and unit quaternions. An additional important contribution of this paper is to propose a new and more detailed definition for the modes of maneuvering of a spacecraft-manipulator. In particular, the two commonly used categories free-flying and free-floating are expanded by the introduction of five categories, namely floating, rotation-floating, rotation-flying, translation-flying, and flying. A fully-symbolic and a partially-symbolic option for the implementation of a numerical simulation model based on the proposed analytic approach are introduced and exemplary simulation results for a planar four-link spacecraft-manipulator system and a spatial six-link spacecraft manipulator system are presented.

Telerobotic operation of structurally flexible, long-reach manipulators

International Nuclear Information System (INIS)

Kwon, D.S.; Hwang, D.H.; Babcock, S.M.

1994-01-01

As a part of the Department of Energy's Environmental Restoration and Waste Management Program, long-reach manipulators are being considered for the retrieval of waste from large storage tanks. Long-reach manipulators may have characteristics significantly different from those of typical industrial robots because of the flexibility of long links needed to cover the large workspace. To avoid structural vibrations during operation, control algorithms employing various types of shaping filters were investigated. A new approach that uses embedded simulation was developed and compared with others. In the new approach, generation of joint trajectories considering link flexibility was also investigated

CRNL library serials list

International Nuclear Information System (INIS)

Alburger, T.P.

1982-04-01

A list of 1900 serial publications (periodicals, society transactions and proceedings, annuals and directories, indexes, newspapers, etc.) is presented with volumes and years held by the Main Library. This library is the largest in AECL as well as one of the largest scientific and technical libraries in North America, and functions as a Canadian resource for nuclear information. A main alphabetical list is followed by broad subject field lists representing research interests, and lists of abstract and index serials, general bibliographic serials, conference indexes, press releases, English translations, and original language journals

Simulation of the Lumbar Spine as a Multi-Module Paralel Manipulator

Directory of Open Access Journals (Sweden)

M. Ceccarelli

2011-01-01

Full Text Available In this paper a simulation of movements of lumbar spine is proposed by using a model with serially connected parallel manipulators. An analysis has been computed for the human spine structure and its movements, in order to simulate the motions and forces that actuate a spine specifically in the lumbar segment. A mechanical model has been designed with available identified parameters of human spine, by using characteristics of parallel manipulators and spring stiffness. This model is suitable to properly simulate the trunk behavior at macroscopic level but also the smooth behavior of intervertebral discs and actuating motions of muscles and tendons. Simulation results for spring actions and joints reaction forces can give an evaluation of the forces that intervertebral discs supports during motions of a real spine.

Dynamic Analysis of Tele-manipulator

Energy Technology Data Exchange (ETDEWEB)

Kang, Min Sig; Lee, Seung Hyun; Kim, Doo Ho; Choi, Sun Il [Kyungwon Univ., Sungnam (Korea, Republic of)

2008-03-15

The manipulator can move linearly along X and Y-axes and has 6-degree rotational freedom. All deriving electric motors are mounted on the base platform to reduce inertia of links and tendons are used to transmit torque from the motors to the corresponding joints. In this report, a dynamic analysis of the manipulator has been carried out. Based on the dimensions of the designed links and allowable maximum rotational constraints on all joints, the maximum torque has been analyzed and working volume has been derived graphically through a numerical analysis. The Danavit-Hartenverg coordinate has been used through out this report. An inverse kinematic model which includes 3-linear and 3-rotational motions of the end effector and its numerical simulation program have been developed. The simulation results showed its validity and usefulness. The program are written in Symbolic Math provided by MatLab. A dynamic model which consists of rigid link dynamic models , driving motors and tendons which are used to tranmit the torques between motors and the corresponding joints. A simulation model written in Simmechanics has been derived and its validity and its usefulness were verified along with some simulation results.

Dynamic Analysis of Tele-manipulator

International Nuclear Information System (INIS)

Kang, Min Sig; Lee, Seung Hyun; Kim, Doo Ho; Choi, Sun Il

2008-03-01

The manipulator can move linearly along X and Y-axes and has 6-degree rotational freedom. All deriving electric motors are mounted on the base platform to reduce inertia of links and tendons are used to transmit torque from the motors to the corresponding joints. In this report, a dynamic analysis of the manipulator has been carried out. Based on the dimensions of the designed links and allowable maximum rotational constraints on all joints, the maximum torque has been analyzed and working volume has been derived graphically through a numerical analysis. The Danavit-Hartenverg coordinate has been used through out this report. An inverse kinematic model which includes 3-linear and 3-rotational motions of the end effector and its numerical simulation program have been developed. The simulation results showed its validity and usefulness. The program are written in Symbolic Math provided by MatLab. A dynamic model which consists of rigid link dynamic models , driving motors and tendons which are used to tranmit the torques between motors and the corresponding joints. A simulation model written in Simmechanics has been derived and its validity and its usefulness were verified along with some simulation results

A low power CMOS 3.3 Gbps continuous-time adaptive equalizer for serial link

International Nuclear Information System (INIS)

Ju Hao; Zhou Yumei; Zhao Jianzhong

2011-01-01

This paper describes using a high-speed continuous-time analog adaptive equalizer as the front-end of a receiver for a high-speed serial interface, which is compliant with many serial communication specifications such as USB2.0, PCI-E2.0 and Rapid IO. The low and high frequency loops are merged to decrease the effect of delay between the two paths, in addition, the infinite input impedance facilitates the cascade stages in order to improve the high frequency boosting gain. The implemented circuit architecture could facilitate the wide frequency range from 1 to 3.3 Gbps with different length FR4-PCB traces, which brings as much as 25 dB loss. The replica control circuits are injected to provide a convenient way to regulate common-mode voltage for full differential operation. In addition, AC coupling is adopted to suppress the common input from the forward stage. A prototype chip was fabricated in 0.18-μm 1P6M mixed-signal CMOS technology. The actual area is 0.6 x 0.57 mm 2 and the analog equalizer operates up to 3.3 Gbps over FR4-PCB trace with 25 dB loss. The overall power dissipation is approximately 23.4 mW. (semiconductor integrated circuits)

A low power CMOS 3.3 Gbps continuous-time adaptive equalizer for serial link

Science.gov (United States)

Hao, Ju; Yumei, Zhou; Jianzhong, Zhao

2011-09-01

This paper describes using a high-speed continuous-time analog adaptive equalizer as the front-end of a receiver for a high-speed serial interface, which is compliant with many serial communication specifications such as USB2.0, PCI-E2.0 and Rapid IO. The low and high frequency loops are merged to decrease the effect of delay between the two paths, in addition, the infinite input impedance facilitates the cascade stages in order to improve the high frequency boosting gain. The implemented circuit architecture could facilitate the wide frequency range from 1 to 3.3 Gbps with different length FR4-PCB traces, which brings as much as 25 dB loss. The replica control circuits are injected to provide a convenient way to regulate common-mode voltage for full differential operation. In addition, AC coupling is adopted to suppress the common input from the forward stage. A prototype chip was fabricated in 0.18-μm 1P6M mixed-signal CMOS technology. The actual area is 0.6 × 0.57 mm2 and the analog equalizer operates up to 3.3 Gbps over FR4-PCB trace with 25 dB loss. The overall power dissipation is approximately 23.4 mW.

A sensitivity analysis approach to control of manipulators with unknown load

International Nuclear Information System (INIS)

Tzes, A.; Yurkovich, S.

1987-01-01

This paper presents a straightforward control strategy applied to an N-link manipulator holding an unknown load and driving its end effector along a prespecified trajectory. The control is constituted into two primary components. The non-adaptive component is derived from the inverse problem technique while the adaptive component is computed via the application of sensitivity analysis applied to the complete, centralized dynamic model of the manipulator. The result is a robust adaptive controller which tunes its parameters at specified time instants and can withstand all expected variations of the payload. The control synthesis is illustrated by simulations in a 2-link planar manipulator holding an unknown load

A modelling of robot manipulator dynamics based on Newton-Euler's equations

International Nuclear Information System (INIS)

Sasaki, Shinobu

1990-09-01

In this paper is presented an algorithm for solving the inverse dynamics of robot manipulators. In comparison with the dynamical equations derived from the Lagrange's mechanics, the relations to be treated are of simple forms due to recursive expressions of relative link motions. A computer simulation for applying the algorithm to a six-link manipulator indicated that the present method might be most appropriate among the existing approaches from the viewpoint of computational efficiency. In particular, it is noted that the increase of the number of links has hardly great effect on the intricacy of calculation. (author)

Scientific and Technical Serials Holdings Optimization in an Inefficient Market: A LSU Serials Redesign Project Exercise.

Science.gov (United States)

Bensman, Stephen J.; Wilder, Stanley J.

1998-01-01

Analyzes the structure of the library market for scientific and technical (ST) serials. Describes an exercise aimed at a theoretical reconstruction of the ST-serials holdings of Louisiana State University (LSU) Libraries. Discusses the set definitions, measures, and algorithms necessary in the design of a computer program to appraise ST serials.…

Union Listing via OCLC's Serials Control Subsystem.

Science.gov (United States)

O'Malley, Terrence J.

1984-01-01

Describes library use of Conversion of Serials Project's (CONSER) online national machine-readable database for serials to create online union lists of serials via OCLC's Serial Control Subsystem. Problems in selection of appropriate, accurate, and authenticated records and prospects for the future are discussed. Twenty sources and sample records…

Handbook of serial communications interfaces a comprehensive compendium of serial digital input/output (I/O) standards

CERN Document Server

Frenzel, Louis

2015-01-01

This book catalogs the most popular and commonly used serial-port interfaces and provides details on the specifications and the latest standards, enabling you to select an interface for a new design or verify that an interface is working correctly. Each chapter is based on a different interface and is written in an easy to follow, standard format. With this book you will learn: The most widely used serial interfacesHow to select the best serial interface for a specific application or designThe trade-offs between data rate and distance (length or range)The operation and benefits of serial

Adaptive precompensators for flexible-link manipulator control

Science.gov (United States)

Tzes, Anthony P.; Yurkovich, Stephen

1989-01-01

The application of input precompensators to flexible manipulators is considered. Frequency domain compensators color the input around the flexible mode locations, resulting in a bandstop or notch filter in cascade with the system. Time domain compensators apply a sequence of impulses at prespecified times related to the modal frequencies. The resulting control corresponds to a feedforward term that convolves in real-time the desired reference input with a sequence of impulses and produces a vibration-free output. An adaptive precompensator can be implemented by combining a frequency domain identification scheme which is used to estimate online the modal frequencies and subsequently update the bandstop interval or the spacing between the impulses. The combined adaptive input preshaping scheme provides the most rapid slew that results in a vibration-free output. Experimental results are presented to verify the results.

Human-robot collision detection under modeling uncertainty using frequency boundary of manipulator dynamics

Energy Technology Data Exchange (ETDEWEB)

Jung, Byung Jin; Koo, Ja Choon; Choi, Hyouk Ryeol; Moon, Hyung Pil [Sungkyunkwan University, Suwon (Korea, Republic of)

2014-11-15

This paper presents the development and experimental evaluation of a collision detection method for robotic manipulators sharing a workspace with humans. Fast and robust collision detection is important for guaranteeing safety and preventing false alarms. The main cause of a false alarm is modeling error. We use the characteristic of the maximum frequency boundary of the manipulator's dynamic model. The tendency of the frequency boundary's location in the frequency domain is applied to the collision detection algorithm using a band pass filter (band designed disturbance observer, BdDOB) with changing frequency windows. Thanks to the band pass filter, which considers the frequency boundary of the dynamic model, our collision detection algorithm can extract the collision caused by the disturbance from the mixed estimation signal. As a result, the collision was successfully detected under the usage conditions of faulty sensors and uncertain model data. The experimental result of a collision between a 7-DOF serial manipulator and a human body is reported.

Maximum allowable load on wheeled mobile manipulators

International Nuclear Information System (INIS)

Habibnejad Korayem, M.; Ghariblu, H.

2003-01-01

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

The essential guide to Serial ATA and SATA express

CERN Document Server

Deming, David A

2014-01-01

Used in laptop and desktop computers, low-end servers, and mobile devices, Serial ATA (Advance Technology Attachment), or SATA, is the pervasive disk storage technology in use today. SATA has also penetrated the enterprise computing environment by adding hardware components for fail-over, extending command processing capabilities, and increasing device performance and link speeds. If you work in a data center or manage your company's storage resources, you will likely encounter storage solutions that require SATA software or hardware.In this book, leading storage networking technologist David

Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebra.

Science.gov (United States)

Fu, Zhongtao; Yang, Wenyu; Yang, Zhen

2013-08-01

In this paper, we present an efficient method based on geometric algebra for computing the solutions to the inverse kinematics problem (IKP) of the 6R robot manipulators with offset wrist. Due to the fact that there exist some difficulties to solve the inverse kinematics problem when the kinematics equations are complex, highly nonlinear, coupled and multiple solutions in terms of these robot manipulators stated mathematically, we apply the theory of Geometric Algebra to the kinematic modeling of 6R robot manipulators simply and generate closed-form kinematics equations, reformulate the problem as a generalized eigenvalue problem with symbolic elimination technique, and then yield 16 solutions. Finally, a spray painting robot, which conforms to the type of robot manipulators, is used as an example of implementation for the effectiveness and real-time of this method. The experimental results show that this method has a large advantage over the classical methods on geometric intuition, computation and real-time, and can be directly extended to all serial robot manipulators and completely automatized, which provides a new tool on the analysis and application of general robot manipulators.

Analysis of a closed-kinematic chain robot manipulator

Science.gov (United States)

Nguyen, Charles C.; Pooran, Farhad J.

1988-01-01

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

The involvement of long-term serial-order memory in reading development: A longitudinal study.

Science.gov (United States)

Bogaerts, Louisa; Szmalec, Arnaud; De Maeyer, Marjolijn; Page, Mike P A; Duyck, Wouter

2016-05-01

Recent findings suggest that Hebb repetition learning-a paradigmatic example of long-term serial-order learning-is impaired in adults with dyslexia. The current study further investigated the link between serial-order learning and reading using a longitudinal developmental design. With this aim, verbal and visual Hebb repetition learning performance and reading skills were assessed in 96 Dutch-speaking children who we followed from first through second grade of primary school. We observed a positive association between order learning capacities and reading ability as well as weaker Hebb learning performance in early readers with poor reading skills even at the onset of reading instruction. Hebb learning further predicted individual differences in later (nonword) reading skills. Finally, Hebb learning was shown to explain a significant part of the variance in reading performance above and beyond phonological awareness. These findings highlight the role of serial-order memory in reading ability. Copyright © 2015 Elsevier Inc. All rights reserved.

Spatio-temporal structure, path characteristics and perceptual grouping in immediate serial spatial recall

Directory of Open Access Journals (Sweden)

Carlo De Lillo

2016-11-01

Full Text Available Immediate serial spatial recall measures the ability to retain sequences of locations in short-term memory and is considered the spatial equivalent of digit span. It is tested by requiring participants to reproduce sequences of movements performed by an experimenter or displayed on a monitor. Different organizational factors dramatically affect serial spatial recall but they are often confounded or underspecified. Untangling them is crucial for the characterization of working-memory models and for establishing the contribution of structure and memory capacity to spatial span. We report five experiments assessing the relative role and independence of factors that have been reported in the literature. Experiment 1 disentangled the effects of spatial clustering and path-length by manipulating the distance of items displayed on a touchscreen monitor. Long-path sequences segregated by spatial clusters were compared with short-path sequences not segregated by clusters. Recall was more accurate for sequences segregated by clusters independently from path-length. Experiment 2 featured conditions where temporal pauses were introduced between or within cluster boundaries during the presentation of sequences with the same paths. Thus, the temporal structure of the sequences was either consistent or inconsistent with a hierarchical representation based on segmentation by spatial clusters but the effect of structure could not be confounded with effects of path-characteristics. Pauses at cluster boundaries yielded more accurate recall, as predicted by a hierarchical model. In Experiment 3, the systematic manipulation of sequence structure, path-length and presence of path-crossings of sequences showed that structure explained most of the variance, followed by the presence/absence of path-crossings, and path-length. Experiments 4 and 5 replicated the results of the previous experiments in immersive virtual reality navigation tasks where the viewpoint of the

The Versatile Link common project: feasibility report

International Nuclear Information System (INIS)

Vasey, F; Soos, C; Troska, J; Hall, D; Huffman, T; Weidberg, T; Kwan, S; Prosser, A; Xiang, A; Ye, J

2012-01-01

The Versatile Link is a bi-directional digital optical data link operating at rates up to 4.8 Gbit/s and featuring radiation-resistant low-power and low-mass front-end components. The system is being developed in multimode or singlemode versions operating at 850 nm or 1310 nm wavelength respectively. It has serial data interfaces and is protocol-agnostic, but is targeted to operate in tandem with the GigaBit Transceiver (GBT) serializer/deserializer chip being designed at CERN. This paper gives an overview of the project status three and a half years after its launch. It describes the challenges encountered and highlights the solutions proposed at the system as well as the component level. It concludes with a positive feasibility assesment and an outlook for future project development directions.

A Structure-dependent matrix representation of manipulator kinematics and its inverse solution

International Nuclear Information System (INIS)

Sasaki, Shinobu

1987-03-01

In this paper, derivation of kinematic equations for a six-link manipulator is presented using the homogeneous transformation (A i -matrix) based on Denavit-Hartenberg method, and additionally a solution procedure of its inverse problem is outlined. In order to examine the validity of a system of equations, solutions were compared with the exact ones of the inverse kinematics (for the same type of a manipulator) expressed in arbitrarily given co-ordinate systems. Through complete agreement of joint solutions between the two, the present purpose was accomplished. As shown in this paper, an explicit description between adjacent links will give a possible clue to a systematic treatment of the inverse problem for a class of manipulators. (author)

A mixed signal multi-chip module with high speed serial output links for the ATLAS Level-1 trigger

CERN Document Server

Pfeiffer, U

2000-01-01

We have built and tested a mixed signal multi-chip module (MCM) to be used in the Level-1 Pre-Processor system for the Calorimeter Trigger of the ATLAS experiment at CERN. The MCM performs high speed digital signal processing on four analogue input signals. Results are transmitted serially at a serial data rate of 800 MBd. Nine chips of different technologies are mounted on a four layer Cu substrate. ADC converters and serialiser chips are the major consumers of electrical power on the MCM, which amounts to 9 W for all dies. Special cut-out areas are used to dissipate heat directly to the copper substrate. In this paper we report on design criteria, chosen MCM technology for substrate and die mounting, experiences with the MCM operation and measurement results. (4 refs).

Design of a deterministic link initialization mechanism for serial LVDS interconnects

International Nuclear Information System (INIS)

Schatral, S; Lemke, F; Bruening, U

2014-01-01

The Compressed Baryonic Matter experiment at FAIR in Darmstadt has special requirements for the Data Acquisition Network. One of them is deterministic latency for all the links from the back-end to the front-end, which enables synchronization in the whole read-out tree. Since the front-end electronics (FEE) contain mixed-signal circuits for processing the raw detector data, special ASICs were developed. DDR LVDS links are used to interconnect the FEEs and readout controllers. An adapted link initialization mechanism ensures determinism for them by balancing cable lengths, adjusting for phase differences, and handling environmental behavior. After re-initialization, timing must be accurate to the bit-clock level

Reframing Serial Murder Within Empirical Research.

Science.gov (United States)

Gurian, Elizabeth A

2017-04-01

Empirical research on serial murder is limited due to the lack of consensus on a definition, the continued use of primarily descriptive statistics, and linkage to popular culture depictions. These limitations also inhibit our understanding of these offenders and affect credibility in the field of research. Therefore, this comprehensive overview of a sample of 508 cases (738 total offenders, including partnered groups of two or more offenders) provides analyses of solo male, solo female, and partnered serial killers to elucidate statistical differences and similarities in offending and adjudication patterns among the three groups. This analysis of serial homicide offenders not only supports previous research on offending patterns present in the serial homicide literature but also reveals that empirically based analyses can enhance our understanding beyond traditional case studies and descriptive statistics. Further research based on these empirical analyses can aid in the development of more accurate classifications and definitions of serial murderers.

WORKER, a program for histogram manipulation

International Nuclear Information System (INIS)

Bolger, J.E.; Ellinger, H.; Moore, C.F.

1979-01-01

A set of programs is provided which may link to any user-written program, permitting dynamic creation of histograms as well as display, manipulation and transfer of histogrammed data. With wide flexibility, constants within the user's code may be set or monitored at any time during execution. (Auth.)

Female serial killing: review and case report.

Science.gov (United States)

Frei, Andreas; Völlm, Birgit; Graf, Marc; Dittmann, Volker

2006-01-01

Single homicide committed by women is rare. Serial killing is very infrequent, and the perpetrators are usually white, intelligent males with sadistic tendencies. Serial killing by women has, however, also been described. To conduct a review of published literature on female serial killers and consider its usefulness in assessing a presenting case. A literature review was conducted, after searching EMBASE, MEDLINE and PsycINFO. The presenting clinical case is described in detail in the context of the literature findings. Results The literature search revealed few relevant publications. Attempts to categorize the phenomenon of female serial killing according to patterns of and motives for the homicides have been made by some authors. The most common motive identified was material gain or similar extrinsic gratification while the 'hedonistic' sadistic or sexual serial killer seems to be extremely rare in women. There is no consistent theory of serial killing by women, but psychopathic personality traits and abusive childhood experiences have consistently been observed. The authors' case did not fit the description of a 'typical' female serial killer. In such unusual circumstances as serial killing by a woman, detailed individual case formulation is required to make sense of the psychopathology in each case. Publication of cases in scientific journals should be encouraged to advance our understanding of this phenomenon. Copyright (c) 2006 John Wiley & Sons, Ltd.

The TFTR maintenance manipulator

International Nuclear Information System (INIS)

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

1989-01-01

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

From brief gaps to very long pauses: temporal isolation does not benefit serial recall.

Science.gov (United States)

Nimmo, Lisa M; Lewandowsky, Stephan

2005-12-01

Theoretical explanations of short-term memory for serial order can be classified on the basis of whether or not they invoke time as a causal variable. According to time-based accounts, such as temporal distinctiveness theories, there is an intimate link between time and memory. Event-based theories, by contrast, postulate processes such as interference or rehearsal to account for seemingly temporal phenomena in short-term memory. We report an experiment that examined whether extended temporal isolation benefits serial recall performance. Regardless of whether the participants were quiet or performed articulatory suppression during list presentation, temporal isolation did not benefit memory even if items were separated from their neighbors by up to 7 sec. These findings challenge time-based theories of short-term memory.

The eyeball killer: serial killings with postmortem globe enucleation.

Science.gov (United States)

Coyle, Julie; Ross, Karen F; Barnard, Jeffrey J; Peacock, Elizabeth; Linch, Charles A; Prahlow, Joseph A

2015-05-01

Although serial killings are relatively rare, they can be the cause of a great deal of anxiety while the killer remains at-large. Despite the fact that the motivations for serial killings are typically quite complex, the psychological analysis of a serial killer can provide valuable insight into how and why certain individuals become serial killers. Such knowledge may be instrumental in preventing future serial killings or in solving ongoing cases. In certain serial killings, the various incidents have a variety of similar features. Identification of similarities between separate homicidal incidents is necessary to recognize that a serial killer may be actively killing. In this report, the authors present a group of serial killings involving three prostitutes who were shot to death over a 3-month period. Scene and autopsy findings, including the unusual finding of postmortem enucleation of the eyes, led investigators to recognize the serial nature of the homicides. © 2015 American Academy of Forensic Sciences.

Optimization in the design and control of robotic manipulators: A survey

International Nuclear Information System (INIS)

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

1989-01-01

Robotics is a relatively new and evolving technology being applied to manufacturing automation and is fast replacing the special-purpose machines or hard automation as it is often called. Demands for higher productivity, better and uniform quality products, and better working environments are primary reasons for its development. An industrial robot is a multifunctional and computer-controlled mechanical manipulator exhibiting a complex and highly nonlinear behavior. Even though most current robots have anthropomorphic configurations, they have far inferior manipulating abilities compared to humans. A great deal of research effort is presently being directed toward improving their overall performance by using optimal mechanical structures and control strategies. The optimal design of robot manipulators can include kinematic performance characteristics such as workspace, accuracy, repeatability, and redundancy. The static load capacity as well as dynamic criteria such as generalized inertia ellipsoid, dynamic manipulability, and vibratory response have also been considered in the design stages. The optimal control problems typically involve trajectory planning, time-optimal control, energy-optimal control, and mixed-optimal control. The constraints in a robot manipulator design problem usually involve link stresses, actuator torques, elastic deformation of links, and collision avoidance. This paper presents a review of the literature on the issues of optimum design and control of robotic manipulators and also the various optimization techniques currently available for application to robotics

“It’s Always the Same, and It’s Always Different” Mythologisation and the Serial Killer in Henry: Portrait of a Serial Killer.

OpenAIRE

Smyth, David A.

2015-01-01

Serial killers are important in American horror because of their ability to exist between ‘myth’ and ‘reality’. The serial killer is one of the most important American myths, but it is one firmly rooted in real life: unlike Paul Bunyan or Superman, serial killers do exist. This essay examines the relationship between the ‘myth’ and the ‘reality’ of serial killers, and the complex relationship between the American public and the serial killer, using Henry: Portrait of a Serial K...

Mindfulness facets, trait emotional intelligence, emotional distress, and multiple health behaviors: A serial two-mediator model.

Science.gov (United States)

Jacobs, Ingo; Wollny, Anna; Sim, Chu-Won; Horsch, Antje

2016-06-01

In the present study, we tested a serial mindfulness facets-trait emotional intelligence (TEI)-emotional distress-multiple health behaviors mediation model in a sample of N = 427 German-speaking occupational therapists. The mindfulness facets-TEI-emotional distress section of the mediation model revealed partial mediation for the mindfulness facets Act with awareness (Act/Aware) and Accept without judgment (Accept); inconsistent mediation was found for the Describe facet. The serial two-mediator model included three mediational pathways that may link each of the four mindfulness facets with multiple health behaviors. Eight out of 12 indirect effects reached significance and fully mediated the links between Act/Aware and Describe to multiple health behaviors; partial mediation was found for Accept. The mindfulness facet Observe was most relevant for multiple health behaviors, but its relation was not amenable to mediation. Implications of the findings will be discussed. © 2016 Scandinavian Psychological Associations and John Wiley & Sons Ltd.

Serial interprocessor communications system

International Nuclear Information System (INIS)

Labiak, W.; Siemens, P.; Bailey, C.

1980-01-01

A serial communications system based on the EIA RS232-C standard with modem control lines has been developed. The DLV11-E interface is used for this purpose. All handshaking is done with the modem control lines. This allows totally independent full duplex communication. The message format consists of eight bit data with odd parity and a sixteen bit checksum on the whole message. All communications are fully interrupt driven. A program was written to load a program into a remote LSI-11 using the serial line without bootstrap ROM

A Survey of Electronic Serials Managers Reveals Diversity in Practice

Directory of Open Access Journals (Sweden)

Laura Costello

2014-09-01

Full Text Available A Review of: Branscome, B. A. (2013. Management of electronic serials in academic libraries: The results of an online survey. Serials Review, 39(4, 216-226. http://dx.doi.org/10.1016/j.serrev.2013.10.004 Abstract Objective – To examine industry standards for the management of electronic serials and measure the adoption of electronic serials over print. Design – Survey questionnaire. Setting – Email lists aimed at academic librarians working in serials management. Subjects – 195 self-selected subscribers to serials email lists. Methods – The author created a 20 question survey that consisted primarily of closed-ended questions pertaining to the collection demographics, staff, budget, and tools of serials management groups in academic libraries. The survey was conducted via Survey Monkey and examined using the analytical features of the tool. Participants remained anonymous and the survey questions did not ask them to reveal identifiable information about their libraries. Main Results – Collection demographics questions revealed that 78% of surveyed librarians estimated that print-only collections represented 40% or fewer of their serials holdings. The author observed diversity in the factors that influence print to digital transitions in academic libraries. However 71.5% of participants indicated that publisher technology support like IP authentication was required before adopting digital subscriptions. A lack of standardization also marked serials workflows, department responsibilities, and department titles. The author did not find a correlation between serials budget and the enrollment size of the institution. Participants reported that they used tools from popular serials management vendors like Serials Solutions, Innovative Interfaces, EBSCO, and Ex Libris, but most indicated that they used more than one tool for serials management. Participants specified 52 unique serials management products used in their libraries. Conclusion �

Criminal psychological profiling of serial arson crimes.

Science.gov (United States)

Kocsis, Richard N; Cooksey, Ray W

2002-12-01

The practice of criminal psychological profiling is frequently cited as being applicable to serial arson crimes. Despite this claim, there does not appear to be any empirical research that examines serial arson offence behaviors in the context of profiling. This study seeks to develop an empirical model of serial arsonist behaviors that can be systematically associated with probable offender characteristics. Analysis has produced a model of offence behaviors that identify four discrete behavior patterns, all of which share a constellation of common nondiscriminatory behaviors. The inherent behavioral themes of each of these patterns are explored with discussion of their broader implications for our understanding of serial arson and directions for future research.

The Productivity Advantage of Serial Entrepreneurs

DEFF Research Database (Denmark)

Shaw, Kathryn L.; Sørensen, Anders

Serial entrepreneurs, who open more than one business, are found to have higher sales and higher productivity than novice entrepreneurs, who open one business. Using panel data on entrepreneurs and their firms from Denmark for 2001-2013, the serial entrepreneur has 67% higher sales than the novice......, but also opens firms that are larger in terms of the initial capital and labor, and thus is 39% more productive. There are subsets of firms that perform especially well – serial entrepreneurs that hold a portfolio of overlapping ongoing firms perform the best, as do those that open as limited liability...

The American Serialization of Lord Jim

Directory of Open Access Journals (Sweden)

Stephen Donovan

2017-12-01

Full Text Available This essay presents the discovery of the American serialization of Joseph Conrad’s Lord Jim in New York’s Evening Telegram in 1903. This ‘lost’ serialization, it argues, invites a new perspective on Conrad’s early career by foregrounding the role of newspaper serialization and syndication in establishing his literary standing. After surveying the principal differences in the respective reading experiences of the periodical versus the book, it concludes by proposing that the prominence of women among Conrad’s first audiences requires us to reassess the basis for his success in North America and elsewhere.

Broad ion beam serial section tomography

Energy Technology Data Exchange (ETDEWEB)

Winiarski, B., E-mail: b.winiarski@manchester.ac.uk [School of Materials, University of Manchester, Manchester M13 9PL (United Kingdom); Materials Division, National Physical Laboratory, Teddington TW11 0LW (United Kingdom); Gholinia, A. [School of Materials, University of Manchester, Manchester M13 9PL (United Kingdom); Mingard, K.; Gee, M. [Materials Division, National Physical Laboratory, Teddington TW11 0LW (United Kingdom); Thompson, G.E.; Withers, P.J. [School of Materials, University of Manchester, Manchester M13 9PL (United Kingdom)

2017-01-15

Here we examine the potential of serial Broad Ion Beam (BIB) Ar{sup +} ion polishing as an advanced serial section tomography (SST) technique for destructive 3D material characterisation for collecting data from volumes with lateral dimensions significantly greater than 100 µm and potentially over millimetre sized areas. Further, the associated low level of damage introduced makes BIB milling very well suited to 3D EBSD acquisition with very high indexing rates. Block face serial sectioning data registration schemes usually assume that the data comprises a series of parallel, planar slices. We quantify the variations in slice thickness and parallelity which can arise when using BIB systems comparing Gatan PECS and Ilion BIB systems for large volume serial sectioning and 3D-EBSD data acquisition. As a test case we obtain 3D morphologies and grain orientations for both phases of a WC-11%wt. Co hardmetal. In our case we have carried out the data acquisition through the manual transfer of the sample between SEM and BIB which is a very slow process (1–2 slice per day), however forthcoming automated procedures will markedly speed up the process. We show that irrespective of the sectioning method raw large area 2D-EBSD maps are affected by distortions and artefacts which affect 3D-EBSD such that quantitative analyses and visualisation can give misleading and erroneous results. Addressing and correcting these issues will offer real benefits when large area (millimetre sized) automated serial section BIBS is developed. - Highlights: • In this work we examine how microstructures can be reconstructed in three-dimensions (3D) by serial argon broad ion beam (BIB) milling, enabling much larger volumes (>250×250×100µm{sup 3}) to be acquired than by serial section focused ion beam-scanning electron microscopy (FIB-SEM). • The associated low level of damage introduced makes BIB milling very well suited to 3D-EBSD acquisition with very high indexing rates. • We explore

On the Function of Stress Rhythms in Speech: Evidence of a Link with Grouping Effects on Serial Memory

Science.gov (United States)

Boucher, Victor J.

2006-01-01

Language learning requires a capacity to recall novel series of speech sounds. Research shows that prosodic marks create grouping effects enhancing serial recall. However, any restriction on memory affecting the reproduction of prosody would limit the set of patterns that could be learned and subsequently used in speech. By implication, grouping…

Manipulating the spin states in a double molecular magnets tunneling junction

Energy Technology Data Exchange (ETDEWEB)

Jiang, Liang; Liu, Xi [National Laboratory of Solid State Microstructures and Department of Physics, Nanjing University, Nanjing 210093 (China); Zhang, Zhengzhong, E-mail: zeikeezhang@126.com [National Laboratory of Solid State Microstructures and Department of Physics, Nanjing University, Nanjing 210093 (China); Nano Science and Technology Institute, University of Science and Technology of China, Suzhou 215123 (China); Wang, Ruiqiang [Laboratory of Quantum Engineering and Quantum Materials, South China Normal University, Guangzhou 510006 (China)

2014-01-17

We theoretically explore the spin transport through nano-structures consisting of two serially coupled single-molecular magnets (SMM) sandwiched between two nonmagnetic electrodes. We find that the magnetization of SMM can be controlled by the spin transfer torque with respect to the bias voltage direction, and the electron current can be switched on/off in different magnetic structures. Such a manipulation is performed by full electrical manner, and needs neither external magnetic field nor ferromagnetic electrodes in the tunneling junction. The proposal device scheme can be realized with the use of the present technology and has potential applications in molecular spintronics or quantum information processing.

Manipulating the spin states in a double molecular magnets tunneling junction

Science.gov (United States)

Jiang, Liang; Liu, Xi; Zhang, Zhengzhong; Wang, Ruiqiang

2014-01-01

We theoretically explore the spin transport through nano-structures consisting of two serially coupled single-molecular magnets (SMM) sandwiched between two nonmagnetic electrodes. We find that the magnetization of SMM can be controlled by the spin transfer torque with respect to the bias voltage direction, and the electron current can be switched on/off in different magnetic structures. Such a manipulation is performed by full electrical manner, and needs neither external magnetic field nor ferromagnetic electrodes in the tunneling junction. The proposal device scheme can be realized with the use of the present technology [6] and has potential applications in molecular spintronics or quantum information processing.

Verbal short-term memory in individuals with chromosome 22q11.2 deletion: specific deficit in serial order retention capacities?

Science.gov (United States)

Majerus, Steve; Van der Linden, Martial; Braissand, Vérane; Eliez, Stephan

2007-03-01

Many researchers have recently explored the cognitive profile of velocardiofacial syndrome (VCFS), a neurodevelopmental disorder linked to a 22q11.2 deletion. However, verbal short-term memory has not yet been systematically investigated. We explored verbal short-term memory abilities in a group of 11 children and adults presenting with VCFS and two control groups, matched on either CA or vocabulary knowledge, by distinguishing short-term memory for serial order and item information. The VCFS group showed impaired performance on the serial order short-term memory tasks compared to both control groups. Relative to the vocabulary-matched control group, item short-term memory was preserved. The implication of serial order short-term memory deficits on other aspects of cognitive development in VCFS (e.g., language development, numerical cognition) is discussed.

Task-oriented structural design of manipulators based on operability evaluation

International Nuclear Information System (INIS)

Kotosaka, Shin-ya; Asama, Hajime; Takata, Shozo; Hiraoka, Hiroyuki; Kohda, Takehisa; Matsumoto, Akihiro; Endo, Isao.

1995-01-01

In this paper, a new method for designing the structure of manipulators based on evaluation of their adaptability to tasks is proposed. In the method, task directions are classified into three kinds of direction; operational direction, constrained direction and free direction. On each direction, condition of constraints by task environment is represented. The tasks are represented by a set of direction and condition of constraints. A new criterion, operability, is defined to quantify adaptability of manipulator to tasks, taking account of mobility in operational directions and immobility in constrained directions. The mobility and immobility is calculated based on the Jacobian matrix of manipulator. The operability evaluation method is implemented, and applied to structural design of manipulators, in which link parameters are optimized by the genetic algorithm. This system can derive suitable structure of manipulator to various tasks. The effectiveness of the system is shown concerning examples of welding tasks. (author)

Serial Position Functions in General Knowledge

Science.gov (United States)

Kelley, Matthew R.; Neath, Ian; Surprenant, Aimée M.

2015-01-01

Serial position functions with marked primacy and recency effects are ubiquitous in episodic memory tasks. The demonstrations reported here explored whether bow-shaped serial position functions would be observed when people ordered exemplars from various categories along a specified dimension. The categories and dimensions were: actors and age;…

On the Value of Estimating Human Arm Stiffness during Virtual Teleoperation with Robotic Manipulators.

Science.gov (United States)

Buzzi, Jacopo; Ferrigno, Giancarlo; Jansma, Joost M; De Momi, Elena

2017-01-01

Teleoperated robotic systems are widely spreading in multiple different fields, from hazardous environments exploration to surgery. In teleoperation, users directly manipulate a master device to achieve task execution at the slave robot side; this interaction is fundamental to guarantee both system stability and task execution performance. In this work, we propose a non-disruptive method to study the arm endpoint stiffness. We evaluate how users exploit the kinetic redundancy of the arm to achieve stability and precision during the execution of different tasks with different master devices. Four users were asked to perform two planar trajectories following virtual tasks using both a serial and a parallel link master device. Users' arm kinematics and muscular activation were acquired and combined with a user-specific musculoskeletal model to estimate the joint stiffness. Using the arm kinematic Jacobian, the arm end-point stiffness was derived. The proposed non-disruptive method is capable of estimating the arm endpoint stiffness during the execution of virtual teleoperated tasks. The obtained results are in accordance with the existing literature in human motor control and show, throughout the tested trajectory, a modulation of the arm endpoint stiffness that is affected by task characteristics and hand speed and acceleration.

On the Value of Estimating Human Arm Stiffness during Virtual Teleoperation with Robotic Manipulators

Directory of Open Access Journals (Sweden)

Jacopo Buzzi

2017-09-01

Full Text Available Teleoperated robotic systems are widely spreading in multiple different fields, from hazardous environments exploration to surgery. In teleoperation, users directly manipulate a master device to achieve task execution at the slave robot side; this interaction is fundamental to guarantee both system stability and task execution performance. In this work, we propose a non-disruptive method to study the arm endpoint stiffness. We evaluate how users exploit the kinetic redundancy of the arm to achieve stability and precision during the execution of different tasks with different master devices. Four users were asked to perform two planar trajectories following virtual tasks using both a serial and a parallel link master device. Users' arm kinematics and muscular activation were acquired and combined with a user-specific musculoskeletal model to estimate the joint stiffness. Using the arm kinematic Jacobian, the arm end-point stiffness was derived. The proposed non-disruptive method is capable of estimating the arm endpoint stiffness during the execution of virtual teleoperated tasks. The obtained results are in accordance with the existing literature in human motor control and show, throughout the tested trajectory, a modulation of the arm endpoint stiffness that is affected by task characteristics and hand speed and acceleration.

Serial Entrepreneurship, Learning by Doing and Self-selection

DEFF Research Database (Denmark)

Rocha, Vera; Carneiro, Anabela; Varum, Celeste

2015-01-01

of the person-specific effect, using information on individuals’ past histories in paid employment, confirm that serial entrepreneurs exhibit, on average, a larger person-specific effect than non-serial business owners. Moreover, ignoring serial entrepreneurs’ self-selection overestimates learning by doing......It remains a question whether serial entrepreneurs typically perform better than their novice counterparts owing to learning by doing effects or mostly because they are a selected sample of higher-than-average ability entrepreneurs. This paper tries to unravel these two effects by exploring a novel...... empirical strategy based on continuous time duration models with selection. We use a large longitudinal matched employer-employee dataset that allows us to identify about 220,000 individuals who have left their first entrepreneurial experience, out of which over 35,000 became serial entrepreneurs. We...

Analysis of assembly serial number usage in domestic light-water reactors

International Nuclear Information System (INIS)

Reich, W.J.; Moore, R.S.

1991-05-01

Domestic light-water reactor (LWR) fuel assemblies are identified by a serial number that is placed on each assembly. These serial numbers are used as identifiers throughout the life of the fuel. The uniqueness of assembly serial numbers is important in determining their effectiveness as unambiguous identifiers. The purpose of this study is to determine what serial numbering schemes are used, the effectiveness of these schemes, and to quantify how many duplicate serial numbers occur on domestic LWR fuel assemblies. The serial numbering scheme adopted by the American National Standards Institute (ANSI) ensures uniqueness of assembly serial numbers. The latest numbering scheme adopted by General Electric (GE), was also found to be unique. Analysis of 70,971 fuel assembly serial numbers from permanently discharged fuel identified 11,948 serial number duplicates. Three duplicate serial numbers were found when analysis focused on duplication within the individual fuel inventory at each reactor site, but these were traced back to data entry errors and will be corrected by the Energy Information Administration (EIA). There were also three instances where the serial numbers used to identify assemblies used for hot cell studies differed from the serial numbers reported to the EIA. It is recommended that fuel fabricators and utilities adhere to the ANSI serial numbering scheme to ensure serial number uniqueness. In addition, organizations collecting serial number information, should request that all known serial numbers physically attached or associated with each assembly be reported and identified by the corresponding number scheme. 10 refs., 5 tabs

Parallel conjugate gradient algorithms for manipulator dynamic simulation

Science.gov (United States)

Fijany, Amir; Scheld, Robert E.

1989-01-01

Parallel conjugate gradient algorithms for the computation of multibody dynamics are developed for the specialized case of a robot manipulator. For an n-dimensional positive-definite linear system, the Classical Conjugate Gradient (CCG) algorithms are guaranteed to converge in n iterations, each with a computation cost of O(n); this leads to a total computational cost of O(n sq) on a serial processor. A conjugate gradient algorithms is presented that provide greater efficiency using a preconditioner, which reduces the number of iterations required, and by exploiting parallelism, which reduces the cost of each iteration. Two Preconditioned Conjugate Gradient (PCG) algorithms are proposed which respectively use a diagonal and a tridiagonal matrix, composed of the diagonal and tridiagonal elements of the mass matrix, as preconditioners. Parallel algorithms are developed to compute the preconditioners and their inversions in O(log sub 2 n) steps using n processors. A parallel algorithm is also presented which, on the same architecture, achieves the computational time of O(log sub 2 n) for each iteration. Simulation results for a seven degree-of-freedom manipulator are presented. Variants of the proposed algorithms are also developed which can be efficiently implemented on the Robot Mathematics Processor (RMP).

Modeling and control of a hydraulically actuated flexible-prismatic link robot

International Nuclear Information System (INIS)

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

1996-12-01

Most of the research related to flexible link manipulators to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long reach systems. This manuscript describes a new hydraulically actuated, long reach manipulator with a flexible prismatic link at Oak Ridge National Laboratory (ORNL). Focus is directed towards both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies

Hybrid Modeling Method for a DEP Based Particle Manipulation

Directory of Open Access Journals (Sweden)

Mohamad Sawan

2013-01-01

Full Text Available In this paper, a new modeling approach for Dielectrophoresis (DEP based particle manipulation is presented. The proposed method fulfills missing links in finite element modeling between the multiphysic simulation and the biological behavior. This technique is amongst the first steps to develop a more complex platform covering several types of manipulations such as magnetophoresis and optics. The modeling approach is based on a hybrid interface using both ANSYS and MATLAB to link the propagation of the electrical field in the micro-channel to the particle motion. ANSYS is used to simulate the electrical propagation while MATLAB interprets the results to calculate cell displacement and send the new information to ANSYS for another turn. The beta version of the proposed technique takes into account particle shape, weight and its electrical properties. First obtained results are coherent with experimental results.

Three-dimensional visualization and a deep-learning model reveal complex fungal parasite networks in behaviorally manipulated ants.

Science.gov (United States)

Fredericksen, Maridel A; Zhang, Yizhe; Hazen, Missy L; Loreto, Raquel G; Mangold, Colleen A; Chen, Danny Z; Hughes, David P

2017-11-21

Some microbes possess the ability to adaptively manipulate host behavior. To better understand how such microbial parasites control animal behavior, we examine the cell-level interactions between the species-specific fungal parasite Ophiocordyceps unilateralis sensu lato and its carpenter ant host ( Camponotus castaneus ) at a crucial moment in the parasite's lifecycle: when the manipulated host fixes itself permanently to a substrate by its mandibles. The fungus is known to secrete tissue-specific metabolites and cause changes in host gene expression as well as atrophy in the mandible muscles of its ant host, but it is unknown how the fungus coordinates these effects to manipulate its host's behavior. In this study, we combine techniques in serial block-face scanning-electron microscopy and deep-learning-based image segmentation algorithms to visualize the distribution, abundance, and interactions of this fungus inside the body of its manipulated host. Fungal cells were found throughout the host body but not in the brain, implying that behavioral control of the animal body by this microbe occurs peripherally. Additionally, fungal cells invaded host muscle fibers and joined together to form networks that encircled the muscles. These networks may represent a collective foraging behavior of this parasite, which may in turn facilitate host manipulation. Copyright © 2017 the Author(s). Published by PNAS.

SERIAL TELEVISI DEXTER SEBAGAI ANAKRONISME DALAM SASTRA POPULER

Directory of Open Access Journals (Sweden)

Ida Rochani Adi

2014-06-01

Full Text Available In the popular literature context, this study aims to investigate: (1 how the formulation of the characterization of Dexter in the television serial Dexter violates the tradition of literary characterization, and (2 how the formula of moral values is dramatized through Dexter, who is a sociopath, psychopath, serial killer, and person without moral. The research object was the television serial Dexter, which ranks five in popularity in the world. The data were collected by documenting 84 episodes of the serial having been broadcast since 2006. They were analyzed by means of content analysis and qualitative descriptive techniques. Based on the findings, the conclusions are as follows. First, there is a violation or anachronism of characterization through the main character in the serial. Second, the dramatized moral values still contain conventional values although they are in different forms.

Long-reach manipulation for waste storage tank remediation

International Nuclear Information System (INIS)

Jansen, J.F.; Burks, B.L.; Babcock, S.M.; Kress, R.L.; Hamel, W.R.

1991-01-01

Remediation of large underground storage tanks containing hazardous waste provides an application for state-of-the-art technology in flexible link manipulator design and control and a need for additional research and development. Application requirements are described, and preliminary analyses associated with this problem are summarized. Inherent physical limitations of flexible manipulators are discussed. Potential kinematic configurations, drive-train elements, and control issues for both free-space motion and damping of forced vibration are addressed. Also included are future directions for research and development in mechanical components and control strategies. 21 refs., 4 figs., 4 tabs

MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

International Nuclear Information System (INIS)

Geisinger, Joseph W. Ph.D.

2001-01-01

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

Precise Manipulation and Patterning of Protein Crystals for Macromolecular Crystallography Using Surface Acoustic Waves.

Science.gov (United States)

Guo, Feng; Zhou, Weijie; Li, Peng; Mao, Zhangming; Yennawar, Neela H; French, Jarrod B; Huang, Tony Jun

2015-06-01

Advances in modern X-ray sources and detector technology have made it possible for crystallographers to collect usable data on crystals of only a few micrometers or less in size. Despite these developments, sample handling techniques have significantly lagged behind and often prevent the full realization of current beamline capabilities. In order to address this shortcoming, a surface acoustic wave-based method for manipulating and patterning crystals is developed. This method, which does not damage the fragile protein crystals, can precisely manipulate and pattern micrometer and submicrometer-sized crystals for data collection and screening. The technique is robust, inexpensive, and easy to implement. This method not only promises to significantly increase efficiency and throughput of both conventional and serial crystallography experiments, but will also make it possible to collect data on samples that were previously intractable. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Reconstructing genealogies of serial samples under the assumption of a molecular clock using serial-sample UPGMA.

Science.gov (United States)

Drummond, A; Rodrigo, A G

2000-12-01

Reconstruction of evolutionary relationships from noncontemporaneous molecular samples provides a new challenge for phylogenetic reconstruction methods. With recent biotechnological advances there has been an increase in molecular sequencing throughput, and the potential to obtain serial samples of sequences from populations, including rapidly evolving pathogens, is fast being realized. A new method called the serial-sample unweighted pair grouping method with arithmetic means (sUPGMA) is presented that reconstructs a genealogy or phylogeny of sequences sampled serially in time using a matrix of pairwise distances. The resulting tree depicts the terminal lineages of each sample ending at a different level consistent with the sample's temporal order. Since sUPGMA is a variant of UPGMA, it will perform best when sequences have evolved at a constant rate (i.e., according to a molecular clock). On simulated data, this new method performs better than standard cluster analysis under a variety of longitudinal sampling strategies. Serial-sample UPGMA is particularly useful for analysis of longitudinal samples of viruses and bacteria, as well as ancient DNA samples, with the minimal requirement that samples of sequences be ordered in time.

Delaware's first serial killer.

Science.gov (United States)

Inguito, G B; Sekula-Perlman, A; Lynch, M J; Callery, R T

2000-11-01

The violent murder of Shirley Ellis on November 29, 1987, marked the beginning of the strange and terrible tale of Steven Bryan Pennell's reign as the state of Delaware's first convicted serial killer. Three more bodies followed the first victim, and all had been brutally beaten and sadistically tortured. The body of a fifth woman has never been found. State and county police collaborated with the FBI to identify and hunt down their suspect, forming a task force of over 100 officers and spending about one million dollars. Through their knowledge and experience with other serial killers, the FBI was able to make an amazingly accurate psychological profile of Delaware's serial killer. After months of around-the-clock surveillance, Steven Pennell was arrested on November 29, 1988, one year to the day after the first victim was found. Pennell was found guilty in the deaths of the first two victims on November 29, 1989, and plead no contest to the murder of two others on October 30, 1991. Still maintaining his innocence, he asked for the death penalty so that he could spare his family further agony. Steven Pennell was executed by lethal injection on March 15, 1992.

Dynamic Model and Vibration Characteristics of Planar 3-RRR Parallel Manipulator with Flexible Intermediate Links considering Exact Boundary Conditions

Directory of Open Access Journals (Sweden)

Lianchao Sheng

2017-01-01

Full Text Available Due to the complexity of the dynamic model of a planar 3-RRR flexible parallel manipulator (FPM, it is often difficult to achieve active vibration control algorithm based on the system dynamic model. To establish a simple and efficient dynamic model of the planar 3-RRR FPM to study its dynamic characteristics and build a controller conveniently, firstly, considering the effect of rigid-flexible coupling and the moment of inertia at the end of the flexible intermediate link, the modal function is determined with the pinned-free boundary condition. Then, considering the main vibration modes of the system, a high-efficiency coupling dynamic model is established on the basis of guaranteeing the model control accuracy. According to the model, the modal characteristics of the flexible intermediate link are analyzed and compared with the modal test results. The results show that the model can effectively reflect the main vibration modes of the planar 3-RRR FPM; in addition the model can be used to analyze the effects of inertial and coupling forces on the dynamics model and the drive torque of the drive motor. Because this model is of the less dynamic parameters, it is convenient to carry out the control program.

Notorious Cases of Serial Killers

Directory of Open Access Journals (Sweden)

Iosub Elena-Cătălina

2014-05-01

Full Text Available The reconstruction of a death scene provides an overall picture of the crime and will indicate the murder as an event or one of a series of events and also the criminal. But when the criminal is declared a serial killer, many questions are raised up. How could a person kill some else without a reason or why people react in such a disorganized way and become so brutal or what made them act like that and so many questions with also so many answers. This project explains the psychology of a murderer, his own way of thinking and acting by presuming that we may accurately discover what is in their minds when they kill. It is about a very complex issue regarding murder investigations, biological factors and psychological profile of a serial killer. Dealing with this problem we will at last reach to the question that could solve finally the puzzle: ―Are serial murderers distorted reflections of society's own values?

Modus operandi of female serial killers.

Science.gov (United States)

Wilson, W; Hilton, T

1998-04-01

The modus operandi of female serial killers was examined from a chronology of 58 cases in America and 47 cases in 17 other countries, compiled over 25-year intervals. Female serial killers in other countries accounted for a disproportionately greater number of victims, but those in America managed a longer killing career when associated with a low profile modus operandi.

Neurodegeneration in D-bifunctional protein deficiency: diagnostic clues and natural history using serial magnetic resonance imaging

Energy Technology Data Exchange (ETDEWEB)

Khan, Aneal [University of Calgary, Department of Medical Genetics and Pediatrics, Alberta Children' s Hospital, Calgary, AB (Canada); Wei, Xing-Chang [University of Calgary, Department of Radiology, Alberta Children' s Hospital, Calgary, AB (Canada); Snyder, Floyd F. [Alberta Children' s Hospital, Biochemical Genetics Laboratory, Calgary, AB (Canada); Mah, Jean K. [University of Calgary, Division of Neurology, Department of Pediatrics, Calgary, AB (Canada); Waterham, Hans; Wanders, Ronald J.A. [University of Amsterdam, Academic Medical Center, Lab Genetic Metabolic Diseases, Amsterdam (Netherlands)

2010-12-15

We report serial neurodegenerative changes on neuroimaging in a rare peroxisomal disease called D-bifunctional protein deficiency. The pattern of posterior to anterior demyelination with white matter disease resembles X-linked adrenoleukodystrophy. We feel this case is important to (1) highlight that D-bifunctional protein deficiency should be considered in cases where the neuroimaging resembles X-linked adrenoleukodystrophy, (2) to show different stages of progression to help identify this disease using neuroimaging in children, and (3) to show that neuroimaging suggesting a leukodystrophy can warrant peroxisomal beta-oxidation studies in skin fibroblasts even when plasma very long chain fatty acids are normal. (orig.)

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

Indian Academy of Sciences (India)

The solution of decentralized tracking control problem for robot manipulator is slightly comp- lex since we .... Figure 1 shows decentralized control scheme for the ith joint of system (10). ...... Automatic Control 49(11): 2081–2084. Gahinet P ...

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.

Dissociation of verbal working memory system components using a delayed serial recall task.

Science.gov (United States)

Chein, J M; Fiez, J A

2001-11-01

Functional magnetic resonance imaging (fMRI) was used to investigate the neural substrates of component processes in verbal working memory. Based on behavioral research using manipulations of verbal stimulus type to dissociate storage, rehearsal, and executive components of verbal working memory, we designed a delayed serial recall task requiring subjects to encode, maintain, and overtly recall sets of verbal items for which phonological similarity, articulatory length, and lexical status were manipulated. By using a task with temporally extended trials, we were able to exploit the temporal resolution afforded by fMRI to partially isolate neural contributions to encoding, maintenance, and retrieval stages of task performance. Several regions commonly associated with maintenance, including supplementary motor, premotor, and inferior frontal areas, were found to be active across all three trial stages. Additionally, we found that left inferior frontal and supplementary motor regions showed patterns of stimulus and temporal sensitivity implicating them in distinct aspects of articulatory rehearsal, while no regions showed a pattern of sensitivity consistent with a role in phonological storage. Regional modulation by task difficulty was further investigated as a measure of executive processing. We interpret our findings as they relate to notions about the cognitive architecture underlying verbal working memory performance.

SERIAL TELEVISI DEXTER SEBAGAI ANAKRONISME DALAM SASTRA POPULER

OpenAIRE

Ida Rochani Adi

2014-01-01

In the popular literature context, this study aims to investigate: (1) how the formulation of the characterization of Dexter in the television serial Dexter violates the tradition of literary characterization, and (2) how the formula of moral values is dramatized through Dexter, who is a sociopath, psychopath, serial killer, and person without moral. The research object was the television serial Dexter, which ranks five in popularity in the world. The data were collected by documenting 84 epi...

A comparison of force sensing techniques for planetary manipulation

Science.gov (United States)

Helmick, Daniel; Okon, Avi; DiCicco, Matt

2006-01-01

Five techniques for sensing forces with a manipulator are compared analytically and experimentally. The techniques compared are: a six-axis wrist force/torque sensor, joint torque sensors, link strain gauges, motor current sensors, and flexibility modeling. The accuracy and repeatability fo each technique is quantified and compared.

Measuring Journal Linking Success from a Discovery Service

Directory of Open Access Journals (Sweden)

Kenyon Stuart

2015-03-01

Full Text Available Online linking to full text via third-party link-resolution services, such as Serials Solutions 360 Link or Ex Libris’ SFX, has become a popular method of access to users in academic libraries. This article describes several attempts made over the course of the past three years at the University of Michigan to gather data on linkage failure: the method used, the limiting factors, the changes made in methods, an analysis of the data collected, and a report of steps taken locally because of the studies. It is hoped that the experiences at one institution may be applicable more broadly and, perhaps, produce a stronger data-driven effort at improving linking services.

Serial Network Flow Monitor

Science.gov (United States)

Robinson, Julie A.; Tate-Brown, Judy M.

2009-01-01

Using a commercial software CD and minimal up-mass, SNFM monitors the Payload local area network (LAN) to analyze and troubleshoot LAN data traffic. Validating LAN traffic models may allow for faster and more reliable computer networks to sustain systems and science on future space missions. Research Summary: This experiment studies the function of the computer network onboard the ISS. On-orbit packet statistics are captured and used to validate ground based medium rate data link models and enhance the way that the local area network (LAN) is monitored. This information will allow monitoring and improvement in the data transfer capabilities of on-orbit computer networks. The Serial Network Flow Monitor (SNFM) experiment attempts to characterize the network equivalent of traffic jams on board ISS. The SNFM team is able to specifically target historical problem areas including the SAMS (Space Acceleration Measurement System) communication issues, data transmissions from the ISS to the ground teams, and multiple users on the network at the same time. By looking at how various users interact with each other on the network, conflicts can be identified and work can begin on solutions. SNFM is comprised of a commercial off the shelf software package that monitors packet traffic through the payload Ethernet LANs (local area networks) on board ISS.

Decommissioning of hot cells using a hydraulically powered servo manipulator

International Nuclear Information System (INIS)

Asquith, J.D.; Loughborough, D.

1993-01-01

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

The Serial Murderer's Motivations: An Interdisciplinary Review.

Science.gov (United States)

DeHart, Dana D.; Mahoney, John M.

1994-01-01

Defines serial killer as individual who murders two or more victims over an extended period of time, ranging from days to years, with the crimes often being sexually motivated. Reviews existing motivational theories of serial murder and proposes additional explications from range of disciplines. Presents suggestions for future research and…

Serial Austen. Mashingups with Zombies

Directory of Open Access Journals (Sweden)

Eleonora Federici

2017-01-01

Full Text Available Jane Austen sells. She sells in all possible ways, her novels have been adapted for the cinema and the stage, they have been rewritten as comics and graphic novels. Jane austen is a cultural icon. The interest in her life is so strong that many biographies have been written in order to recover new facts and details. The places where she has lived and the places depicted in her novels have become tourist sites for literary pilgrims. Austen is a cross-over phenomenon, with regency costume balls recreated in her name and an endless proliferation of her works in all media. My essay will investigate Jane Austen and Seth Grahame-Smith’s Pride and Prejudice and Zombies (2009, a mash-up novel which has become a real cultural phenomenon of the last decade and will demonstrate how it can be considered a serial narrative. If as Henry Jenkins asserts, seriality implies the unfolding of a story over time through a process of “chunking” (that is creating meaningful parts of the same story and of “dispersal” (that is breaking the story into more parts and in more genres and media, mash-ups seems to do this.  Austen’s story remains as a “story hook” which pushes the reader to come back to different products for a continuation of the same story. So, if on the one hand, seriality occurs within the same text, the story-telling of Austen’s stories across genres and media is part of a seriality process.

Sensing the Opaque : Seriality and the Aesthetics of Televisual Form

NARCIS (Netherlands)

Dasgupta, S.; Kelleter, F.

2017-01-01

Recent work on TV seriality focuses on the deference of meaning through narrative extension. Contemporary seriality, it has been argued, exploits this expanding textuality to construct complicated narratives that tip the pleasures of seriality toward detecting the meaning of the plot's

Serial private infrastructures

NARCIS (Netherlands)

van den Berg, V.A.C.

2013-01-01

This paper investigates private supply of two congestible infrastructures that are serial, where the consumer has to use both in order to consume. Four market structures are analysed: a monopoly and 3 duopolies that differ in how firms interact. It is well known that private supply leads too high

Decentralized adaptive control of manipulators - Theory, simulation, and experimentation

Science.gov (United States)

Seraji, Homayoun

1989-01-01

The author presents a simple decentralized adaptive-control scheme for multijoint robot manipulators based on the independent joint control concept. The control objective is to achieve accurate tracking of desired joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simply by a PID (proportional-integral-derivative) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. Simulation results are given for a two-link direct-drive manipulator under adaptive independent joint control. The results illustrate trajectory tracking under coupled dynamics and varying payload. The proposed scheme is implemented on a MicroVAX II computer for motion control of the three major joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite coupled nonlinear joint dynamics.

Sensitivity and specificity of parallel or serial serological testing for detection of canine Leishmania infection

Directory of Open Access Journals (Sweden)

Mauro Maciel de Arruda

2016-01-01

Full Text Available In Brazil, human and canine visceral leishmaniasis (CVL caused byLeishmania infantum has undergone urbanisation since 1980, constituting a public health problem, and serological tests are tools of choice for identifying infected dogs. Until recently, the Brazilian zoonoses control program recommended enzyme-linked immunosorbent assays (ELISA and indirect immunofluorescence assays (IFA as the screening and confirmatory methods, respectively, for the detection of canine infection. The purpose of this study was to estimate the accuracy of ELISA and IFA in parallel or serial combinations. The reference standard comprised the results of direct visualisation of parasites in histological sections, immunohistochemical test, or isolation of the parasite in culture. Samples from 98 cases and 1,327 noncases were included. Individually, both tests presented sensitivity of 91.8% and 90.8%, and specificity of 83.4 and 53.4%, for the ELISA and IFA, respectively. When tests were used in parallel combination, sensitivity attained 99.2%, while specificity dropped to 44.8%. When used in serial combination (ELISA followed by IFA, decreased sensitivity (83.3% and increased specificity (92.5% were observed. Serial testing approach improved specificity with moderate loss in sensitivity. This strategy could partially fulfill the needs of public health and dog owners for a more accurate diagnosis of CVL.

Kinematic modeling of a 7-degree of freedom spatial hybrid manipulator for medical surgery.

Science.gov (United States)

Singh, Amanpreet; Singla, Ekta; Soni, Sanjeev; Singla, Ashish

2018-01-01

The prime objective of this work is to deal with the kinematics of spatial hybrid manipulators. In this direction, in 1955, Denavit and Hartenberg proposed a consistent and concise method, known as D-H parameters method, to deal with kinematics of open serial chains. From literature review, it is found that D-H parameter method is widely used to model manipulators consisting of lower pairs. However, the method leads to ambiguities when applied to closed-loop, tree-like and hybrid manipulators. Furthermore, in the dearth of any direct method to model closed-loop, tree-like and hybrid manipulators, revisions of this method have been proposed from time-to-time by different researchers. One such kind of revision using the concept of dummy frames has successfully been proposed and implemented by the authors on spatial hybrid manipulators. In that work, authors have addressed the orientational inconsistency of the D-H parameter method, restricted to body-attached frames only. In the current work, the condition of body-attached frames is relaxed and spatial frame attachment is considered to derive the kinematic model of a 7-degree of freedom spatial hybrid robotic arm, along with the development of closed-loop constraints. The validation of the new kinematic model has been performed with the help of a prototype of this 7-degree of freedom arm, which is being developed at Council of Scientific & Industrial Research-Central Scientific Instruments Organisation Chandigarh to aid the surgeon during a medical surgical task. Furthermore, the developed kinematic model is used to develop the first column of the Jacobian matrix, which helps in providing the estimate of the tip velocity of the 7-degree of freedom manipulator when the first joint velocity is known.

Child serial murder-psychodynamics: closely watched shadows.

Science.gov (United States)

Turco, R

2001-01-01

There is a malignant transformation in object relations resulting in an identification with an omnipotent and cruel object resulting in an identity transformation. If the tension, desperation, and dissociation increase, serial murder becomes spree murder. The presence of pathological narcissism and psychopathic tendencies are of diagnostic significance in understanding the murderer's personality functioning and motivation to kill. Meloy (1988) considered the degree of sadism and aggression combined with narcissistic qualities to reflect the "malignancy" of the psychopathic disturbance where gratification (of aggression) occurs in the service of narcissistic functioning--that is, cruelty toward others in the form of a triumphant victory over a rejecting object. Meloy also believes that dissociation is ubiquitious in the psychopath. The initial murder of the serial murderer may reflect a "new identity." The pathological object-relations of narcissism and the malignant narcissism are important diagnostic indicators in the personality functioning of serial killers and the occurrence of these phenomena is a significant factor in the formation of the personalities of serial killers, their inner motivations, and their pattern of commission.

IMPLEMENTATION OF SERIAL AND PARALLEL BUBBLE SORT ON FPGA

Directory of Open Access Journals (Sweden)

Dwi Marhaendro Jati Purnomo

2016-06-01

Full Text Available Sorting is common process in computational world. Its utilization are on many fields from research to industry. There are many sorting algorithm in nowadays. One of the simplest yet powerful is bubble sort. In this study, bubble sort is implemented on FPGA. The implementation was taken on serial and parallel approach. Serial and parallel bubble sort then compared by means of its memory, execution time, and utility which comprises slices and LUTs. The experiments show that serial bubble sort required smaller memory as well as utility compared to parallel bubble sort. Meanwhile, parallel bubble sort performed faster than serial bubble sort

Parallel algorithms and architecture for computation of manipulator forward dynamics

Science.gov (United States)

Fijany, Amir; Bejczy, Antal K.

1989-01-01

Parallel computation of manipulator forward dynamics is investigated. Considering three classes of algorithms for the solution of the problem, that is, the O(n), the O(n exp 2), and the O(n exp 3) algorithms, parallelism in the problem is analyzed. It is shown that the problem belongs to the class of NC and that the time and processors bounds are of O(log2/2n) and O(n exp 4), respectively. However, the fastest stable parallel algorithms achieve the computation time of O(n) and can be derived by parallelization of the O(n exp 3) serial algorithms. Parallel computation of the O(n exp 3) algorithms requires the development of parallel algorithms for a set of fundamentally different problems, that is, the Newton-Euler formulation, the computation of the inertia matrix, decomposition of the symmetric, positive definite matrix, and the solution of triangular systems. Parallel algorithms for this set of problems are developed which can be efficiently implemented on a unique architecture, a triangular array of n(n+2)/2 processors with a simple nearest-neighbor interconnection. This architecture is particularly suitable for VLSI and WSI implementations. The developed parallel algorithm, compared to the best serial O(n) algorithm, achieves an asymptotic speedup of more than two orders-of-magnitude in the computation the forward dynamics.

Manipulative emotional behaviour and delinquency: sex differences and links to emotional intelligence.

OpenAIRE

Bacon, AM; Regan, L

2016-01-01

Trait emotional intelligence (EI) encompasses high levels of emotional understanding and is generally associated with positive outcomes. However research has suggested that high EI might predispose some young females to delinquency. The present study investigated whether this relationship can be accounted for by a tendency towards emotionally manipulative behaviours, facilitated by high EI. Two hundred and fifty two young adults (125 female) completed measures of EI, Machiavellianism, managin...

Dual-well potential field function for articulated manipulator trajectory planning

Directory of Open Access Journals (Sweden)

Ahmed Badawy

2016-06-01

Full Text Available A new attractive potential field function is proposed in this paper for manipulator trajectory planning. Existing attractive potential field constructs a global minimum through which maneuvering objects move down the gradient of the potential field toward this global minimum. The proposed method constructs a potential field with two minima. The purpose of these two minima is to create a dual attraction between links rather than affecting each link by the preceding one through kinematic constraints.

[The serial murder: a few theoretical perspectives].

Science.gov (United States)

Leistedt, S; Linkowski, P

2011-01-01

Despite numbers of publications and effort to try to establish the definition, the classification, the epidemiology, the clinical aspects and the psychopathology of serial killers, a universal consensus seems to say the least. Crime, though reduced in some countries, appears to impact more and more consistent worldwide, generating controversial ideas and a multitude of possible explanations. The serial killer usually presents as a caucasian man, aged between 20 and 40 years, often embedded socially and in his family, but with serious psychiatric, personal and especially family history. Usually acting alone, the serial killer plans a crime well in advance, but sometimes within the scope of impulsivity for a minority, the victim not being previously selected. In the latter case, an actual mental illness like psychosis is found. It is clear from numerous psychopathological studies conducted so far that most serial killers are defined as psychopathic sexual sadists, whose childhood was difficult, if not flouted, punctuated by physical and psychological violence situations. In addition, pervasive fantasies combined with thoughts of death, sex and violence are as much in common with the original acts of which they are the instigators. Beyond a relentless media that is constantly watering the public with stories and pictures depicting them as such, serial killers remain an enigma. We can therefore attempt to answer the various questions raised by this phenomenon, the way these people operate and how we can curb the rise, thanks to the neurobiological and neurophysiological approaches that science offers us.

Development of serial magnification angiography and its clinical significance

International Nuclear Information System (INIS)

Sasaki, Tsuneo; Matsubara, Kazuhito; Ishiguchi, Tsuneo; Mashita, Shinichi; Kaii, Osamu

1979-01-01

In order to apply serial magnification angiography to clinical examinations so easily, a serial cardioangiography apparatus was equipped with a tube having 0.1 mm focal spot and with DRX-431HD diode. A CAT-FK Type catheter bed (Toshiba) was used as a roentgenographic table and a PUCK film changer was used. Thus, serial magnification angiography can be easily used to clinical examinations, and can be set in a usual x-ray photographic studio. Serial magnification angiography was used to examine the cerebral vessels in 6 patients, vessels of the pulmonary circulation in 1 patient, bronchial arteries in 6 patients, the celiac artery in 18 patients, the superior mesenteric artery in 2 patients, inferior mesenteric artery in 2 patients, the renal artery in 2 patients, and the adrenal vein in 7 patients. Owing to this angiography, minute changes in the vessel in the lesion can be observed and fine neovascularity can be detected. Thus, serial magnification angiography makes diagnoses of vascular disorders easier. (Ichikawa, K.)

Graphics and control of the guide tube assembly reinforcement manipulators at Sizewell 'A'

International Nuclear Information System (INIS)

Burden, C.

1996-01-01

A method was devised to reinforce the lower lug welds of the Guide Tube Assemblies (GTA's) at Sizewell 'A'. A six degree of freedom manipulator was designed to place a clamp around the lugs and tighten it. The manipulator was fitted with the three fixed cameras but required another surveillance manipulator positioned in an adjacent standpipe to provide additional views. The need to prepare two standpipes limited the rate at which reinforcements could be made. Therefore an articulated two arm camera manipulator, which could be used on the existing manipulator mast was designed and built. The two manipulators were driven from separate desks and were controlled by the same supervisory computer linked to online graphics. The camera arm joints were driven on preplanned routes using a single joystick because of the complex moves and tight spaces involved. A large number of GTA sites have now been reinforced including a dropped GTA which had to be raised to carry out clamping. (Author)

Simulation of cooperating robot manipulators on a mobile platform

Science.gov (United States)

Murphy, Steve H.; Wen, John T.; Saridis, George N.

1990-01-01

The dynamic equations of motion for two manipulators holding a common object on a freely moving mobile platform are developed. The full dynamic interactions from arms to platform and arm-tip to arm-tip are included in the formulation. The development of the closed chain dynamics allows for the use of any solution for the open topological tree of base and manipulator links. In particular, because the system has 18 degrees of freedom, recursive solutions for the dynamic simulation become more promising for efficient calculations of the motion. Simulation of the system is accomplished through a MATLAB program, and the response is visualized graphically using the SILMA Cimstation.

How Do We Write about Performance in Serial Television?

Directory of Open Access Journals (Sweden)

Elliott Logan

2015-05-01

Full Text Available Television studies has produced few sustained analyses of performance in serial television. Yet film studies scholarship has shown how attending to the integration of performances with other aspects of film style is crucial to the interpretation and appreciation of expression and meaning in filmed narrative fictions. However, as a particle form of filmed serial narrative, series television raises a number of questions about performance that will not necessarily be satisfyingly addressed by the direct adoption and application of approaches to writing about performance that have been honed in regard to film. How, then, do we write about performance in television serials in ways that recognise and accommodate the form’s relationship to film, while at the same time appropriately acknowledging and responding to long-form television’s serial status? To examine the difficulties and opportunities of approaching performance in serial television this way, the article conducts close readings of various pieces of television studies writing on performance, by scholars such as Jason Mittell, Sue Turnbull, George Toles, and Steven Peacock. Their work brings into view film and television’s points of common relation, and the distinctive challenges, achievements, and rewards of appreciating the best television serials, and the performances in them.

Large volume serial section tomography by Xe Plasma FIB dual beam microscopy

International Nuclear Information System (INIS)

Burnett, T.L.; Kelley, R.; Winiarski, B.; Contreras, L.; Daly, M.; Gholinia, A.; Burke, M.G.; Withers, P.J.

2016-01-01

PFIB-SEM can provide a critical link between non-destructive X-ray imaging and destructive serial sectioning within a correlative tomography framework.

Determination of motive of serial invaders as a stage of serial murders investigation

Directory of Open Access Journals (Sweden)

Davydov A.B.

2017-04-01

Full Text Available the article discusses the existing classification of motives of serial murderers. The author provides the classification, which is based on the technique of extreme meanings offered by D.A. Leontyev.

Playing at Serial Acquisitions

NARCIS (Netherlands)

J.T.J. Smit (Han); T. Moraitis (Thras)

2010-01-01

textabstractBehavioral biases can result in suboptimal acquisition decisions-with the potential for errors exacerbated in consolidating industries, where consolidators design serial acquisition strategies and fight escalating takeover battles for platform companies that may determine their future

PORNOGRAFI DALAM SERIAL ANIME ANAK (ANALISIS SEMIOTIKA DALAM SERIAL CRAYON SHIN CHAN

Directory of Open Access Journals (Sweden)

- Sangidun

2017-01-01

Full Text Available Crayon Shin Chan, a Japanese two-dimension animation series broadcast in one of private Indonesian TVs, is categorized into child’s program since it is broadcast at child’s prime time, Sunday 08.30 a.m. In spite of its broadcast time, this series consist of symbols directed not for children, such as some acts that are not appropriate to be done by children, especially in Indonesia. Moreover, adult symbols of sex are also found in the program. For this reason it will be interesting to analyze it using semiotic analysis. Semiotics is the study of symbol and its meaning which its principle concept is that both signifier and signified consist of symbols and are related to denotation and connotation.   Crayon Shin Chan merupakan serial animasi dua dimensi yang tayang di salah satu stasiun televisi swasta di Indonesia. Ini merupakan produk animasi 2 dimensi yang diimpor dari Jepang. Di Indonesia, serial ini masuk dalam kategori acara anak. Hal ini dapat dilihat dari jam penayangannya yang merupakan waktu prime time bagi anak, yakni pada hari minggu pukul 08.30. Akan tetapi, pada serial ini banyak simbol-simbol yang mengarah pada tayangan yang bukan untuk anak-anak, yakni adeganadegan yang tidak pantas dilakukan oleh anak khususnya di Indonesia. Serta adanya pula simbol-simbol yang mengarah pada tayangan berbau dewasa. Tentu akan menarik jika tayangan ini diteliti menggunakan analisis semiotika. Semiotika sendiri merupakan kajian ilmu mengenai tanda dan makna. Yang pada prinsipnya, konsep penting seperti penanda (signifier dan petanda (signified sama-sama terdiri dari tanda dan terkait dengan denotasi dan konotasi.

Stochastic modeling of a serial killer.

Science.gov (United States)

Simkin, M V; Roychowdhury, V P

2014-08-21

We analyze the time pattern of the activity of a serial killer, who during 12 years had murdered 53 people. The plot of the cumulative number of murders as a function of time is of "Devil's staircase" type. The distribution of the intervals between murders (step length) follows a power law with the exponent of 1.4. We propose a model according to which the serial killer commits murders when neuronal excitation in his brain exceeds certain threshold. We model this neural activity as a branching process, which in turn is approximated by a random walk. As the distribution of the random walk return times is a power law with the exponent 1.5, the distribution of the inter-murder intervals is thus explained. We illustrate analytical results by numerical simulation. Time pattern activity data from two other serial killers further substantiate our analysis. Copyright © 2014 Elsevier Ltd. All rights reserved.

An Investigation of Selective College and University Libraries' Serial Arrangement.

Science.gov (United States)

Kesler, Elizabeth Gates; Teborek, Gay

Data from a survey on serials arrangement procedures and policies at academic libraries was used by the University of Rhode Island (URI) Library in changing current serials policies. Ten libraries, four of which have similar serial holdings and user populations to URI, responded to a questionnaire. Information was obtained on classification versus…

Serials cataloging at the turn of the century

CERN Document Server

Williams, James W

2014-01-01

An overview of the research topics and trends that have appeared over the last five years, Serials Cataloging at the Turn of the Century doesn't just tell you that there has been a lot of change--that the information environment is something of a chameleon, always beguiling and slipping out of grasp. Instead, it gives you the plain facts on the specific challenges serials catalogers have been facing and how they're meeting adversity head-on, ready to gain the advantage in the rumble with proliferating information and formats.Comprehensive, resource-packed, and easy-to-digest, Serials Catalogin

Representation of the serial killer on the Italian Internet.

Science.gov (United States)

Villano, P; Bastianoni, P; Melotti, G

2001-10-01

The representation of serial killers was examined from the analysis of 317 Web pages in the Italian language to study how the psychological profiles of serial killers are described on the Italian Internet. The correspondence analysis of the content of these Web pages shows that in Italy the serial killer is associated with words such as "monster" and "horror," which suggest and imply psychological perversion and aberrant acts. These traits are peculiar for the Italian scenario.

Structure Assembly by a Heterogeneous Team of Robots Using State Estimation, Generalized Joints, and Mobile Parallel Manipulators

Science.gov (United States)

Komendera, Erik E.; Adhikari, Shaurav; Glassner, Samantha; Kishen, Ashwin; Quartaro, Amy

2017-01-01

Autonomous robotic assembly by mobile field robots has seen significant advances in recent decades, yet practicality remains elusive. Identified challenges include better use of state estimation to and reasoning with uncertainty, spreading out tasks to specialized robots, and implementing representative joining methods. This paper proposes replacing 1) self-correcting mechanical linkages with generalized joints for improved applicability, 2) assembly serial manipulators with parallel manipulators for higher precision and stability, and 3) all-in-one robots with a heterogeneous team of specialized robots for agent simplicity. This paper then describes a general assembly algorithm utilizing state estimation. Finally, these concepts are tested in the context of solar array assembly, requiring a team of robots to assemble, bond, and deploy a set of solar panel mockups to a backbone truss to an accuracy not built into the parts. This paper presents the results of these tests.

[Allocation of attentional resource and monitoring processes under rapid serial visual presentation].

Science.gov (United States)

Nishiura, K

1998-08-01

With the use of rapid serial visual presentation (RSVP), the present study investigated the cause of target intrusion errors and functioning of monitoring processes. Eighteen students participated in Experiment 1, and 24 in Experiment 2. In Experiment 1, different target intrusion errors were found depending on different kinds of letters --romaji, hiragana, and kanji. In Experiment 2, stimulus set size and context information were manipulated in an attempt to explore the cause of post-target intrusion errors. Results showed that as stimulus set size increased, the post-target intrusion errors also increased, but contextual information did not affect the errors. Results concerning mean report probability indicated that increased allocation of attentional resource to response-defining dimension was the cause of the errors. In addition, results concerning confidence rating showed that monitoring of temporal and contextual information was extremely accurate, but it was not so for stimulus information. These results suggest that attentional resource is different from monitoring resource.

Phonological and semantic strategies in immediate serial recall.

Science.gov (United States)

Campoy, Guillermo; Baddeley, Alan

2008-05-01

It has been suggested that certain theoretically important anomalous results in the area of verbal short-term memory could be attributable to differences in strategy. However there are relatively few studies that investigate strategy directly. We describe four experiments, each involving the immediate serial recall of word sequences under baseline control conditions, or preceded by instruction to use a phonological or semantic strategy. Two experiments varied phonological similarity at a presentation rate of one item every 1 or 2 seconds. Both the control and the phonologically instructed group showed clear effects of similarity at both presentation rates, whereas these were largely absent under semantic encoding conditions. Two further experiments manipulated word length at the same two rates. The phonologically instructed groups showed clear effects at both rates, the control group showed a clear effect at the rapid rate which diminished with the slower presentation, while the semantically instructed group showed a relatively weak effect at the rate of one item per second, and a significant reverse effect with slower presentation. The latter finding is interpreted in terms of fortuitous differences in inter-item rated associability between the two otherwise matched word pools, reinforcing our conclusion that the semantically instructed group were indeed encoding semantically. Implications for controlling strategy by instruction are discussed.

Mathematical manipulative models: in defense of "beanbag biology".

Science.gov (United States)

Jungck, John R; Gaff, Holly; Weisstein, Anton E

2010-01-01

Mathematical manipulative models have had a long history of influence in biological research and in secondary school education, but they are frequently neglected in undergraduate biology education. By linking mathematical manipulative models in a four-step process-1) use of physical manipulatives, 2) interactive exploration of computer simulations, 3) derivation of mathematical relationships from core principles, and 4) analysis of real data sets-we demonstrate a process that we have shared in biological faculty development workshops led by staff from the BioQUEST Curriculum Consortium over the past 24 yr. We built this approach based upon a broad survey of literature in mathematical educational research that has convincingly demonstrated the utility of multiple models that involve physical, kinesthetic learning to actual data and interactive simulations. Two projects that use this approach are introduced: The Biological Excel Simulations and Tools in Exploratory, Experiential Mathematics (ESTEEM) Project (http://bioquest.org/esteem) and Numerical Undergraduate Mathematical Biology Education (NUMB3R5 COUNT; http://bioquest.org/numberscount). Examples here emphasize genetics, ecology, population biology, photosynthesis, cancer, and epidemiology. Mathematical manipulative models help learners break through prior fears to develop an appreciation for how mathematical reasoning informs problem solving, inference, and precise communication in biology and enhance the diversity of quantitative biology education.

Effects of Serial Rehearsal Training on Memory Search

Science.gov (United States)

McCauley, Charley; And Others

1976-01-01

Half the subjects were trained to use a serial rehearsal strategy during target set storage and half were given no strategy training. The results indicate that the rate of memory search is IQ-related, and that serial rehearsal training facilitates memory search when rehearsal is covert. (Author/BW)

Examining the relationship between free recall and immediate serial recall: the serial nature of recall and the effect of test expectancy.

Science.gov (United States)

Bhatarah, Parveen; Ward, Geoff; Tan, Lydia

2008-01-01

In two experiments, we examined the relationship between free recall and immediate serial recall (ISR), using a within-subjects (Experiment 1) and a between-subjects (Experiment 2) design. In both experiments, participants read aloud lists of eight words and were precued or postcued to respond using free recall or ISR. The serial position curves were U-shaped for free recall and showed extended primacy effects with little or no recency for ISR, and there was little or no difference between recall for the precued and the postcued conditions. Critically, analyses of the output order showed that although the participants started their recall from different list positions in the two tasks, the degree to which subsequent recall was serial in a forward order was strikingly similar. We argue that recalling in a serial forward order is a general characteristic of memory and that performance on ISR and free recall is underpinned by common memory mechanisms.

Multistage parallel-serial time averaging filters

International Nuclear Information System (INIS)

Theodosiou, G.E.

1980-01-01

Here, a new time averaging circuit design, the 'parallel filter' is presented, which can reduce the time jitter, introduced in time measurements using counters of large dimensions. This parallel filter could be considered as a single stage unit circuit which can be repeated an arbitrary number of times in series, thus providing a parallel-serial filter type as a result. The main advantages of such a filter over a serial one are much less electronic gate jitter and time delay for the same amount of total time uncertainty reduction. (orig.)

Converting serial networks to Ethernet communications

Energy Technology Data Exchange (ETDEWEB)

Rosado, Elroy [Freewave Technologies, Inc., Boulder, CO (United States). Latin America

2008-07-01

Many oil and gas producers and pipeline companies find themselves in an awkward position. They have invested millions of dollars in legacy serial communications systems and in most cases, millions more in older SCADA remote terminal units and electronic flow meters. There is a desire throughout most of the industry to convert these systems to Ethernet. This presentation will explore how Ethernet protocol offers advantages over the older serial communications in terms of peer to peer communication, faster polling cycles, and the ability to poll multiple devices at the same time. (author)

Implementation of Serial and Parallel Bubble Sort on Fpga

OpenAIRE

Purnomo, Dwi Marhaendro Jati; Arinaldi, Ahmad; Priyantini, Dwi Teguh; Wibisono, Ari; Febrian, Andreas

2016-01-01

Sorting is common process in computational world. Its utilization are on many fields from research to industry. There are many sorting algorithm in nowadays. One of the simplest yet powerful is bubble sort. In this study, bubble sort is implemented on FPGA. The implementation was taken on serial and parallel approach. Serial and parallel bubble sort then compared by means of its memory, execution time, and utility which comprises slices and LUTs. The experiments show that serial bubble sort r...

Serial forced displacement in American cities, 1916-2010.

Science.gov (United States)

Fullilove, Mindy Thompson; Wallace, Rodrick

2011-06-01

Serial forced displacement has been defined as the repetitive, coercive upheaval of groups. In this essay, we examine the history of serial forced displacement in American cities due to federal, state, and local government policies. We propose that serial forced displacement sets up a dynamic process that includes an increase in interpersonal and structural violence, an inability to react in a timely fashion to patterns of threat or opportunity, and a cycle of fragmentation as a result of the first two. We present the history of the policies as they affected one urban neighborhood, Pittsburgh's Hill District. We conclude by examining ways in which this problematic process might be addressed.

FELIX: The New Approach for Interfacing to Front-end Electronics for the ATLAS Experiment

CERN Document Server

AUTHOR|(SzGeCERN)754725; The ATLAS collaboration; Anderson, John Thomas; Borga, Andrea; Boterenbrood, Hendrik; Chen, Hucheng; Chen, Kai; Drake, Gary; Donszelmann, Mark; Francis, David; Gorini, Benedetto; Guest, Daniel; Lanni, Francesco; Lehmann Miotto, Giovanna; Levinson, Lorne; Roich, Alexander; Schreuder, Frans Philip; Schumacher, J\\"orn; Vandelli, Wainer; Zhang, Jinlong

2016-01-01

From the ATLAS Phase-I upgrade and onward, new or upgraded detectors and trigger systems will be interfaced to the data acquisition, detector control and timing (TTC) systems by the Front-End Link eXchange (FELIX). FELIX is the core of the new ATLAS Trigger/DAQ architecture. Functioning as a router between custom serial links and a commodity network, FELIX is implemented by server PCs with commodity network interfaces and PCIe cards with large FPGAs and many high speed serial fiber transceivers. By separating data transport from data manipulation, the latter can be done by software in commodity servers attached to the network. Replacing traditional point-to-point links between Front-end components and the DAQ system by a switched network, FELIX provides scaling, flexibility uniformity and upgradability and reduces the diversity of custom hardware solutions in favour of software.

Recommendations for CAMAC Serial Highway drivers and LAM Graders for the SCC-L2 Serial Crate Controller

International Nuclear Information System (INIS)

1978-01-01

The functional requirements of Drivers for the CAMAC Serial Highway defined in IEEE Standard 595-1976 are described. The description is independent of the implementation, and in particular no assumption is made about the boundary between hardware and software within the Driver. Topics covered are the user interface, the supporting system services required, demand handling, and a detailed discussion of the message analysis for various levels of error recovery. An appendix describes the recommended features of LAM Graders for use with the Serial Crate Controller Type L2 of IEEE Std 595-1976

A psychological profile of a serial killer: a case report.

Science.gov (United States)

Dogra, T D; Leenaars, Antoon A; Chadha, R K; Manju, Mehta; Lalwani, Sanjeev; Sood, Mamta; Lester, David; Raina, Anupuma; Behera, C

2012-01-01

Serial killers have always fascinated society. A serial killer is typically defined as a perpetrator who murders three or more people over a period of time. Most reported cases of serial killers come from the United States and Canada. In India, there are few reported cases. We present, to the best of our knowledge, the first Indian case in the literature. The present case is of a 28-year-old man, Surinder Koli. The Department of Forensic Medicine & Toxicology, All India Institute of Medical Sciences, New Delphi handled the forensic study. We present a most unique psychological investigation into the mind of a serial killer.

Malignant sex and aggression: an overview of serial sexual homicide.

Science.gov (United States)

Myers, W C; Reccoppa, L; Burton, K; McElroy, R

1993-01-01

Serial murderers have attracted considerable attention in the popular press and criminal justice field, but scientific literature about these individuals is limited. This article provides an overview, from a psychiatric perspective, of serial sexual homicide, one type of serial killing. Characteristics of this type of murder and of these offenders are discussed. Defining qualities and diagnoses applicable to serial sexual killers are reviewed. Various etiologic theories are discussed, with emphasis on the role of fantasy and psychodynamic explanations. Governmental agencies involved in combating this type of crime, along with the role of mental health professionals in criminal profiling, are presented. Finally, the authors explore the reaction of society to this phenomenon.

Transtornos de personalidade, psicopatia e serial killers Personality disorders, psychopathy and serial killers

Directory of Open Access Journals (Sweden)

Hilda C P Morana

2006-10-01

Full Text Available OBJETIVO: Apresentar as características básicas dos diversos transtornos específicos de personalidade, mas centrando-se no transtorno de personalidade anti-social, fazendo sua diferenciação com psicopatia. O estudo ainda se propõe a abordar a figura do serial killer, apontando a presença de aspectos psicopáticos no homicídio seriado. MÉTODO: Uma revisão bibliográfica foi feita no sentido de se abordar convergências e divergências entre diversos autores sobre um assunto tão polêmico, sobretudo quanto à viabilidade de tratamento dessa clientela forense. RESULTADOS: Enquanto o transtorno de personalidade anti-social é um diagnóstico médico, pode-se entender o termo "psicopatia", pertencente à esfera psiquiátrico-forense, como um "diagnóstico legal". Não se pode falar ainda de tratamento eficaz para os chamados "serial killers". CONCLUSÃO: Os transtornos de personalidade, especialmente o tipo anti-social, representam ainda hoje um verdadeiro desafio para a psiquiatria forense. O local mais adequado e justo para seus portadores, bem como recomendação homogênea e padronizada de tratamento são questões ainda não respondidas.OBJECTIVE: To illustrate the basic characteristics of several specific personality disorders, focusing mainly in antisocial personality disorder. The differences between antisocial personality disorder and psychopathy are highlighted. Serial killers and its psychopathic aspects are also discussed. METHOD: A bibliographic review was completed in order to outline convergences and divergences among different authors about this controversial issue, especially those concerning the possibility of treatment. RESULTS: While anti-social personality disorder is a medical diagnosis, the term "psychopathy" (which belongs to the sphere of forensic psychiatry may be understood as a "legal diagnosis". It is not still possible to identify an effective treatment for serial killers. CONCLUSION: Personality disorders

Selection and Serial Entrepreneurs

DEFF Research Database (Denmark)

Chen, Jing

2011-01-01

Although it has been broadly evidenced that entrepreneurial experience plays a substantial role in the emergence of serial entrepreneurship, the debate is still going on about whether this relationship should be attributed to learning by doing or instead be explained by selection on ability. This...

Suicide in serial killers.

Science.gov (United States)

Lester, David; White, John

2010-02-01

In a sample of 248 killers of two victims in America from 1900 to 2005, obtained from an encyclopedia of serial killers by Newton (2006), those completing suicide did not differ in sex, race, or the motive for the killing from those who were arrested.

R and D Towards Cryogenic Optical Links

International Nuclear Information System (INIS)

Christiansen, M.; Radeka, V.; Galea, R.; Gong, D.; Hou, S.; Lissauer, D.; Liu, C.; Liu, T.; Rehak, P.; Sondericker, J.; Stroynowski, R.; Su, D.-S.; Takacs, P.; Takai, H.; Techerniatine, V.; Teng, P.-K.; Thorn, C.; Xiang, A.C.; Ye, J.; Yu, B.

2010-01-01

A number of critical active and passive components of optical links have been tested at 77 K or lower temperatures, demonstrating potential development of optical links operating inside the liquid argon time projection chamber (LArTPC) detector cryostat. A ring oscillator, individual MOSFETs, and a high speed 16:1 serializer fabricated in a commercial 0.25-(micro)m silicon-on-sapphire CMOS technology continued to function from room temperature to 4.2 K, 15 K, and 77 K respectively. Three types of laser diodes lase from room temperature to 77 K. Optical fibers and optical connectors exhibited minute attenuation changes from room temperature to 77 K.

The serial message-passing schedule for LDPC decoding algorithms

Science.gov (United States)

Liu, Mingshan; Liu, Shanshan; Zhou, Yuan; Jiang, Xue

2015-12-01

The conventional message-passing schedule for LDPC decoding algorithms is the so-called flooding schedule. It has the disadvantage that the updated messages cannot be used until next iteration, thus reducing the convergence speed . In this case, the Layered Decoding algorithm (LBP) based on serial message-passing schedule is proposed. In this paper the decoding principle of LBP algorithm is briefly introduced, and then proposed its two improved algorithms, the grouped serial decoding algorithm (Grouped LBP) and the semi-serial decoding algorithm .They can improve LBP algorithm's decoding speed while maintaining a good decoding performance.

Tevatron serial data repeater system

International Nuclear Information System (INIS)

Ducar, R.J.

1981-01-01

A ten megabit per second serial data repeater system has been developed for the 6.28km Tevatron accelerator. The repeaters are positioned at each of the thirty service buildings and accommodate control and abort system communications as well as distribution of the Tevatron time and energy clocks. The repeaters are transparent to the particular protocol of the transmissions. Serial data are encoded locally as unipolar two volt signals employing the self-clocking Manchester Bi-Phase code. The repeaters modulate the local signals to low-power bursts of 50 MHz rf carrier for the 260m transmission between service buildings. The repeaters also demodulate the transmission and restructure the data for local utilization. The employment of frequency discrimination techniques yields high immunity to the characteristic noise spectrum

Nanoflow electrospinning serial femtosecond crystallography

International Nuclear Information System (INIS)

Sierra, Raymond G.; Laksmono, Hartawan; Kern, Jan; Tran, Rosalie; Hattne, Johan; Alonso-Mori, Roberto; Lassalle-Kaiser, Benedikt; Glöckner, Carina; Hellmich, Julia; Schafer, Donald W.; Echols, Nathaniel; Gildea, Richard J.; Grosse-Kunstleve, Ralf W.; Sellberg, Jonas; McQueen, Trevor A.; Fry, Alan R.; Messerschmidt, Marc M.; Miahnahri, Alan; Seibert, M. Marvin; Hampton, Christina Y.; Starodub, Dmitri; Loh, N. Duane; Sokaras, Dimosthenis; Weng, Tsu-Chien; Zwart, Petrus H.; Glatzel, Pieter; Milathianaki, Despina; White, William E.; Adams, Paul D.; Williams, Garth J.; Boutet, Sébastien; Zouni, Athina; Messinger, Johannes; Sauter, Nicholas K.; Bergmann, Uwe; Yano, Junko; Yachandra, Vittal K.; Bogan, Michael J.

2012-01-01

A low flow rate liquid microjet method for delivery of hydrated protein crystals to X-ray lasers is presented. Linac Coherent Light Source data demonstrates serial femtosecond protein crystallography with micrograms, a reduction of sample consumption by orders of magnitude. An electrospun liquid microjet has been developed that delivers protein microcrystal suspensions at flow rates of 0.14–3.1 µl min −1 to perform serial femtosecond crystallography (SFX) studies with X-ray lasers. Thermolysin microcrystals flowed at 0.17 µl min −1 and diffracted to beyond 4 Å resolution, producing 14 000 indexable diffraction patterns, or four per second, from 140 µg of protein. Nanoflow electrospinning extends SFX to biological samples that necessitate minimal sample consumption

Nanoflow electrospinning serial femtosecond crystallography

Energy Technology Data Exchange (ETDEWEB)

Sierra, Raymond G.; Laksmono, Hartawan [SLAC National Accelerator Laboratory, Menlo Park, CA 94025 (United States); Kern, Jan [Lawrence Berkeley National Laboratory, Berkeley, CA 94720 (United States); SLAC National Accelerator Laboratory, Menlo Park, CA 94025 (United States); Tran, Rosalie; Hattne, Johan [Lawrence Berkeley National Laboratory, Berkeley, CA 94720 (United States); Alonso-Mori, Roberto [SLAC National Accelerator Laboratory, Menlo Park, CA 94025 (United States); Lassalle-Kaiser, Benedikt [Lawrence Berkeley National Laboratory, Berkeley, CA 94720 (United States); Glöckner, Carina; Hellmich, Julia [Technische Universität Berlin, Strasse des 17 Juni 135, 10623 Berlin (Germany); Schafer, Donald W. [SLAC National Accelerator Laboratory, Menlo Park, CA 94025 (United States); Echols, Nathaniel; Gildea, Richard J.; Grosse-Kunstleve, Ralf W. [Lawrence Berkeley National Laboratory, Berkeley, CA 94720 (United States); Sellberg, Jonas [SLAC National Accelerator Laboratory, Menlo Park, CA 94025 (United States); Stockholm University, S-106 91 Stockholm (Sweden); McQueen, Trevor A. [Stanford University, Stanford, CA 94025 (United States); Fry, Alan R.; Messerschmidt, Marc M.; Miahnahri, Alan; Seibert, M. Marvin; Hampton, Christina Y.; Starodub, Dmitri; Loh, N. Duane; Sokaras, Dimosthenis; Weng, Tsu-Chien [SLAC National Accelerator Laboratory, Menlo Park, CA 94025 (United States); Zwart, Petrus H. [Lawrence Berkeley National Laboratory, Berkeley, CA 94720 (United States); Glatzel, Pieter [European Synchrotron Radiation Facility, Grenoble (France); Milathianaki, Despina; White, William E. [SLAC National Accelerator Laboratory, Menlo Park, CA 94025 (United States); Adams, Paul D. [Lawrence Berkeley National Laboratory, Berkeley, CA 94720 (United States); Williams, Garth J.; Boutet, Sébastien [SLAC National Accelerator Laboratory, Menlo Park, CA 94025 (United States); Zouni, Athina [Technische Universität Berlin, Strasse des 17 Juni 135, 10623 Berlin (Germany); Messinger, Johannes [Umeå Universitet, Umeå (Sweden); Sauter, Nicholas K. [Lawrence Berkeley National Laboratory, Berkeley, CA 94720 (United States); Bergmann, Uwe [SLAC National Accelerator Laboratory, Menlo Park, CA 94025 (United States); Yano, Junko; Yachandra, Vittal K. [Lawrence Berkeley National Laboratory, Berkeley, CA 94720 (United States); Bogan, Michael J., E-mail: mbogan@slac.stanford.edu [SLAC National Accelerator Laboratory, Menlo Park, CA 94025 (United States); SLAC National Accelerator Laboratory, Menlo Park, CA 94025 (United States)

2012-11-01

A low flow rate liquid microjet method for delivery of hydrated protein crystals to X-ray lasers is presented. Linac Coherent Light Source data demonstrates serial femtosecond protein crystallography with micrograms, a reduction of sample consumption by orders of magnitude. An electrospun liquid microjet has been developed that delivers protein microcrystal suspensions at flow rates of 0.14–3.1 µl min{sup −1} to perform serial femtosecond crystallography (SFX) studies with X-ray lasers. Thermolysin microcrystals flowed at 0.17 µl min{sup −1} and diffracted to beyond 4 Å resolution, producing 14 000 indexable diffraction patterns, or four per second, from 140 µg of protein. Nanoflow electrospinning extends SFX to biological samples that necessitate minimal sample consumption.

Kinematics and dynamics of a six-degree-of-freedom robot manipulator with closed kinematic chain mechanism

Science.gov (United States)

Nguyen, Charles C.; Pooran, Farhad J.

1989-01-01

This paper deals with a class of robot manipulators built based on the kinematic chain mechanism (CKCM). This class of CKCM manipulators consists of a fixed and a moving platform coupled together via a number of in-parallel actuators. A closed-form solution is derived for the inverse kinematic problem of a six-degre-of-freedom CKCM manipulator designed to study robotic applications in space. Iterative Newton-Raphson method is employed to solve the forward kinematic problem. Dynamics of the above manipulator is derived using the Lagrangian approach. Computer simulation of the dynamical equations shows that the actuating forces are strongly dependent on the mass and centroid of the robot links.

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

Science.gov (United States)

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

2014-07-01

After industrial robots came into existence during 1960, the technology of robotics with the design and analysis of robots in various forms in industries as well as in domestic applications were developed. Nowadays, along with the automotive sector the robots are producing a great impact in the form of quality and production rate to register their existence reliable in various other sectors also. Robotic technology has undergone various phase translations from being tortured as humanoids to the present day manipulators. Depending upon the various forms of its existence, robot manipulators are designed as serial manipulators and parallel manipulators. Individually both types can be proved effective though both have various drawbacks in design and the kinematic analysis. The versatility of robots can be increased by making them work in an environment where the same work volume is shared by more than one manipulator. This work volume can be identified as co-operative work volume of those manipulators. Here the interference of manipulators in the work volume of other manipulators is possible and is made obstacle free. The main advantage of co-operative manipulators is that when a number of independent manipulators are put together in a cooperative work envelope the efficiency and ability to perform tasks is greatly enhanced. The main disadvantage of the co-operative manipulators lies in the complication of its design even for a simple application, in almost all fields. In this paper, a cooperative design of robot manipulators to work in co-operative work environment is done and analysed for its efficacy. In the industrial applications when robotic manipulators are put together in more numbers, the trajectory planning becomes the tough task in the work cell. Proper design can remove the design defects of the cooperative manipulators and can be utilized in a more efficient way. In the proposed research paper an analysis is made on such a type of cooperative manipulator

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

International Nuclear Information System (INIS)

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

2014-01-01

After industrial robots came into existence during 1960, the technology of robotics with the design and analysis of robots in various forms in industries as well as in domestic applications were developed. Nowadays, along with the automotive sector the robots are producing a great impact in the form of quality and production rate to register their existence reliable in various other sectors also. Robotic technology has undergone various phase translations from being tortured as humanoids to the present day manipulators. Depending upon the various forms of its existence, robot manipulators are designed as serial manipulators and parallel manipulators. Individually both types can be proved effective though both have various drawbacks in design and the kinematic analysis. The versatility of robots can be increased by making them work in an environment where the same work volume is shared by more than one manipulator. This work volume can be identified as co-operative work volume of those manipulators. Here the interference of manipulators in the work volume of other manipulators is possible and is made obstacle free. The main advantage of co-operative manipulators is that when a number of independent manipulators are put together in a cooperative work envelope the efficiency and ability to perform tasks is greatly enhanced. The main disadvantage of the co-operative manipulators lies in the complication of its design even for a simple application, in almost all fields. In this paper, a cooperative design of robot manipulators to work in co-operative work environment is done and analysed for its efficacy. In the industrial applications when robotic manipulators are put together in more numbers, the trajectory planning becomes the tough task in the work cell. Proper design can remove the design defects of the cooperative manipulators and can be utilized in a more efficient way. In the proposed research paper an analysis is made on such a type of cooperative manipulator

Manipulators

International Nuclear Information System (INIS)

Wilcock, P.D.

1984-01-01

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

A Serializer ASIC for High Speed Data Transmission in Cryogenic and HiRel Environment

CERN Document Server

Liu, T; The ATLAS collaboration

2010-01-01

A low power 16:1 serializer (called LOCs1), operates from 4.0 to 5.8 Gb/s, has been developed using a commercial 0.25 μm silicon-on-sapphire CMOS technology. LOCs1 is the first step towards an optical link for the readout upgrade of the Liquid Argon Calorimeter (LAr) in ATLAS for the super LHC. This optical link needs to operate at 100 Gb/s for one front-end board (FEB) over a 12-way fiber ribbon, with 20% redundant channels to improve system reliability in the radiation environment of the LHC. There are 1524 FEBs so the total data bandwidth will be over 150 Tb/s. LOCs1 is also a candidate for another optical link system proposed to readout the experimental data in the large Liquid Argon Time Projection Chamber (LArTPC) for the Long Baseline Neutrino Experiment (LBNE). In this application the transmitting side of the link will operate inside a cryostat at 89 K. In this paper we present the test results of LOCs1, both in room temperature and at liquid nitrogen temperature of 77 K. A proton irradiation of LOCs...

From Satis House to Newgate: Manipulation and Repression in the Adaptation of Great Expectations by Julian Jarrold

Directory of Open Access Journals (Sweden)

Claudia Cao

2012-12-01

Full Text Available This article analyzes a serial of Great Expectations in two parts directed by Julian Jarrold for the BBC in 1999. Through the semiotic approach proposed by Nicola Dusi in his essay Il cinema come traduzione. Da un medium all’altro (2003, this paper wants to highlight the translation strategies employed in the target text in comparison with the hypotext. The aim of this article is to show how the dominant isotopies – Pip’s repression and manipulation – are figurativized in the representation of the main places of power in the adaptation: Satis House, Little Britain and Newgate.

Three more semantic serial position functions and a SIMPLE explanation.

Science.gov (United States)

Kelley, Matthew R; Neath, Ian; Surprenant, Aimée M

2013-05-01

There are innumerable demonstrations of serial position functions-with characteristic primacy and recency effects-in episodic tasks, but there are only a handful of such demonstrations in semantic memory tasks, and those demonstrations have used only two types of stimuli. Here, we provide three more examples of serial position functions when recalling from semantic memory. Participants were asked to reconstruct the order of (1) two cartoon theme song lyrics, (2) the seven Harry Potter books, and (3) two sets of movies, and all three demonstrations yielded conventional-looking serial position functions with primacy and recency effects. The data were well-fit by SIMPLE, a local distinctiveness model of memory that was originally designed to account for serial position effects in short- and long-term episodic memory. According to SIMPLE, serial position functions in both episodic and semantic memory tasks arise from the same type of processing: Items that are more separated from their close neighbors in psychological space at the time of recall will be better remembered. We argue that currently available evidence suggests that serial position functions observed when recalling items that are presumably in semantic memory arise because of the same processes as those observed when recalling items that are presumably in episodic memory.

Natural born killers?: the development of the sexually sadistic serial killer.

Science.gov (United States)

Johnson, B R; Becker, J V

1997-01-01

Today's society seems enthralled with serial killers in the news and the media. Forensic psychiatrists often interview serial killers after they have been caught. There are retrospective studies and case reports of individuals who have committed sexually sadistic serial murders. However, there exists a dearth of case reports on adolescents who have expressed serious fantasies about becoming serial killer prior to actualizing their fantasy. This article presents nine clinical cases of 14- to 18-year-olds who have clinically significant fantasies of becoming a serial killer. Similarities exist in these adolescent cases when compared with retrospective studies and case reports of serial killers on the role of sexually sadistic fantasies and actual killings. Since it has been established that sexual paraphilias may develop at a young age, one can surmise that sadistic paraphilias may also develop in some adolescents. The question is posed, can we predict which of these adolescents may go on to actually become serial killers? This article focuses on how the sexually sadistic fantasy can eventually be acted out and possible motives for the act to be repeated multiple times. Finally, recommendations are made about assessing and treating a youngster who expresses violent sexually sadistic killing fantasies so that attempts can be made to interrupt the progression to actual killing.

Using Serial and Discrete Digit Naming to Unravel Word Reading Processes.

Science.gov (United States)

Altani, Angeliki; Protopapas, Athanassios; Georgiou, George K

2018-01-01

During reading acquisition, word recognition is assumed to undergo a developmental shift from slow serial/sublexical processing of letter strings to fast parallel processing of whole word forms. This shift has been proposed to be detected by examining the size of the relationship between serial- and discrete-trial versions of word reading and rapid naming tasks. Specifically, a strong association between serial naming of symbols and single word reading suggests that words are processed serially, whereas a strong association between discrete naming of symbols and single word reading suggests that words are processed in parallel as wholes. In this study, 429 Grade 1, 3, and 5 English-speaking Canadian children were tested on serial and discrete digit naming and word reading. Across grades, single word reading was more strongly associated with discrete naming than with serial naming of digits, indicating that short high-frequency words are processed as whole units early in the development of reading ability in English. In contrast, serial naming was not a unique predictor of single word reading across grades, suggesting that within-word sequential processing was not required for the successful recognition for this set of words. Factor mixture analysis revealed that our participants could be clustered into two classes, namely beginning and more advanced readers. Serial naming uniquely predicted single word reading only among the first class of readers, indicating that novice readers rely on a serial strategy to decode words. Yet, a considerable proportion of Grade 1 students were assigned to the second class, evidently being able to process short high-frequency words as unitized symbols. We consider these findings together with those from previous studies to challenge the hypothesis of a binary distinction between serial/sublexical and parallel/lexical processing in word reading. We argue instead that sequential processing in word reading operates on a continuum

Ultrahigh Voltage Electron Microscopy Links Neuroanatomy and Neuroscience/Neuroendocrinology

Directory of Open Access Journals (Sweden)

Hirotaka Sakamoto

2012-01-01

Full Text Available The three-dimensional (3D analysis of anatomical ultrastructures is extremely important in most fields of biological research. Although it is very difficult to perform 3D image analysis on exact serial sets of ultrathin sections, 3D reconstruction from serial ultrathin sections can generally be used to obtain 3D information. However, this technique can only be applied to small areas of a specimen because of technical and physical difficulties. We used ultrahigh voltage electron microscopy (UHVEM to overcome these difficulties and to study the chemical neuroanatomy of 3D ultrastructures. This methodology, which links UHVEM and light microscopy, is a useful and powerful tool for studying molecular and/or chemical neuroanatomy at the ultrastructural level.

The Organized/Disorganized Typology of Serial Murder: Myth or Model?

OpenAIRE

Canter, David V.; Alison, Laurence J.; Alison, Emily; Wentink, Natalia

2004-01-01

Despite weaknesses in the organized/disorganized classification of serial killers, it is drawn on for "offender profiles," theories of offending, and in murder trials. This dichotomy was therefore tested by the multidimensional scaling of the co-occurrence of 39 aspects of serial killings derived 100 murders committed by 100 U.S. serial killers. Results revealed no distinct subsets of offense characteristics reflecting the dichotomy. They showed a subset of organized features typical of most ...

Age differences in search of web pages: the effects of link size, link number, and clutter.

Science.gov (United States)

Grahame, Michael; Laberge, Jason; Scialfa, Charles T

2004-01-01

Reaction time, eye movements, and errors were measured during visual search of Web pages to determine age-related differences in performance as a function of link size, link number, link location, and clutter. Participants (15 young adults, M = 23 years; 14 older adults, M = 57 years) searched Web pages for target links that varied from trial to trial. During one half of the trials, links were enlarged from 10-point to 12-point font. Target location was distributed among the left, center, and bottom portions of the screen. Clutter was manipulated according to the percentage of used space, including graphics and text, and the number of potentially distracting nontarget links was varied. Increased link size improved performance, whereas increased clutter and links hampered search, especially for older adults. Results also showed that links located in the left region of the page were found most easily. Actual or potential applications of this research include Web site design to increase usability, particularly for older adults.

Short- and long-term memory contributions to immediate serial recognition: evidence from serial position effects.

Science.gov (United States)

Purser, Harry; Jarrold, Christopher

2010-04-01

A long-standing body of research supports the existence of separable short- and long-term memory systems, relying on phonological and semantic codes, respectively. The aim of the current study was to measure the contribution of long-term knowledge to short-term memory performance by looking for evidence of phonologically and semantically coded storage within a short-term recognition task, among developmental samples. Each experimental trial presented 4-item lists. In Experiment 1 typically developing children aged 5 to 6 years old showed evidence of phonologically coded storage across all 4 serial positions, but evidence of semantically coded storage at Serial Positions 1 and 2. In a further experiment, a group of individuals with Down syndrome was investigated as a test case that might be expected to use semantic coding to support short-term storage, but these participants showed no evidence of semantically coded storage and evidenced phonologically coded storage only at Serial Position 4, suggesting that individuals with Down syndrome have a verbal short-term memory capacity of 1 item. Our results suggest that previous evidence of semantic effects on "short-term memory performance" does not reflect semantic coding in short-term memory itself, and provide an experimental method for researchers wishing to take a relatively pure measure of verbal short-term memory capacity, in cases where rehearsal is unlikely.

Input shaping methods for telerobotic operation of flexible, long-reach manipulators

International Nuclear Information System (INIS)

Kwon, Dong-Soo; Hwang, Dong-Hwan; Babcock, S.M.

1994-01-01

Among the Environmental Restoration and Waste Management Program of the U.S. Department of Energy, the remediation of radioactive waste from the underground storage tank challenges the state-of-the-art equipment and methods. Long-reach manipulators are being considered to be one of the most advantageous approaches for the retrieval of waste from large storage tanks. Because of long-reach manipulator's high payload capacity and high length-to-cross-section ratios, such manipulator system exhibits significant structural flexibility. To avoid structural vibrations during operation, control algorithms employing various types of shaping filters were investigated. A robust notch filtering method and an impulse shaping method were evaluated. In addition to that, a new approach that uses imbedded simulation was developed and compared with others. In the new approach, joint trajectories have been generated considering the flexible link dynamics

Large volume serial section tomography by Xe Plasma FIB dual beam microscopy

Energy Technology Data Exchange (ETDEWEB)

Burnett, T.L. [School of Materials, University of Manchester, Manchester M13 9PL (United Kingdom); FEI Company, Achtseweg Noord 5, Bldg, 5651 GG, Eindhoven (Netherlands); Kelley, R. [FEI Company, 5350 NE Dawson Creek Drive, Hillsboro, OR 97124 (United States); Winiarski, B. [School of Materials, University of Manchester, Manchester M13 9PL (United Kingdom); FEI Company, Achtseweg Noord 5, Bldg, 5651 GG, Eindhoven (Netherlands); Contreras, L. [FEI Company, 5350 NE Dawson Creek Drive, Hillsboro, OR 97124 (United States); Daly, M.; Gholinia, A.; Burke, M.G. [School of Materials, University of Manchester, Manchester M13 9PL (United Kingdom); Withers, P.J., E-mail: P.J.Withers@manchester.ac.uk [School of Materials, University of Manchester, Manchester M13 9PL (United Kingdom); BP International Centre for Advanced Materials, University of Manchester, Manchester M13 9PL (United Kingdom)

2016-02-15

comparable or less damage. • The PFIB-SEM can provide a critical link between non-destructive X-ray imaging and destructive serial sectioning within a correlative tomography framework.

Utilization of serial resources in libraries of selected tertiary ...

African Journals Online (AJOL)

Information Impact: Journal of Information and Knowledge Management ... security personnel for adequate monitoring of the serial materials, as well as the need for authors and stakeholders in education to donate more serial materials in order to enrich the collections in the library and enhance academic performance.

Modeling of Flexible Beams for Robotic Manipulators

International Nuclear Information System (INIS)

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

2002-01-01

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

Estimating thumb–index finger precision grip and manipulation potential in extant and fossil primates

Science.gov (United States)

Feix, Thomas; Kivell, Tracy L.; Pouydebat, Emmanuelle; Dollar, Aaron M.

2015-01-01

Primates, and particularly humans, are characterized by superior manual dexterity compared with other mammals. However, drawing the biomechanical link between hand morphology/behaviour and functional capabilities in non-human primates and fossil taxa has been challenging. We present a kinematic model of thumb–index precision grip and manipulative movement based on bony hand morphology in a broad sample of extant primates and fossil hominins. The model reveals that both joint mobility and digit proportions (scaled to hand size) are critical for determining precision grip and manipulation potential, but that having either a long thumb or great joint mobility alone does not necessarily yield high precision manipulation. The results suggest even the oldest available fossil hominins may have shared comparable precision grip manipulation with modern humans. In particular, the predicted human-like precision manipulation of Australopithecus afarensis, approximately one million years before the first stone tools, supports controversial archaeological evidence of tool-use in this taxon. PMID:25878134

Work space optimization of a r-r planar manipulator using particle ...

African Journals Online (AJOL)

A two link revolute planar robotic manipulator is optimized for maximization of work space covered by its end effector. A mathematical model for optimization is built considering singularities which control the range of design variables. Condition number which is the measure of change in output value (End effector position) ...

IT-based Value Creation in Serial Acquisitions

DEFF Research Database (Denmark)

Henningsson, Stefan; Yetton, Philip

2013-01-01

serial acquirers realize IT-based value, we integrate and model the findings on individual acquisitions from the extant literature, and extend that model to explain the effects of sequential acquisitions in a growth-by-acquisition strategy. This extended model, drawing on the Resource-Based Theory......The extant research on post-acquisition IT integration analyzes how acquirers realize IT-based value in individual acquisitions. However, serial acquirers make 60% of acquisitions. These acquisitions are not isolated events, but are components in growth-by-acquisition programs. To explain how...

LinkShop v.1.0.0

Energy Technology Data Exchange (ETDEWEB)

2017-05-15

LinkShop is a software tool for applying the method of Linkography to the analysis time-sequence data. LinkShop provides command line, web, and application programming interfaces (API) for input and processing of time-sequence data, abstraction models, and ontologies. The software creates graph representations of the abstraction model, ontology, and derived linkograph. Finally, the tool allows the user to perform statistical measurements of the linkograph and refine the ontology through direct manipulation of the linkograph.

Efficient dynamic modeling of manipulators containing closed kinematic loops

Science.gov (United States)

Ferretti, Gianni; Rocco, Paolo

An approach to efficiently solve the forward dynamics problem for manipulators containing closed chains is proposed. The two main distinctive features of this approach are: the dynamics of the equivalent open loop tree structures (any closed loop can be in general modeled by imposing some additional kinematic constraints to a suitable tree structure) is computed through an efficient Newton Euler formulation; the constraint equations relative to the most commonly adopted closed chains in industrial manipulators are explicitly solved, thus, overcoming the redundancy of Lagrange's multipliers method while avoiding the inefficiency due to a numerical solution of the implicit constraint equations. The constraint equations considered for an explicit solution are those imposed by articulated gear mechanisms and planar closed chains (pantograph type structures). Articulated gear mechanisms are actually used in all industrial robots to transmit motion from actuators to links, while planar closed chains are usefully employed to increase the stiffness of the manipulators and their load capacity, as well to reduce the kinematic coupling of joint axes. The accuracy and the efficiency of the proposed approach are shown through a simulation test.

Opportunity recognition: delineating the process and motivators for serial entrepreneurs

Directory of Open Access Journals (Sweden)

Boris Urban

2011-04-01

Full Text Available Opportunity recognition is a fundamental research issue in entrepreneurship which this paper empirically investigates for serial entrepreneurs. Initially key definitions and boundary conditions of opportunity recognition are explored to elucidate the relevant motivators driving serial entrepreneurs. After operationalising the various concepts, data is collected by surveying serial entrepreneurs (n= 77 based on pre-determined selection criteria. Since the study’s objective is to build solid theory on these new phenomena, descriptive analysis on the empirical results is provided. To test the hypotheses inferential statistics employing parametric and non-parametric tests are used. The findings reveal that the opportunity recognition behaviours are manifest among serial entrepreneurs, with few significant differences on how many new, major businesses have been pursued, or whether they can be said to be successes.

The RHIC real time data link system

International Nuclear Information System (INIS)

Hartmann, H.

1997-01-01

The RHIC Real Time Data Link (RTDL) System distributes to all locations around the RHIC ring machine parameters of general interest to accelerator systems and users. The system, along with supporting host interface, is centrally located. The RTDL System is comprised of two module types: the Encoder Module (V105) and the Input Module (V106). There is only one V105 module, but many (up to 128) Input Modules. Multiple buffered outputs are provided for use locally or for retransmission to other RHIC equipment locations. Machine parameters are generated from the V115 Waveform Generator Module (WFG) or from machine hardware and coupled directly through a fiber optic serial link to one of the V106 input channels

Female serial murderers: directions for future research on a hidden population.

Science.gov (United States)

Gurian, Elizabeth A

2011-02-01

This comprehensive overview on a sample of 65 cases (134 total offenders, including some partnered teams of more than 2 offenders) provides information on female serial murderers who either work in a mixed-sex offending group or alone. These female serial homicide offenders have a distinct set of offender-victim characteristics, including specific victim preferences, methods, and motivations: Partnered serial homicide offenders are more likely to target adult strangers and dispatch them using a combination of methods, whereas solo female serial murderers are most likely to target adult family members and murder them with poison. These patterns have the potential to add to our understanding of the possible similarities and differences of serial homicide cases by building on established offender characteristics. Convictions and sentences for the offenders are included and areas of future research and implications for treatment with this sample are also explored.

IEEE 1394/firewire a low cost, high speed, digital serial bus

Energy Technology Data Exchange (ETDEWEB)

Gaunt, R.

1997-05-01

Does the world need yet another 1/0 bus standard? If you need fast and cheap serial video communication, then the answer is yes. As technology advances, so too must data transport mechanisms advance. You can`t expect RS-232 to support real-time digital video, and if you can`t afford expensive professional serial video interfaces, (such as Sony`s Serial Digital Interface), Firewire may be a good solution. IEEE 1394, or commonly known as Firewire, is a general purpose serial bus that meets many of the 1/0 needs of today`s video and multimedia developers. For those of you who only read the first paragraph, here`s Firewire in a nutshell: It provides a guaranteed transfer rate of 10OMbps or 20OMbps of digital data (such as video direct from camera to computer), over an inexpensive, non-proprietary serial bus. Here is a list of its features.

Indexing Serialized Fiction: May the Force Be with You.

Science.gov (United States)

Barr, Melissa M.

The adult novel offers indexers an unusual opportunity to create a serialized fiction index. This research paper involved designing and creating a Character Index, Thesaurus, Glossary, and Abstract (with descriptors) for 21 novels based on the "Star Wars" movies. The novels are an unusual example of serialized fiction featuring main…

Stress in Harmonic Serialism

Science.gov (United States)

Pruitt, Kathryn Ringler

2012-01-01

This dissertation proposes a model of word stress in a derivational version of Optimality Theory (OT) called Harmonic Serialism (HS; Prince and Smolensky 1993/2004, McCarthy 2000, 2006, 2010a). In this model, the metrical structure of a word is derived through a series of optimizations in which the "best" metrical foot is chosen…

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...

Depression and pain: testing of serial multiple mediators.

Science.gov (United States)

Wongpakaran, Tinakon; Wongpakaran, Nahathai; Tanchakvaranont, Sitthinant; Bookkamana, Putipong; Pinyopornpanish, Manee; Wannarit, Kamonporn; Satthapisit, Sirina; Nakawiro, Daochompu; Hiranyatheb, Thanita; Thongpibul, Kulvadee

2016-01-01

Despite the fact that pain is related to depression, few studies have been conducted to investigate the variables that mediate between the two conditions. In this study, the authors explored the following mediators: cognitive function, self-sacrificing interpersonal problems, and perception of stress, and the effects they had on pain symptoms among patients with depressive disorders. An analysis was performed on the data of 346 participants with unipolar depressive disorders. The 17-item Hamilton Depression Rating Scale, Mini-Mental State Examination, the pain subscale of the health-related quality of life (SF-36), the self-sacrificing subscale of the Inventory of Interpersonal Problems, and the Perceived Stress Scale were used. Parallel multiple mediator and serial multiple mediator models were used. An alternative model regarding the effect of self-sacrificing on pain was also proposed. Perceived stress, self-sacrificing interpersonal style, and cognitive function were found to significantly mediate the relationship between depression and pain, while controlling for demographic variables. The total effect of depression on pain was significant. This model, with an additional three mediators, accounted for 15% of the explained variance in pain compared to 9% without mediators. For the alternative model, after controlling for the mediators, a nonsignificant total direct effect level of self-sacrificing was found, suggesting that the effect of self-sacrificing on pain was based only on an indirect effect and that perceived stress was found to be the strongest mediator. Serial mediation may help us to see how depression and pain are linked and what the fundamental mediators are in the chain. No significant, indirect effect of self-sacrificing on pain was observed, if perceived stress was not part of the depression and/or cognitive function mediational chain. The results shown here have implications for future research, both in terms of testing the model and in

The relationship between serial sexual murder and autoerotic asphyxiation.

Science.gov (United States)

Myers, Wade C; Bukhanovskiy, Alexandr; Justen, Elle; Morton, Robert J; Tilley, John; Adams, Kenneth; Vandagriff, Virgil L; Hazelwood, Robert R

2008-04-07

This case series documents and examines the association between autoerotic asphyxiation, sadomasochism, and serial sexual murderers. Autoerotic asphyxiation, along with other paraphilias found in this population, is reviewed. Five cases of serial sexual killers who engaged in autoerotic asphyxiation were identified worldwide: four from the United States and one from Russia. Case reports for each are provided. All (100%) were found to have sexual sadism in addition to autoerotic asphyxiation. Furthermore, two (40%) had bondage fetishism, and two (40%) had transvestic fetishism, consistent with these paraphilias co-occurring in those with autoerotic asphyxiation. Overall the group averaged 4.0 lifetime paraphilias. Some possible relationships were observed between the offenders' paraphilic orientation and their modus operandi, e.g., all of these serial killers strangled victims-suggesting an association between their sadistic and asphyxiative paraphilic interests. The overlap of seemingly polar opposite paraphilias in this sample--sexual sadism and autoerotic asphyxiation--is explored from a historical and clinical perspective. Multiple commonalities shared between these five offenders and serial sexual murderers in general are addressed. A primary limitation of this study is its small sample size and empirical basis; the results may not be generalizable beyond the sample. The findings from this study support the supposition that crime scene behaviors often reflect paraphilic disturbances in those who commit serial sexual homicides.

Testing Cross-Sectional Correlation in Large Panel Data Models with Serial Correlation

Directory of Open Access Journals (Sweden)

Badi H. Baltagi

2016-11-01

Full Text Available This paper considers the problem of testing cross-sectional correlation in large panel data models with serially-correlated errors. It finds that existing tests for cross-sectional correlation encounter size distortions with serial correlation in the errors. To control the size, this paper proposes a modification of Pesaran’s Cross-sectional Dependence (CD test to account for serial correlation of an unknown form in the error term. We derive the limiting distribution of this test as N , T → ∞ . The test is distribution free and allows for unknown forms of serial correlation in the errors. Monte Carlo simulations show that the test has good size and power for large panels when serial correlation in the errors is present.

Serial-order short-term memory predicts vocabulary development: evidence from a longitudinal study.

Science.gov (United States)

Leclercq, Anne-Lise; Majerus, Steve

2010-03-01

Serial-order short-term memory (STM), as opposed to item STM, has been shown to be very consistently associated with lexical learning abilities in cross-sectional study designs. This study investigated longitudinal predictions between serial-order STM and vocabulary development. Tasks maximizing the temporary retention of either serial-order or item information were administered to kindergarten children aged 4 and 5. At age 4, age 5, and from age 4 to age 5, serial-order STM capacities, but not item STM capacities, were specifically associated with vocabulary development. Moreover, the increase of serial-order STM capacity from age 4 to age 5 predicted the increase of vocabulary knowledge over the same time period. These results support a theoretical position that assumes an important role for serial-order STM capacities in vocabulary acquisition.

Towards the development of a soft manipulator as an assistive robot for personal care of elderly people

Directory of Open Access Journals (Sweden)

Yasmin Ansari

2017-03-01

Full Text Available Manipulators based on soft robotic technologies exhibit compliance and dexterity which ensures safe human–robot interaction. This article is a novel attempt at exploiting these desirable properties to develop a manipulator for an assistive application, in particular, a shower arm to assist the elderly in the bathing task. The overall vision for the soft manipulator is to concatenate three modules in a serial manner such that (i the proximal segment is made up of cable-based actuation to compensate for gravitational effects and (ii the central and distal segments are made up of hybrid actuation to autonomously reach delicate body parts to perform the main tasks related to bathing. The role of the latter modules is crucial to the application of the system in the bathing task; however, it is a nontrivial challenge to develop a robust and controllable hybrid actuated system with advanced manipulation capabilities and hence, the focus of this article. We first introduce our design and experimentally characterize its functionalities, which include elongation, shortening, omnidirectional bending. Next, we propose a control concept capable of solving the inverse kinetics problem using multiagent reinforcement learning to exploit these functionalities despite high dimensionality and redundancy. We demonstrate the effectiveness of the design and control of this module by demonstrating an open-loop task space control where it successfully moves through an asymmetric 3-D trajectory sampled at 12 points with an average reaching accuracy of 0.79 cm ± 0.18 cm. Our quantitative experimental results present a promising step toward the development of the soft manipulator eventually contributing to the advancement of soft robotics.

Dexterous Manipulation: Making Remote Manipulators Easy to Use

International Nuclear Information System (INIS)

HARRIGAN, RAYMOND W.; BENNETT, PHIL C.

2001-01-01

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

Structural vibration control of micro/macro-manipulator using feedforward and feedback approaches

International Nuclear Information System (INIS)

Lew, J.Y.; Cannon, D.W.; Magee, D.P.; Book, W.J.

1995-09-01

Pacific Northwest Laboratory (PDL) researchers investigated the combined use of two control approaches to minimize micro/macro-manipulator structural vibration: (1) modified input shaping and (2) inertial force active damping control. Modified input shaping (MIS) is used as a feedforward controller to modify reference input by canceling the vibratory motion. Inertial force active damping (IFAD) is applied as a feedback controller to increase the system damping and robustness to unexpected disturbances. Researchers implemented both control schemes in the PNL micro/macro flexible-link manipulator testbed collaborating with Georgia Institute of Technology. The experiments successfully demonstrated the effectiveness of two control approaches in reducing structural vibration. Based on the results of the experiments, the combined use of two controllers is recommended for a micro/macro manipulator to achieve the fastest response to commands while canceling disturbances from unexpected forces

Dust diseases and the legacy of corporate manipulation of science and law.

Science.gov (United States)

Egilman, David; Bird, Tess; Lee, Caroline

2014-01-01

The dust diseases silicosis and asbestosis were the first occupational diseases to have widespread impact on workers. Knowledge that asbestos and silica were hazardous to health became public several decades after the industry knew of the health concerns. This delay was largely influenced by the interests of Metropolitan Life Insurance Company (MetLife) and other asbestos mining and product manufacturing companies. To understand the ongoing corporate influence on the science and politics of asbestos and silica exposure, including litigation defense strategies related to historical manipulation of science. We examined previously secret corporate documents, depositions and trial testimony produced in litigation; as well as published literature. Our analysis indicates that companies that used and produced asbestos have continued and intensified their efforts to alter the asbestos-cancer literature and utilize dust-exposure standards to avoid liability and regulation. Organizations of asbestos product manufacturers delayed the reduction of permissible asbestos exposures by covering up the link between asbestos and cancer. Once the decline of the asbestos industry in the US became inevitable, the companies and their lawyers designed the state of the art (SOA) defense to protect themselves in litigation and to maintain sales to developing countries. Asbestos product companies would like the public to believe that there was a legitimate debate surrounding the dangers of asbestos during the twentieth century, particularly regarding the link to cancer, which delayed adequate regulation. The asbestos-cancer link was not a legitimate contestation of science; rather the companies directly manipulated the scientific literature. There is evidence that industry manipulation of scientific literature remains a continuing problem today, resulting in inadequate regulation and compensation and perpetuating otherwise preventable worker and consumer injuries and deaths.

Direct adaptive control of manipulators in Cartesian space

Science.gov (United States)

Seraji, H.

1987-01-01

A new adaptive-control scheme for direct control of manipulator end effector to achieve trajectory tracking in Cartesian space is developed in this article. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of adaptive feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for on-line implementation with high sampling rates. The control scheme is applied to a two-link manipulator for illustration.

Antisocial personality disorder, sexual sadism, malignant narcissism, and serial murder.

Science.gov (United States)

Geberth, V J; Turco, R N

1997-01-01

This paper examines the research on serial murder and its relationship to antisocial personality disorder and sexual sadism. The concept of malignant narcissism is also discussed. Case studies of serial killers are examined regarding the nature of sexual violation and crime scene behavior.

Hemispatial neglect and serial order in verbal working memory.

Science.gov (United States)

Antoine, Sophie; Ranzini, Mariagrazia; van Dijck, Jean-Philippe; Slama, Hichem; Bonato, Mario; Tousch, Ann; Dewulf, Myrtille; Bier, Jean-Christophe; Gevers, Wim

2018-01-09

Working memory refers to our ability to actively maintain and process a limited amount of information during a brief period of time. Often, not only the information itself but also its serial order is crucial for good task performance. It was recently proposed that serial order is grounded in spatial cognition. Here, we compared performance of a group of right hemisphere-damaged patients with hemispatial neglect to healthy controls in verbal working memory tasks. Participants memorized sequences of consonants at span level and had to judge whether a target consonant belonged to the memorized sequence (item task) or whether a pair of consonants were presented in the same order as in the memorized sequence (order task). In line with this idea that serial order is grounded in spatial cognition, we found that neglect patients made significantly more errors in the order task than in the item task compared to healthy controls. Furthermore, this deficit seemed functionally related to neglect severity and was more frequently observed following right posterior brain damage. Interestingly, this specific impairment for serial order in verbal working memory was not lateralized. We advance the hypotheses of a potential contribution to the deficit of serial order in neglect patients of either or both (1) reduced spatial working memory capacity that enables to keep track of the spatial codes that provide memorized items with a positional context, (2) a spatial compression of these codes in the intact representational space. © 2018 The British Psychological Society.

Attractive Serial Dependence in the Absence of an Explicit Task.

Science.gov (United States)

Fornaciai, Michele; Park, Joonkoo

2018-03-01

Attractive serial dependence refers to an adaptive change in the representation of sensory information, whereby a current stimulus appears to be similar to a previous one. The nature of this phenomenon is controversial, however, as serial dependence could arise from biased perceptual representations or from biased traces of working memory representation at a decisional stage. Here, we demonstrated a neural signature of serial dependence in numerosity perception emerging early in the visual processing stream even in the absence of an explicit task. Furthermore, a psychophysical experiment revealed that numerosity perception is biased by a previously presented stimulus in an attractive way, not by repulsive adaptation. These results suggest that serial dependence is a perceptual phenomenon starting from early levels of visual processing and occurring independently from a decision process, which is consistent with the view that these biases smooth out noise from neural signals to establish perceptual continuity.

Using Behavior Sequence Analysis to Map Serial Killers' Life Histories.

Science.gov (United States)

Keatley, David A; Golightly, Hayley; Shephard, Rebecca; Yaksic, Enzo; Reid, Sasha

2018-03-01

The aim of the current research was to provide a novel method for mapping the developmental sequences of serial killers' life histories. An in-depth biographical account of serial killers' lives, from birth through to conviction, was gained and analyzed using Behavior Sequence Analysis. The analyses highlight similarities in behavioral events across the serial killers' lives, indicating not only which risk factors occur, but the temporal order of these factors. Results focused on early childhood environment, indicating the role of parental abuse; behaviors and events surrounding criminal histories of serial killers, showing that many had previous convictions and were known to police for other crimes; behaviors surrounding their murders, highlighting differences in victim choice and modus operandi; and, finally, trial pleas and convictions. The present research, therefore, provides a novel approach to synthesizing large volumes of data on criminals and presenting results in accessible, understandable outcomes.

Input preshaping with frequency domain information for flexible-link manipulator control

Science.gov (United States)

Tzes, Anthony; Englehart, Matthew J.; Yurkovich, Stephen

1989-01-01

The application of an input preshaping scheme to flexible manipulators is considered. The resulting control corresponds to a feedforward term that convolves in real-time the desired reference input with a sequence of impulses and produces a vibration free output. The robustness of the algorithm with respect to injected disturbances and modal frequency variations is not satisfactory and can be improved by convolving the input with a longer sequence of impulses. The incorporation of the preshaping scheme to a closed-loop plant, using acceleration feedback, offers satisfactory disturbance rejection due to feedback and cancellation of the flexible mode effects due to the preshaping. A frequency domain identification scheme is used to estimate the modal frequencies on-line and subsequently update the spacing between the impulses. The combined adaptive input preshaping scheme provides the fastest possible slew that results in a vibration free output.

Serial murder by healthcare professionals.

Science.gov (United States)

Yorker, Beatrice Crofts; Kizer, Kenneth W; Lampe, Paula; Forrest, A R W; Lannan, Jacquetta M; Russell, Donna A

2008-01-01

The prosecution of Charles Cullen, a nurse who killed at least 40 patients over a 16-year period, highlights the need to better understand the phenomenon of serial murder by healthcare professionals. The authors conducted a LexisNexis search which yielded 90 criminal prosecutions of healthcare providers that met inclusion criteria for serial murder of patients. In addition we reviewed epidemiologic studies, toxicology evidence, and court transcripts, to provide data on healthcare professionals who have been prosecuted between 1970 and 2006. Fifty-four of the 90 have been convicted; 45 for serial murder, four for attempted murder, and five pled guilty to lesser charges. Twenty-four more have been indicted and are either awaiting trial or the outcome has not been published. The other 12 prosecutions had a variety of legal outcomes. Injection was the main method used by healthcare killers followed by suffocation, poisoning, and tampering with equipment. Prosecutions were reported from 20 countries with 40% taking place in the United States. Nursing personnel comprised 86% of the healthcare providers prosecuted; physicians 12%, and 2% were allied health professionals. The number of patient deaths that resulted in a murder conviction is 317 and the number of suspicious patient deaths attributed to the 54 convicted caregivers is 2113. These numbers are disturbing and demand that systemic changes in tracking adverse patient incidents associated with presence of a specific healthcare provider be implemented. Hiring practices must shift away from preventing wrongful discharge or denial of employment lawsuits to protecting patients from employees who kill.

Selection and Serial Entrepreneurs

DEFF Research Database (Denmark)

Chen, Jing

2013-01-01

There is substantial evidence that serial entrepreneurs outperform de novo entrepreneurs. But is this positive association between prior experience and performance the result of learning by doing or of selection on ability? This paper proposes a strategy that combines the fixed-effects model and IV...... when the analysis focuses on founding new startups in sectors closely related to entrepreneurs' previous ventures....

Serial position effects in mild cognitive impairment.

Science.gov (United States)

Howieson, Diane B; Mattek, Nora; Seeyle, Adriana M; Dodge, Hiroko H; Wasserman, Dara; Zitzelberger, Tracy; Jeffrey, Kaye

2011-03-01

Mild cognitive impairment (MCI) is often associated with the preclinical phase of Alzheimer's disease (AD). Special scoring of word-list recall data for serial position has been suggested to improve discrimination of normal aging from dementia. We examined serial position effects in word-list recall for MCI participants compared to Alzheimer patients and controls. Individuals with MCI, like Alzheimer patients, had a diminished primacy effect in recalling words from a list. No alternative scoring system was better than standard scoring of word-list recall in distinguishing MCI patients from controls. Retention weighted scoring improved the discrimination of MCI and AD groups.

Faculty Decisions on Serials Subscriptions Differ Significantly from Decisions Predicted by a Bibliometric Tool.

Directory of Open Access Journals (Sweden)

Sue F. Phelps

2016-03-01

Full Text Available Objective – To compare faculty choices of serials subscription cancellations to the scores of a bibliometric tool. Design – Natural experiment. Data was collected about faculty valuations of serials. The California Digital Library Weighted Value Algorithm (CDL-WVA was used to measure the value of journals to a particular library. These two sets of scores were then compared. Setting – A public research university in the United States of America. Subjects – Teaching and research faculty, as well as serials data. Methods – Experimental methodology was used to compare faculty valuations of serials (based on their journal cancellation choices to bibliometric valuations of the same journal titles (determined by CDL-WVA scores to identify the match rate between the faculty choices and the bibliographic data. Faculty were asked to select titles to cancel that totaled approximately 30% of the budget for their disciplinary fund code. This “keep” or “cancel” choice was the binary variable for the study. Usage data was gathered for articles downloaded through the link resolver for titles in each disciplinary dataset, and the CDL-WVA scores were determined for each journal title based on utility, quality, and cost effectiveness. Titles within each dataset were ranked highest to lowest using the CDL-WVA scores within each fund code, and then by subscription cost for titles with the same CDL-WVA score. The journal titles selected for comparison were those that ranked above the approximate 30% of titles chosen for cancellation by faculty and CDL-WVA scores. Researchers estimated an odds ratio of faculty choosing to keep a title and a CDL-WVA score that indicated the title should be kept. The p-value for that result was less than 0.0001, indicating that there was a negligible probability that the results were by chance. They also applied logistic regression to quantify the association between the numeric score of CDL-WVA and the binary variable

A combination strategy for tracking the serial criminal

Science.gov (United States)

He, Chuan; Zhang, Yuan-Biao; Wan, Jiadi; Yu, Wenjing

2010-08-01

We build a Geographic Profiling Model to generate the criminal's geographical profile, by combining two complementary strategies: the Spatial Distribution Strategy and the Probability Distance Strategy. In the first strategy, we designate the mean of all the known crime sites as the anchor point, and build a Standard Deviational Ellipse Model, considering the effect of landscape. In the second strategy, we take many factors such as the buffer zone and distance decay theory into consideration and calculate the probability of the offender's residence in a certain area by using the Bayesian Theorem and the Rossmo Algorithm. Then, we combine the result of two strategies and get three search areas suit different conditions of the police to track the serial criminal. Apply the model to the English serial killer Peter Sutcliffe's case, the calculation result shows that the model can effectively be used to track serial criminal.

Serial CSTR digester configuration for improving biogas production from manure

DEFF Research Database (Denmark)

Boe, Kanokwan; Angelidaki, Irini

2009-01-01

distribution ratio of 80/20 and 90/10, and total HRT of 15 days. The results showed that the serial CSTR could obtain 11% higher biogas yield compared to the single CSTR. The increased biogas yield in the serial CSTR was mainly from the second reactor, which accounted for 16% and 12% of total biogas yield......A new configuration of manure digesters for improving biogas production has been investigated in laboratory scale. A single thermophilic continuous-flow stirred tank reactor (CSTR) operated with a hydraulic retention time (HRT) of 15 days was compared to a serial CSTR configuration with volume...

A manipulator

International Nuclear Information System (INIS)

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

1984-01-01

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

PROVIDING GEOGRAPHIC DATASETS AS LINKED DATA IN SDI

Directory of Open Access Journals (Sweden)

E. Hietanen

2016-06-01

Full Text Available In this study, a prototype service to provide data from Web Feature Service (WFS as linked data is implemented. At first, persistent and unique Uniform Resource Identifiers (URI are created to all spatial objects in the dataset. The objects are available from those URIs in Resource Description Framework (RDF data format. Next, a Web Ontology Language (OWL ontology is created to describe the dataset information content using the Open Geospatial Consortium’s (OGC GeoSPARQL vocabulary. The existing data model is modified in order to take into account the linked data principles. The implemented service produces an HTTP response dynamically. The data for the response is first fetched from existing WFS. Then the Geographic Markup Language (GML format output of the WFS is transformed on-the-fly to the RDF format. Content Negotiation is used to serve the data in different RDF serialization formats. This solution facilitates the use of a dataset in different applications without replicating the whole dataset. In addition, individual spatial objects in the dataset can be referred with URIs. Furthermore, the needed information content of the objects can be easily extracted from the RDF serializations available from those URIs. A solution for linking data objects to the dataset URI is also introduced by using the Vocabulary of Interlinked Datasets (VoID. The dataset is divided to the subsets and each subset is given its persistent and unique URI. This enables the whole dataset to be explored with a web browser and all individual objects to be indexed by search engines.

Estimating thumb-index finger precision grip and manipulation potential in extant and fossil primates.

Science.gov (United States)

Feix, Thomas; Kivell, Tracy L; Pouydebat, Emmanuelle; Dollar, Aaron M

2015-05-06

Primates, and particularly humans, are characterized by superior manual dexterity compared with other mammals. However, drawing the biomechanical link between hand morphology/behaviour and functional capabilities in non-human primates and fossil taxa has been challenging. We present a kinematic model of thumb-index precision grip and manipulative movement based on bony hand morphology in a broad sample of extant primates and fossil hominins. The model reveals that both joint mobility and digit proportions (scaled to hand size) are critical for determining precision grip and manipulation potential, but that having either a long thumb or great joint mobility alone does not necessarily yield high precision manipulation. The results suggest even the oldest available fossil hominins may have shared comparable precision grip manipulation with modern humans. In particular, the predicted human-like precision manipulation of Australopithecus afarensis, approximately one million years before the first stone tools, supports controversial archaeological evidence of tool-use in this taxon. © 2015 The Author(s) Published by the Royal Society. All rights reserved.

Optimal trajectories for flexible-link manipulator slewing using recursive quadratic programming: Experimental verification

International Nuclear Information System (INIS)

Parker, G.G.; Eisler, G.R.; Feddema, J.T.

1994-01-01

Procedures for trajectory planning and control of flexible link robots are becoming increasingly important to satisfy performance requirements of hazardous waste removal efforts. It has been shown that utilizing link flexibility in designing open loop joint commands can result in improved performance as opposed to damping vibration throughout a trajectory. The efficient use of link compliance is exploited in this work. Specifically, experimental verification of minimum time, straight line tracking using a two-link planar flexible robot is presented. A numerical optimization process, using an experimentally verified modal model, is used for obtaining minimum time joint torque and angle histories. The optimal joint states are used as commands to the proportional-derivative servo actuated joints. These commands are precompensated for the nonnegligible joint servo actuator dynamics. Using the precompensated joint commands, the optimal joint angles are tracked with such fidelity that the tip tracking error is less than 2.5 cm

Whole-pattern fitting technique in serial femtosecond nanocrystallography

Directory of Open Access Journals (Sweden)

Ruben A. Dilanian

2016-03-01

Full Text Available Serial femtosecond X-ray crystallography (SFX has created new opportunities in the field of structural analysis of protein nanocrystals. The intensity and timescale characteristics of the X-ray free-electron laser sources used in SFX experiments necessitate the analysis of a large collection of individual crystals of variable shape and quality to ultimately solve a single, average crystal structure. Ensembles of crystals are commonly encountered in powder diffraction, but serial crystallography is different because each crystal is measured individually and can be oriented via indexing and merged into a three-dimensional data set, as is done for conventional crystallography data. In this way, serial femtosecond crystallography data lie in between conventional crystallography data and powder diffraction data, sharing features of both. The extremely small sizes of nanocrystals, as well as the possible imperfections of their crystallite structure, significantly affect the diffraction pattern and raise the question of how best to extract accurate structure-factor moduli from serial crystallography data. Here it is demonstrated that whole-pattern fitting techniques established for one-dimensional powder diffraction analysis can be feasibly extended to higher dimensions for the analysis of merged SFX diffraction data. It is shown that for very small crystals, whole-pattern fitting methods are more accurate than Monte Carlo integration methods that are currently used.

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

International Nuclear Information System (INIS)

Whyley, S.R.

1985-01-01

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

FELIX - the new detector readout system for the ATLAS experiment

CERN Document Server

AUTHOR|(SzGeCERN)754725; The ATLAS collaboration; Anderson, John Thomas; Borga, Andrea; Boterenbrood, Hendrik; Chen, Hucheng; Chen, Kai; Drake, Gary; Donszelmann, Mark; Francis, David; Gorini, Benedetto; Guest, Daniel; Lanni, Francesco; Lehmann Miotto, Giovanna; Levinson, Lorne; Roich, Alexander; Schreuder, Frans Philip; Schumacher, J\\"orn; Vandelli, Wainer; Vermeulen, Jos; Wu, Weihao; Zhang, Jinlong

2016-01-01

From the ATLAS Phase-I upgrade and onward, new or upgraded detectors and trigger systems will be interfaced to the data acquisition, detector control and timing (TTC) systems by the Front-End Link eXchange (FELIX). FELIX is the core of the new ATLAS Trigger/DAQ architecture. Functioning as a router between custom serial links and a commodity network, FELIX is implemented by server PCs with commodity network interfaces and PCIe cards with large FPGAs and many high speed serial fiber transceivers. By separating data transport from data manipulation, the latter can be done by software in commodity servers attached to the network. Replacing traditional point-to-point links between Front-end components and the DAQ system by a switched network, FELIX provides scaling, flexibility uniformity and upgradability. Different Front-end data types or different data sources can be routed to different network endpoints that handle that data type or source: e.g. event data, configuration, calibration, detector control, monito...

Bit-error-rate testing of fiber optic data links for MMIC-based phased array antennas

Science.gov (United States)

Shalkhauser, K. A.; Kunath, R. R.; Daryoush, A. S.

1990-01-01

The measured bit-error-rate (BER) performance of a fiber optic data link to be used in satellite communications systems is presented and discussed. In the testing, the link was measured for its ability to carry high burst rate, serial-minimum shift keyed (SMSK) digital data similar to those used in actual space communications systems. The fiber optic data link, as part of a dual-segment injection-locked RF fiber optic link system, offers a means to distribute these signals to the many radiating elements of a phased array antenna. Test procedures, experimental arrangements, and test results are presented.

Bit error rate testing of fiber optic data links for MMIC-based phased array antennas

Science.gov (United States)

Shalkhauser, K. A.; Kunath, R. R.; Daryoush, A. S.

1990-01-01

The measured bit-error-rate (BER) performance of a fiber optic data link to be used in satellite communications systems is presented and discussed. In the testing, the link was measured for its ability to carry high burst rate, serial-minimum shift keyed (SMSK) digital data similar to those used in actual space communications systems. The fiber optic data link, as part of a dual-segment injection-locked RF fiber optic link system, offers a means to distribute these signals to the many radiating elements of a phased array antenna. Test procedures, experimental arrangements, and test results are presented.

Characteristics of manipulator for industrial robot with three rotational pairs having parallel axes

Science.gov (United States)

Poteyev, M. I.

1986-01-01

The dynamics of a manipulator with three rotatinal kinematic pairs having parallel axes are analyzed, for application in an industrial robot. The system of Lagrange equations of the second kind, describing the motion of such a mechanism in terms of kinetic energy in generalized coordinates, is reduced to equations of motion in terms of Newton's laws. These are useful not only for either determining the moments of force couples which will produce a prescribed motion or, conversely determining the motion which given force couples will produce but also for solving optimization problems under constraints in both cases and for estimating dynamic errors. As a specific example, a manipulator with all three axes of vertical rotation is considered. The performance of this manipulator, namely the parameters of its motion as functions of time, is compared with that of a manipulator having one rotational and two translational kinematic pairs. Computer aided simulation of their motion on the basis of ideal models, with all three links represented by identical homogeneous bars, has yielded velocity time diagrams which indicate that the manipulator with three rotational pairs is 4.5 times faster.

Prophetic Visions, Quality Serials: Twin Peaks’ new mode of storytelling

Directory of Open Access Journals (Sweden)

Mikhail L. Skoptsov

2015-05-01

Full Text Available Following the April 1990 debut of Twin Peaks on ABC, the vision - a sequence of images that relates information of the narrative future or past – has become a staple of numerous network, basic cable and premium cable serials, including Buffy the Vampire Slayer (WB, Battlestar Galactica (SyFy and Game of Thrones (HBO. This paper argues that Peaks in effect had introduced a mode of storytelling called “visio-narrative,” which draws on ancient epic poetry by focusing on main characters that receive knowledge from enigmatic, god-like figures that control his world. Their visions disrupt linear storytelling, allowing a series to embrace the formal aspects of the medium and create the impression that its disparate episodes constitute a singular whole. This helps them qualify as ‘quality TV’, while disguising instances of authorial manipulation evident within the texts as products of divine internal causality.As a result, all narrative events, no matter how coincidental or inconsequential, become part of a grand design. Close examination of Twin Peaks and Carnivàle will demonstrate how the mode operates, why it is popular among modern storytellers and how it can elevate a show’s cultural status.

Parametric Approach to Trajectory Tracking Control of Robot Manipulators

Directory of Open Access Journals (Sweden)

Shijie Zhang

2013-01-01

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

Numerical discrepancy between serial and MPI parallel computations

Directory of Open Access Journals (Sweden)

Sang Bong Lee

2016-09-01

Full Text Available Numerical simulations of 1D Burgers equation and 2D sloshing problem were carried out to study numerical discrepancy between serial and parallel computations. The numerical domain was decomposed into 2 and 4 subdomains for parallel computations with message passing interface. The numerical solution of Burgers equation disclosed that fully explicit boundary conditions used on subdomains of parallel computation was responsible for the numerical discrepancy of transient solution between serial and parallel computations. Two dimensional sloshing problems in a rectangular domain were solved using OpenFOAM. After a lapse of initial transient time sloshing patterns of water were significantly different in serial and parallel computations although the same numerical conditions were given. Based on the histograms of pressure measured at two points near the wall the statistical characteristics of numerical solution was not affected by the number of subdomains as much as the transient solution was dependent on the number of subdomains.

A comparison of serial order short-term memory effects across verbal and musical domains.

Science.gov (United States)

Gorin, Simon; Mengal, Pierre; Majerus, Steve

2018-04-01

Recent studies suggest that the mechanisms involved in the short-term retention of serial order information may be shared across short-term memory (STM) domains such as verbal and visuospatial STM. Given the intrinsic sequential organization of musical material, the study of STM for musical information may be particularly informative about serial order retention processes and their domain-generality. The present experiment examined serial order STM for verbal and musical sequences in participants with no advanced musical expertise and experienced musicians. Serial order STM for verbal information was assessed via a serial order reconstruction task for digit sequences. In the musical domain, serial order STM was assessed using a novel melodic sequence reconstruction task maximizing the retention of tone order information. We observed that performance for the verbal and musical tasks was characterized by sequence length as well as primacy and recency effects. Serial order errors in both tasks were characterized by similar transposition gradients and ratios of fill-in:infill errors. These effects were observed for both participant groups, although the transposition gradients and ratios of fill-in:infill errors showed additional specificities for musician participants in the musical task. The data support domain-general serial order STM effects but also suggest the existence of additional domain-specific effects. Implications for models of serial order STM in verbal and musical domains are discussed.

S3-1: The Serial Dependence of Visual Perception

Directory of Open Access Journals (Sweden)

David Whitney

2012-10-01

Full Text Available In our moment-to-moment perceptual experience, visual scenes can change, but objects rarely spontaneously come into or out of existence. The visual system may therefore delicately balance the need to optimize sensitivity to image changes (e.g., by adapting to changes in color, orientation, object identity, etc with the desire to represent the temporal continuity of objects—the likelihood that objects perceived at this moment tend to exist in subsequent moments. One way that the visual system may promote such stability is through the introduction of serial dependence to visual perception: by biasing the current percept toward what was seen at previous moments, the brain could compensate for variability in visual input that might otherwise disrupt perceptual continuity. Here, in two sets of experiments, we tested for serial dependence in visual perception of orientation and facial expression. We found that on a given trial, a subject's perception of the orientation of a grating reflected not only the currently viewed stimulus, but also a systematic attraction toward the orientations of the previously viewed stimuli. We found the same serial dependence in the perception of facial expression. This perceptual attraction extended over several trials and seconds, and displayed clear tuning to the difference (in orientation or facial expression between the sequential stimuli. Furthermore, serial dependence in object perception was spatially specific and selective to the attended object within a scene. Several control experiments showed that the perceptual serial dependence we report cannot be explained by effects of priming, known hysteresis effects, visual short-term memory, or expectation. Our results reveal a systematic influence of recent visual experiences on perception at any given moment: visual percepts, even of unambiguous stimuli, are attracted toward what was previously seen. We propose that such serial dependence helps to maintain

A 16:1 Serializer ASIC for Data Transmission at 5 Gbps

CERN Document Server

Gong, D; The ATLAS collaboration

2010-01-01

A high speed, low power 16:1 serializer has been developed with a commercial 0.25 μm silicon-on-sapphire CMOS technology. The serializer operates from 4.0 to 5.7 Gbps. Total jitter is 62 ps and the eye openning of the bathtub curve is 122 ps at bit rate error of 10-12 at 5 Gbps. Power consumption is 463 mW at 5 Gbps. A proton beam test indicates the serializer is suitable for applications in high energy physics experiments.

Serial Learning Process: Test of Chaining, Position, and Dual-Process Hypotheses

Science.gov (United States)

Giurintano, S. L.

1973-01-01

The chaining, position, and dual-process hypotheses of serial learning (SL) as well as serial recall, reordering, and relearning of paired-associate learning were examined to establish learning patterns. Results provide evidence for dual-process hypothesis. (DS)

Manipulators in teleoperation

International Nuclear Information System (INIS)

Hamel, W.R.

1985-01-01

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

The Effect of Concurrent Semantic Categorization on Delayed Serial Recall

Science.gov (United States)

Acheson, Daniel J.; MacDonald, Maryellen C.; Postle, Bradley R.

2011-01-01

The influence of semantic processing on the serial ordering of items in short-term memory was explored using a novel dual-task paradigm. Participants engaged in 2 picture-judgment tasks while simultaneously performing delayed serial recall. List material varied in the presence of phonological overlap (Experiments 1 and 2) and in semantic content…

Infants' Memory Processing of a Serial List: List Length Effects.

Science.gov (United States)

Gulya, Michele; Sweeney, Becky; Rovee-Collier, Carolyn

1999-01-01

Three experiments demonstrated that increasing the length of a mobile serial list impaired 6-month olds' memory for serial order. Findings indicated that the primacy effect was absent on a 24-hour delayed recognition test and was exhibited on a reactivation test, adding to growing evidence that young infants possess two functionally distinct…

Motor cortical encoding of serial order in a context-recall task.

Science.gov (United States)

Carpenter, A F; Georgopoulos, A P; Pellizzer, G

1999-03-12

The neural encoding of serial order was studied in the motor cortex of monkeys performing a context-recall memory scanning task. Up to five visual stimuli were presented successively on a circle (list presentation phase), and then one of them (test stimulus) changed color; the monkeys had to make a single motor response toward the stimulus that immediately followed the test stimulus in the list. Correct performance in this task depends on memorization of the serial order of the stimuli during their presentation. It was found that changes in neural activity during the list presentation phase reflected the serial order of the stimuli; the effect on cell activity of the serial order of stimuli during their presentation was at least as strong as the effect of motor direction on cell activity during the execution of the motor response. This establishes the serial order of stimuli in a motor task as an important determinant of motor cortical activity during stimulus presentation and in the absence of changes in peripheral motor events, in contrast to the commonly held view of the motor cortex as just an "upper motor neuron."

Characteristics of manipulative in mathematics laboratory

Science.gov (United States)

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

2017-12-01

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

Reaction kinetics in open reactors and serial transfers between closed reactors

Science.gov (United States)

Blokhuis, Alex; Lacoste, David; Gaspard, Pierre

2018-04-01

Kinetic theory and thermodynamics of reaction networks are extended to the out-of-equilibrium dynamics of continuous-flow stirred tank reactors (CSTR) and serial transfers. On the basis of their stoichiometry matrix, the conservation laws and the cycles of the network are determined for both dynamics. It is shown that the CSTR and serial transfer dynamics are equivalent in the limit where the time interval between the transfers tends to zero proportionally to the ratio of the fractions of fresh to transferred solutions. These results are illustrated with a finite cross-catalytic reaction network and an infinite reaction network describing mass exchange between polymers. Serial transfer dynamics is typically used in molecular evolution experiments in the context of research on the origins of life. The present study is shedding a new light on the role played by serial transfer parameters in these experiments.

Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator

OpenAIRE

Shiva, A.; Stilli, A.; Noh, Y.; Faragasso, A.; Falco, I. D.; Gerboni, G.; Cianchetti, M.; Menciassi, A.; Althoefer, K.; Wurdemann, H. A.

2016-01-01

There is an emerging trend toward soft robotics due to its extended manipulation capabilities compared to traditionally rigid robot links, showing promise for an extended applicability to new areas. However, as a result of the inherent property of soft robotics being less rigid, the ability to control/obtain higher overall stiffness when required is yet to be further explored. In this letter, an innovative design is introduced which allows varying the stiffness of a continuum silicon-based ma...

The effects of nidopallium caudolaterale inactivation on serial-order behaviour in pigeons (Columba livia).

Science.gov (United States)

Johnston, Melissa Jane; Clarkson, Andrew N; Gowing, Emma K; Scarf, Damian; Colombo, Mike

2018-06-06

Serial-order behaviour is the ability to complete a sequence of responses in a predetermined order to achieve a reward. In birds, serial-order behaviour is thought to be impaired by damage to the nidopallium caudolaterale (NCL). In the current study, we examined the role of the NCL in serial-order behaviour by training pigeons on a 4-item serial-order task and a go/no-go discrimination task. Following training, pigeons were received infusions of 1μl of either tetrodotoxin (TTX) or saline. Saline infusions had no impact on serial-order behaviour whereas TTX infusions resulted in a significant decrease in performance. The serial-order impairments, however, were not the results of errors of any specific error at any specific list item. With respect to the go/no-go discrimination task, saline infusions also had no impact on performance whereas TTX infusions impaired pigeons' discrimination abilities. Given the impairments on the go/no-go discrimination task, which does not require processing of serial-order information, we tentatively conclude that damage to the NCL does not impair serial-order behaviour per se, but rather results in a more generalised impairment that may impact performance across a range of tasks.

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

Science.gov (United States)

Lew, Jae Young; Book, Wayne J.

1991-01-01

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

Manipulators for production and research

International Nuclear Information System (INIS)

Munro, Ian

1987-01-01

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

Design and application of link: A DSL for network frame manipulation

CSIR Research Space (South Africa)

Pennefather, S

2017-08-01

Full Text Available the identification and evaluation of intended applications and an example translator is implemented to target the FRAME board which was developed in conjunction with this research. Four application examples are then provided to help describe the feasibility of Link...

Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator

Directory of Open Access Journals (Sweden)

Ji-Hwan Hwang

2017-01-01

Full Text Available In this paper, advanced interval type-2 fuzzy sliding mode control (AIT2FSMC for robot manipulator is proposed. The proposed AIT2FSMC is a combination of interval type-2 fuzzy system and sliding mode control. For resembling a feedback linearization (FL control law, interval type-2 fuzzy system is designed. For compensating the approximation error between the FL control law and interval type-2 fuzzy system, sliding mode controller is designed, respectively. The tuning algorithms are derived in the sense of Lyapunov stability theorem. Two-link rigid robot manipulator with nonlinearity is used to test and the simulation results are presented to show the effectiveness of the proposed method that can control unknown system well.

Verbal short-term memory in individuals with chromosome 22q11.2 deletion: Specific deficit in serial order retention capacities?

OpenAIRE

Majerus, Steve; Van der Linden, Martial; Braissand, V.; Eliez, S.

2007-01-01

Many researchers have recently explored the cognitive profile of velocardiofacial syndrome (VCFS), a neurodevelopmental disorder linked to a 22q11.2 deletion. However, verbal short-term memory has not yet been systematically investigated. We explored verbal short-term memory abilities in a group of 11 children and adults presenting with VCFS and two control groups, matched on either CA or vocabulary knowledge, by distinguishing short-term memory for serial order and item information. The VCFS...

Obstacle Avoidance for Redundant Manipulators Utilizing a Backward Quadratic Search Algorithm

Directory of Open Access Journals (Sweden)

Tianjian Hu

2016-06-01

Full Text Available Obstacle avoidance can be achieved as a secondary task by appropriate inverse kinematics (IK resolution of redundant manipulators. Most prior literature requires the time-consuming determination of the closest point to the obstacle for every calculation step. Aiming at the relief of computational burden, this paper develops what is termed a backward quadratic search algorithm (BQSA as another option for solving IK problems in obstacle avoidance. The BQSA detects possible collisions based on the root property of a category of quadratic functions, which are derived from ellipse-enveloped obstacles and the positions of each link's end-points. The algorithm executes a backward search for possible obstacle collisions, from the end-effector to the base, and avoids obstacles by utilizing a hybrid IK scheme, incorporating the damped least-squares method, the weighted least-norm method and the gradient projection method. Some details of the hybrid IK scheme, such as values of the damped factor, weights and the clamping velocity, are discussed, along with a comparison of computational load between previous methods and BQSA. Simulations of a planar seven-link manipulator and a PUMA 560 robot verify the effectiveness of BQSA.

[Personality disorders, psychopathy and serial killers].

Science.gov (United States)

Morana, Hilda C P; Stone, Michael H; Abdalla-Filho, Elias

2006-10-01

To illustrate the basic characteristics of several specific personality disorders, focusing mainly in antisocial personality disorder. The differences between antisocial personality disorder and psychopathy are highlighted. Serial killers and its psychopathic aspects are also discussed. A bibliographic review was completed in order to outline convergences and divergences among different authors about this controversial issue, especially those concerning the possibility of treatment. While anti-social personality disorder is a medical diagnosis, the term "psychopathy" (which belongs to the sphere of forensic psychiatry) may be understood as a "legal diagnosis". It is not still possible to identify an effective treatment for serial killers. Personality disorders, especially of the antisocial type, still represent a formidable challenge to forensic psychiatry today. Questions as yet unanswered include the best and most humane place for patients with this condition and the nature of a standardised treatment recommendation.

How Do We Write about Performance in Serial Television?

OpenAIRE

Elliott Logan

2015-01-01

Television studies has produced few sustained analyses of performance in serial television. Yet film studies scholarship has shown how attending to the integration of performances with other aspects of film style is crucial to the interpretation and appreciation of expression and meaning in filmed narrative fictions. However, as a particle form of filmed serial narrative, series television raises a number of questions about performance that will not necessarily be satisfyingly addressed by th...

Serial cranial ultrasonography or early MRI for detecting preterm brain injury?

NARCIS (Netherlands)

Plaisier, Annemarie; Raets, Marlou M A; Ecury-Goossen, Ginette M; Govaert, Paul; Feijen-Roon, Monique; Reiss, Irwin K M; Smit, Liesbeth S; Lequin, Maarten H; Dudink, Jeroen

OBJECTIVE: To investigate detection ability and feasibility of serial cranial ultrasonography (CUS) and early MRI in preterm brain injury. DESIGN: Prospective cohort study. SETTING: Level III neonatal intensive care unit. PATIENTS: 307 infants, born below 29 weeks of gestation. METHODS: Serial CUS

E-resource knowledge bases and link resolvers: an assessment of the current products and emerging trends

Directory of Open Access Journals (Sweden)

Marshall Breeding

2012-07-01

Full Text Available This article summarizes the findings of a study on e-resource knowledge bases and OpenURL-based link resolvers sponsored by the National Library of Sweden. The project involved soliciting detailed information from each of the providers of the major products in this genre, reviewing product information available on the web and in published articles, and conducting a survey addressed to libraries using these products. The report identified and presented comparative information on a top tier of products that includes KnowledgeWorks and 360 Link from Serials Solutions; SFX Global KnowledgeBase and the SFX link resolver from Ex Libris; LinkSource and the EBSCO Integrated Knowledge Base from EBSCO and the WorldCat knowledge base from OCLC. A second tier included TOUResolver from TDNet, Gold Rush from the Colorado Alliance of Research Libraries and GODOT from Simon Fraser University. Innovative Interfaces, Inc offers the WebBridge link resolver but does not produce a knowledge base. The library survey revealed relatively narrow differences in the statistical results. Serial Solutions emerged as more favorable in most categories except for end-user functionality where Ex Libris received higher ratings. The Global Open Knowledgebase project (GOKb is noteworthy as a nascent community-based effort to produce a knowledge base. Key trends noted include less emphasis on knowledge bases and link resolvers as stand-alone products as they become integral components of comprehensive discovery and automation products.

Paths to destruction: the lives and crimes of two serial killers.

Science.gov (United States)

Wolf, Barbara C; Lavezzi, Wendy A

2007-01-01

Although research into the phenomenon of serial murder has revealed that serial killers frequently do not fit the initially described paradigm in terms of their physical and psychological profiles, backgrounds, and motives to kill, the media continues to sensationalize the figures of such killers and the investigators who attempt to analyze them on the basis of aspects of their crimes. Although the so-called "typical" profile of the serial murderer has proven accurate in some instances, in many other cases the demographics and behaviors of these killers have deviated widely from the generalized assumptions. This report details two unusual cases in which five and eight murders were committed in upstate New York. The lives and crimes of these offenders illustrate the wide spectrum of variations in the backgrounds, demographics, motivations, and actions witnessed among serial murderers, and highlight the limitations and dangers of profiling based on generalities.

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

NARCIS (Netherlands)

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

2005-01-01

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

Lateralization of spatial rather than temporal attention underlies the left hemifield advantage in rapid serial visual presentation.

Science.gov (United States)

Asanowicz, Dariusz; Kruse, Lena; Śmigasiewicz, Kamila; Verleger, Rolf

2017-11-01

In bilateral rapid serial visual presentation (RSVP), the second of two targets, T1 and T2, is better identified in the left visual field (LVF) than in the right visual field (RVF). This LVF advantage may reflect hemispheric asymmetry in temporal attention or/and in spatial orienting of attention. Participants performed two tasks: the "standard" bilateral RSVP task (Exp.1) and its unilateral variant (Exp.1 & 2). In the bilateral task, spatial location was uncertain, thus target identification involved stimulus-driven spatial orienting. In the unilateral task, the targets were presented block-wise in the LVF or RVF only, such that no spatial orienting was needed for target identification. Temporal attention was manipulated in both tasks by varying the T1-T2 lag. The results showed that the LVF advantage disappeared when involvement of stimulus-driven spatial orienting was eliminated, whereas the manipulation of temporal attention had no effect on the asymmetry. In conclusion, the results do not support the hypothesis of hemispheric asymmetry in temporal attention, and provide further evidence that the LVF advantage reflects right hemisphere predominance in stimulus-driven orienting of spatial attention. These conclusions fit evidence that temporal attention is implemented by bilateral parietal areas and spatial attention by the right-lateralized ventral frontoparietal network. Copyright © 2017 Elsevier Inc. All rights reserved.

New developments in electron microscopy for serial image acquisition of neuronal profiles.

Science.gov (United States)

Kubota, Yoshiyuki

2015-02-01

Recent developments in electron microscopy largely automate the continuous acquisition of serial electron micrographs (EMGs), previously achieved by laborious manual serial ultrathin sectioning using an ultramicrotome and ultrastructural image capture process with transmission electron microscopy. The new systems cut thin sections and capture serial EMGs automatically, allowing for acquisition of large data sets in a reasonably short time. The new methods are focused ion beam/scanning electron microscopy, ultramicrotome/serial block-face scanning electron microscopy, automated tape-collection ultramicrotome/scanning electron microscopy and transmission electron microscope camera array. In this review, their positive and negative aspects are discussed. © The Author 2015. Published by Oxford University Press on behalf of The Japanese Society of Microscopy. All rights reserved. For permissions, please e-mail: journals.permissions@oup.com.

Rehearsal in serial memory for visual-spatial information: evidence from eye movements.

Science.gov (United States)

Tremblay, Sébastien; Saint-Aubin, Jean; Jalbert, Annie

2006-06-01

It is well established that rote rehearsal plays a key role in serial memory for lists of verbal items. Although a great deal of research has informed us about the nature of verbal rehearsal, much less attention has been devoted to rehearsal in serial memory for visual-spatial information. By using the dot task--a visual-spatial analogue of the classical verbal serial recall task--with delayed recall, performance and eyetracking data were recorded in order to establish whether visual-spatial rehearsal could be evidenced by eye movement. The use of eye movement as a form of rehearsal is detectable (Experiment 1), and it seems to contribute to serial memory performance over and above rehearsal based on shifts of spatial attention (Experiments 1 and 2).

SMALL SERIAL AND SERIAL PRODUCTION MANAGEMENT IN UNSTABLE DEMAND ENVIROUMENT

Directory of Open Access Journals (Sweden)

Tsomaeva I. V.

2014-03-01

Full Text Available The work presents the methodological approach to production program of the enterprise serial engineering for the current period in the conditions of uncertainty of demand. Here are two problems with this. The first is connected with the formation of the production program of the next quarter, year. Objective could be to stochastic programming, but this task is difficult. Therefore, in this paper we proposed a simple solution. On the basis of statistical historical information about the deviation of actual sales data products from predicted by Monte Carlo generated a lot of production programs. Fixed worst key performance (sales, profit etc. The difference between the values of the planned target and the settlement defines stochastic reserve, to be established at the expense of additional innovations. The second problem is connected with the formation of the production program production in the planned month, taking into account the creation of stocks of production in the conditions when for a short period of time is difficult to build a pattern of change in the quantity demanded by month for serial production, as in some months of the year the products are not produced nor sold. To justify the level of inventories of finished products is information on deviations from the fact plan for past periods. Built function of frequency distribution of the values of deviations. This allows you to further build the methodology for determining the level of production (taking into account the reserves and sales of products that deliver maximum economic effect from the sales in the conditions of a random process of realization of production.

A network-based Macintosh serial host interface program

International Nuclear Information System (INIS)

Wight, J.

1991-03-01

A program has been written for the Apple Macintosh to replace conventional host RS232 terminals with customizable user interfaces. Serial port NuBus cards in the Macintosh allow many simultaneous sessions to be maintained. A powerful system is attained by connecting multiple Macintoshes on a network, each running this program. Each is then able to share incoming data from any of its serial ports with any other Macintosh, as well as accept data from any other Macintosh for output to any of its serial ports. The program has been used to eliminate multiple host terminals, modernize the user interface, and to centralize operation of a complex control system. Minimal changes to host software have been required. By making extensive use of Macintosh resources, the same executable code serves in a variety of roles. An object oriented C language with a class library made the development straightforward and easy to modify. This program is used to control a 2 MW neutral beam system on the DIII-D magnetic fusion tokamak. 7 figs

Pneumatic artificial muscle actuators for compliant robotic manipulators

Science.gov (United States)

Robinson, Ryan Michael

Robotic systems are increasingly being utilized in applications that require interaction with humans. In order to enable safe physical human-robot interaction, light weight and compliant manipulation are desirable. These requirements are problematic for many conventional actuation systems, which are often heavy, and typically use high stiffness to achieve high performance, leading to large impact forces upon collision. However, pneumatic artificial muscles (PAMs) are actuators that can satisfy these safety requirements while offering power-to-weight ratios comparable to those of conventional actuators. PAMs are extremely lightweight actuators that produce force in response to pressurization. These muscles demonstrate natural compliance, but have a nonlinear force-contraction profile that complicates modeling and control. This body of research presents solutions to the challenges associated with the implementation of PAMs as actuators in robotic manipulators, particularly with regard to modeling, design, and control. An existing PAM force balance model was modified to incorporate elliptic end geometry and a hyper-elastic constitutive relationship, dramatically improving predictions of PAM behavior at high contraction. Utilizing this improved model, two proof-of-concept PAM-driven manipulators were designed and constructed; design features included parallel placement of actuators and a tendon-link joint design. Genetic algorithm search heuristics were employed to determine an optimal joint geometry; allowing a manipulator to achieve a desired torque profile while minimizing the required PAM pressure. Performance of the manipulators was evaluated in both simulation and experiment employing various linear and nonlinear control strategies. These included output feedback techniques, such as proportional-integral-derivative (PID) and fuzzy logic, a model-based control for computed torque, and more advanced controllers, such as sliding mode, adaptive sliding mode, and

Serial casting for reconstruction of a deformed Charcot foot: a case report.

Science.gov (United States)

Rosenblum, Jonathan I; Weiss, Shmuel; Gazes, Michael; Amit-Kohn, Michal

2015-05-01

Charcot neuroarthropathy may occur in patients with peripheral neuropathy who do not notice pain while their bones and joints collapse or breakdown under the constant pressure of body weight. This can lead to ulcerations from severe deformity and potentially limb-threatening and life-threatening infections. Current treatments vary from immobilization to extensive reconstructive surgical interventions. Serial casting, used to correct many pediatric deformities while bones are often more pliable, was used with a 63-year-old male patient who presented with an active phase of Charcot foot with ulceration. The patient previously underwent foot reconstruction and had all hardware removed prior to serial casting. Due to the potential pliability of the bones, serial casting was attempted to reform the shape and position of the foot in a reverse Ponseti-type serial casting to create a more stable structure with less deformity that could lead to epithelial breakdown. The patient regained full ambulation with a plantargrade foot and no wounds, and was followed without complications for 36 months. Serial weekly casting was an effective modality for treatment of this patient's Charcot foot deformity.

The utilization of forensic science and criminal profiling for capturing serial killers.

Science.gov (United States)

White, John H; Lester, David; Gentile, Matthew; Rosenbleeth, Juliana

2011-06-15

Movies and nightly television shows appear to emphasize highly efficient regimens in forensic science and criminal investigative analysis (profiling) that result in capturing serial killers and other perpetrators of homicide. Although some of the shows are apocryphal and unrealistic, they reflect major advancements that have been made in the fields of forensic science and criminal psychology during the past two decades that have helped police capture serial killers. Some of the advancements are outlined in this paper. In a study of 200 serial killers, we examined the variables that led to police focusing their attention on specific suspects. We developed 12 categories that describe how serial killers come to the attention of the police. The results of the present study indicate that most serial killers are captured as a result of citizens and surviving victims contributing information that resulted in police investigations that led to an arrest. The role of forensic science appears to be important in convicting the perpetrator, but not necessarily in identifying the perpetrator. Copyright © 2011 Elsevier Ireland Ltd. All rights reserved.

Spatial patterns of serial murder: an analysis of disposal site location choice.

Science.gov (United States)

Lundrigan, S; Canter, D

2001-01-01

Although the murders committed by serial killers may not be considered rational, there is growing evidence that the locations in which they commit their crimes may be guided by an implicit, if limited rationality. The hypothesized logic of disposal site choice of serial killers led to predictions that (a) their criminal domains would be around their home base and relate to familiar travel distances, (b) they would have a size that was characteristic of each offender, (c) the distribution would be biased towards other non-criminal activities, and (d) the size of the domains would increase over time. Examination of the geographical distribution of the sites at which 126 US and 29 UK serial killers disposed of their victims' bodies supported all four hypotheses. It was found that rational choice and routine activity models of criminal behavior could explain the spatial choices of serial murderers. It was concluded that the locations at which serial killers dispose of their victims' bodies reflect the inherent logic of the choices that underlie their predatory activities. Copyright 2001 John Wiley & Sons, Ltd.

Assessing Working Memory in Mild Cognitive Impairment with Serial Order Recall.

Science.gov (United States)

Emrani, Sheina; Libon, David J; Lamar, Melissa; Price, Catherine C; Jefferson, Angela L; Gifford, Katherine A; Hohman, Timothy J; Nation, Daniel A; Delano-Wood, Lisa; Jak, Amy; Bangen, Katherine J; Bondi, Mark W; Brickman, Adam M; Manly, Jennifer; Swenson, Rodney; Au, Rhoda

2018-01-01

Working memory (WM) is often assessed with serial order tests such as repeating digits backward. In prior dementia research using the Backward Digit Span Test (BDT), only aggregate test performance was examined. The current research tallied primacy/recency effects, out-of-sequence transposition errors, perseverations, and omissions to assess WM deficits in patients with mild cognitive impairment (MCI). Memory clinic patients (n = 66) were classified into three groups: single domain amnestic MCI (aMCI), combined mixed domain/dysexecutive MCI (mixed/dys MCI), and non-MCI where patients did not meet criteria for MCI. Serial order/WM ability was assessed by asking participants to repeat 7 trials of five digits backwards. Serial order position accuracy, transposition errors, perseverations, and omission errors were tallied. A 3 (group)×5 (serial position) repeated measures ANOVA yielded a significant group×trial interaction. Follow-up analyses found attenuation of the recency effect for mixed/dys MCI patients. Mixed/dys MCI patients scored lower than non-MCI patients for serial position 3 (p Mixed/dys MCI patients also produced more transposition errors than both groups (p order parameters obtained from the BDT may provide a useful operational definition as well as additional diagnostic information regarding working memory deficits in MCI.

Hydraulic manipulator research at ORNL

International Nuclear Information System (INIS)

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

1997-01-01

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

Hydraulic manipulator research at ORNL

Energy Technology Data Exchange (ETDEWEB)

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

1997-03-01

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

A serial-kinematic nanopositioner for high-speed atomic force microscopy

Energy Technology Data Exchange (ETDEWEB)

Wadikhaye, Sachin P., E-mail: sachin.wadikhaye@uon.edu.au; Yong, Yuen Kuan; Reza Moheimani, S. O. [School of Electrical Engineering and Computer Science, The University of Newcastle, Callaghan, NSW (Australia)

2014-10-15

A flexure-guided serial-kinematic XYZ nanopositioner for high-speed Atomic Force Microscopy is presented in this paper. Two aspects influencing the performance of serial-kinematic nanopositioners are studied in this work. First, mass reduction by using tapered flexures is proposed to increased the natural frequency of the nanopositioner. 25% increase in the natural frequency is achieved due to reduced mass with tapered flexures. Second, a study of possible sensor positioning in a serial-kinematic nanopositioner is presented. An arrangement of sensors for exact estimation of cross-coupling is incorporated in the proposed design. A feedforward control strategy based on phaser approach is presented to mitigate the dynamics and nonlinearity in the system. Limitations in design approach and control strategy are discussed in the Conclusion.

A serial-kinematic nanopositioner for high-speed atomic force microscopy

International Nuclear Information System (INIS)

Wadikhaye, Sachin P.; Yong, Yuen Kuan; Reza Moheimani, S. O.

2014-01-01

A flexure-guided serial-kinematic XYZ nanopositioner for high-speed Atomic Force Microscopy is presented in this paper. Two aspects influencing the performance of serial-kinematic nanopositioners are studied in this work. First, mass reduction by using tapered flexures is proposed to increased the natural frequency of the nanopositioner. 25% increase in the natural frequency is achieved due to reduced mass with tapered flexures. Second, a study of possible sensor positioning in a serial-kinematic nanopositioner is presented. An arrangement of sensors for exact estimation of cross-coupling is incorporated in the proposed design. A feedforward control strategy based on phaser approach is presented to mitigate the dynamics and nonlinearity in the system. Limitations in design approach and control strategy are discussed in the Conclusion

Collision-free inverse kinematics of the redundant seven link manipulator used in a cucumber harvesting robot

NARCIS (Netherlands)

Henten, van E.J.; Schenk, E.J.J.; Willigenburg, van L.G.; Meuleman, J.; Barreiro, P.

2010-01-01

The paper presents results of research on an inverse kinematics algorithm that has been used in a functional model of a cucumber-harvesting robot consisting of a redundant P6R manipulator. Within a first generic approach, the inverse kinematics problem was reformulated as a non-linear programming

Automation of 3D reconstruction of neural tissue from large volume of conventional serial section transmission electron micrographs.

Science.gov (United States)

Mishchenko, Yuriy

2009-01-30

We describe an approach for automation of the process of reconstruction of neural tissue from serial section transmission electron micrographs. Such reconstructions require 3D segmentation of individual neuronal processes (axons and dendrites) performed in densely packed neuropil. We first detect neuronal cell profiles in each image in a stack of serial micrographs with multi-scale ridge detector. Short breaks in detected boundaries are interpolated using anisotropic contour completion formulated in fuzzy-logic framework. Detected profiles from adjacent sections are linked together based on cues such as shape similarity and image texture. Thus obtained 3D segmentation is validated by human operators in computer-guided proofreading process. Our approach makes possible reconstructions of neural tissue at final rate of about 5 microm3/manh, as determined primarily by the speed of proofreading. To date we have applied this approach to reconstruct few blocks of neural tissue from different regions of rat brain totaling over 1000microm3, and used these to evaluate reconstruction speed, quality, error rates, and presence of ambiguous locations in neuropil ssTEM imaging data.

Case Study: Students’ Symbolic Manipulation in Calculus Among UTHM Students

Science.gov (United States)

Ali, Maselan; Sufahani, Suliadi; Ahmad, Wan N. A. W.; Ghazali Kamardan, M.; Saifullah Rusiman, Mohd; Che-Him, Norziha

2018-04-01

Words are symbols representing certain aspects of mathematics. The main purpose of this study is to gain insight into students’ symbolic manipulation in calculus among UTHM students. This study make use the various methods in collecting data which are documentation, pilot study, written test and follow up individual interviews. Hence, the results analyzed and interpreted based on action-process-object-schema framework which is based on Piaget’s ideas of reflective abstraction, the concept of relational and instrumental understanding and the zone of proximal development idea. The students’ reply in the interview session is analyzed and then the overall performance is discussed briefly to relate with the students flexibility in symbolic manipulation in linking to the graphical idea, the students interpretation towards different symbolic structure in calculus and the problem that related to overgeneralization in their calculus problems solving.

Serial Millisecond Crystallography of Membrane Proteins.

Science.gov (United States)

Jaeger, Kathrin; Dworkowski, Florian; Nogly, Przemyslaw; Milne, Christopher; Wang, Meitian; Standfuss, Joerg

2016-01-01

Serial femtosecond crystallography (SFX) at X-ray free-electron lasers (XFELs) is a powerful method to determine high-resolution structures of pharmaceutically relevant membrane proteins. Recently, the technology has been adapted to carry out serial millisecond crystallography (SMX) at synchrotron sources, where beamtime is more abundant. In an injector-based approach, crystals grown in lipidic cubic phase (LCP) or embedded in viscous medium are delivered directly into the unattenuated beam of a microfocus beamline. Pilot experiments show the application of microjet-based SMX for solving the structure of a membrane protein and compatibility of the method with de novo phasing. Planned synchrotron upgrades, faster detectors and software developments will go hand-in-hand with developments at free-electron lasers to provide a powerful methodology for solving structures from microcrystals at room temperature, ligand screening or crystal optimization for time-resolved studies with minimal or no radiation damage.

Serial-position effects on a free-recall task in bilinguals.

Science.gov (United States)

Yoo, Jeewon; Kaushanskaya, Margarita

2016-01-01

In this study, we examined mechanisms that underlie free-recall performance in bilinguals' first language (L1) and second language (L2) through the prism of serial-position effects. On free-recall tasks, a typical pattern of performance follows a U-shaped serial-position curve, where items from the beginning of the list (the primacy effect) and items from the end of the list (the recency effect) are recalled with higher accuracy than items from the middle of the list. The present study contrasted serial-position effects on the free-recall task in Korean-English bilinguals' L1 vs. L2 and examined the relationship between an independent working memory (WM) measure and serial-position effects in bilinguals' two languages. Results revealed stronger pre-recency (primacy and middle) effects in L1 than in L2, but similar recency effects in the two languages. A close association was observed between WM and recall performance in the pre-recency region in the L1 but not in the L2. Together, these findings suggest that linguistic knowledge constrains free-recall performance in bilinguals, but only in the pre-recency region.

A study on the utilization of serial resources in selected tertiary ...

African Journals Online (AJOL)

A study on the utilization of serial resources in selected tertiary institutions in Ogun State. ... Lagos Journal of Library and Information Science ... Serial resources are publications either in printed form or electronic format issued in successive parts usually having numerical or chronological designations and intended to be ...

Subject-Verb Agreement in Children and Adults: Serial or Hierarchical Processing?

Science.gov (United States)

Negro, Isabelle; Chanquoy, Lucile; Fayol, Michel; Louis-Sidney, Maryse

2005-01-01

Two processes, serial and hierarchical, are generally opposed to account for grammatical encoding in language production. In a developmental perspective, the question addressed here is whether the subject-verb agreement during writing is computed serially, once the words are linearly ordered in the sentence, or hierarchically, as soon as the…

Serial Position Effects in the Identification of Letters, Digits, and Symbols

Science.gov (United States)

Tydgat, Ilse; Grainger, Jonathan

2009-01-01

In 6 experiments, the authors investigated the form of serial position functions for identification of letters, digits, and symbols presented in strings. The results replicated findings obtained with the target search paradigm, showing an interaction between the effects of serial position and type of stimulus, with symbols generating a distinct…

Efficient multitasking: parallel versus serial processing of multiple tasks.

Science.gov (United States)

Fischer, Rico; Plessow, Franziska

2015-01-01

In the context of performance optimizations in multitasking, a central debate has unfolded in multitasking research around whether cognitive processes related to different tasks proceed only sequentially (one at a time), or can operate in parallel (simultaneously). This review features a discussion of theoretical considerations and empirical evidence regarding parallel versus serial task processing in multitasking. In addition, we highlight how methodological differences and theoretical conceptions determine the extent to which parallel processing in multitasking can be detected, to guide their employment in future research. Parallel and serial processing of multiple tasks are not mutually exclusive. Therefore, questions focusing exclusively on either task-processing mode are too simplified. We review empirical evidence and demonstrate that shifting between more parallel and more serial task processing critically depends on the conditions under which multiple tasks are performed. We conclude that efficient multitasking is reflected by the ability of individuals to adjust multitasking performance to environmental demands by flexibly shifting between different processing strategies of multiple task-component scheduling.

The neural signature of emotional memories in serial crimes.

Science.gov (United States)

Chassy, Philippe

2017-10-01

Neural plasticity is the process whereby semantic information and emotional responses are stored in neural networks. It is hypothesized that the neural networks built over time to encode the sexual fantasies that motivate serial killers to act should display a unique, detectable activation pattern. The pathological neural watermark hypothesis posits that such networks comprise activation of brain sites that reflect four cognitive components: autobiographical memory, sexual arousal, aggression, and control over aggression. The neural sites performing these cognitive functions have been successfully identified by previous research. The key findings are reviewed to hypothesise the typical pattern of activity that serial killers should display. Through the integration of biological findings into one framework, the neural approach proposed in this paper is in stark contrast with the many theories accounting for serial killers that offer non-medical taxonomies. The pathological neural watermark hypothesis offers a new framework to understand and detect deviant individuals. The technical and legal issues are briefly discussed. Copyright © 2017 Elsevier Ltd. All rights reserved.

A study on optimal motion for a robot manipulator amid obstacles

International Nuclear Information System (INIS)

Park, Jong Keun

1997-01-01

Optimal motion for a robot manipulator is obtained by nonlinear programming. The objective of optimal motion is minimizing energy consumption of manipulator arm with fixed traveling time in the presence of obstacles. The geometric path is not predetermined. The total trajectory is described in terms of cubic B-spline polynomials and the coefficients of them are obtained to minimize a specific performance index. Obstacle avoidance is performed by the method that the square sum of penetration growth distances between every obstacles and robot links is included in the performance index with appropriate weighting coefficient. In all examples tested here, the solutions were converged to unique optimal trajectories from different initial ones. The optimal geometric path obtained in this research can be used in minimum time trajectory planning. (author)

Operating gains achieved by a new generation of remotely controlled manipulators

International Nuclear Information System (INIS)

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

2014-01-01

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

Depression and pain: testing of serial multiple mediators

Directory of Open Access Journals (Sweden)

Wongpakaran T

2016-07-01

function were found to significantly mediate the relationship between depression and pain, while controlling for demographic variables. The total effect of depression on pain was significant. This model, with an additional three mediators, accounted for 15% of the explained variance in pain compared to 9% without mediators. For the alternative model, after controlling for the mediators, a nonsignificant total direct effect level of self-sacrificing was found, suggesting that the effect of self-sacrificing on pain was based only on an indirect effect and that perceived stress was found to be the strongest mediator.Conclusion: Serial mediation may help us to see how depression and pain are linked and what the fundamental mediators are in the chain. No significant, indirect effect of self-sacrificing on pain was observed, if perceived stress was not part of the depression and/or cognitive function mediational chain. The results shown here have implications for future research, both in terms of testing the model and in clinical application. Keywords: depressive disorder, mediator, serial mediation, multiple mediation

Changing Series: Narrative Models and the Role of the Viewer in Contemporary Television Seriality

Directory of Open Access Journals (Sweden)

Veronica Innocenti

2015-04-01

Full Text Available In the past few years television serial narratives have gone through some severe changes in the way they are organized from a narrative point of view, as well as in the way they are perceived by the audiences. Our article originates from the necessity of investigating the products of this new wave of serial production, with the purpose of focusing on narrative formulas and on the relationships that serial products establish with their users. Vast serialized narratives are not just texts anymore, they have become complex universes of meaning that last for long time and that have a strong influence on the audiences. The article aims to investigate serial narratives as usable objects, that are not just seen by the public, but that are part of a complex experience.

Deployment and future prospects of high performance diagnostics featuring serial I/O (SIO) data acquisition (DAQ) at ASDEX Upgrade

Energy Technology Data Exchange (ETDEWEB)

Behler, K., E-mail: karl.behler@ipp.mpg.de [Max-Planck-Institut fuer Plasmaphysik, Boltzmannstr. 2, D-85748 Garching bei Muenchen (Germany); Blank, H.; Eixenberger, H. [Max-Planck-Institut fuer Plasmaphysik, Boltzmannstr. 2, D-85748 Garching bei Muenchen (Germany); Fitzek, M. [Unlimited Computer Systems GmbH, Seeshaupterstr. 15, D-82393 Iffeldorf (Germany); Lohs, A. [Max-Planck-Institut fuer Plasmaphysik, Boltzmannstr. 2, D-85748 Garching bei Muenchen (Germany); Lueddecke, K. [Unlimited Computer Systems GmbH, Seeshaupterstr. 15, D-82393 Iffeldorf (Germany); Merkel, R. [Max-Planck-Institut fuer Plasmaphysik, Boltzmannstr. 2, D-85748 Garching bei Muenchen (Germany)

2012-12-15

Highlights: Black-Right-Pointing-Pointer The high sustained data rates transferring measured data from periphery into memory of computers. Black-Right-Pointing-Pointer The achieved low latency in real-time interrupt handling under Solaris 10. Black-Right-Pointing-Pointer The new prototype of an even more powerful 2nd generation SIO II device. Black-Right-Pointing-Pointer The fusion of all blocks of board logic (serializer, FIFO, TDC, merge engine, PCIe controller) into one single FPGA simplifying the boards physical layout significantly. - Abstract: The SIO DAQ concept used at the ASDEX Upgrade fusion experiment features data acquisition from a modular front-end (a modular crate-and-interface-cards concept for analog and digital input and output) over standardized serial lines and via a serial input/output computer interface card (the SIO card) in real-time directly into the main memory of a host computer. Deployment of a series of diagnostics using SIO led to various solutions and configurations for the different requirements. Experience has been gained and lessons learned applying the SIO concept at its technical limits. Requirements for a further development of the SIO concept have been identified, and a performance improvement by a factor of 4-8 beyond its current limits seems achievable. An effort has been started to develop a SIO version 2 (SIO II) featuring upgraded serial links and a more powerful FPGA for merging and forwarding data streams to host computer memory. (Compatibility with the existing SIO (SIO I) front-end system has to be maintained.) This paper presents results achieved and experiences gained in the deployment of SIO I, the status of SIO II development (currently in the prototype phase), and projected enhancements and updates to existing implementations.

Alcohol purchase age laws and the serial beginning drinker in New York.

Science.gov (United States)

Yu, J

1995-08-01

Raising the drinking age twice in New York State in the 1980s might have created a generation of "serial beginning drinkers." Findings indicate that when young adults become beginning drinkers, their chances of drinking-driving increase; when they become serial beginning drinkers, their involvement in drinking-driving remains high over time. The beginning drinkers belong to a special historical period and are only composed of birth cohorts of 3 or 4 years (mainly early 1960s). The effect of the serial beginning drinker should fade out as those birth cohorts grow into maturity.

Spatial serial order processing in schizophrenia.

Science.gov (United States)

Fraser, David; Park, Sohee; Clark, Gina; Yohanna, Daniel; Houk, James C

2004-10-01

The aim of this study was to examine serial order processing deficits in 21 schizophrenia patients and 16 age- and education-matched healthy controls. In a spatial serial order working memory task, one to four spatial targets were presented in a randomized sequence. Subjects were required to remember the locations and the order in which the targets were presented. Patients showed a marked deficit in ability to remember the sequences compared with controls. Increasing the number of targets within a sequence resulted in poorer memory performance for both control and schizophrenia subjects, but the effect was much more pronounced in the patients. Targets presented at the end of a long sequence were more vulnerable to memory error in schizophrenia patients. Performance deficits were not attributable to motor errors, but to errors in target choice. The results support the idea that the memory errors seen in schizophrenia patients may be due to saturating the working memory network at relatively low levels of memory load.

Mi Casa es Su Casa: how an intracellular symbiont manipulates host biology.

Science.gov (United States)

Bhattacharya, Tamanash; Newton, Irene L G

2017-10-27

Wolbachia pipientis, the most common intracellular infection on the planet, infects 40% of insects as well as nematodes, isopods and arachnids. Wolbachia are obligately intracellular and challenging to study; there are no genetic tools for manipulating Wolbachia nor can they be cultured outside of host cells. Despite these roadblocks, the research community has defined a set of Wolbachia loci involved in host interaction: Wolbachia effectors. Through the use of Drosophila genetics, surrogate systems and biochemistry, the field has begun to define the toolkit Wolbachia use for host manipulation. Below we review recent findings identifying these Wolbachia effectors and point to potential, as yet uncharacterized, links between known phenotypes induced by Wolbachia infection and predicted effectors. © 2017 Society for Applied Microbiology and John Wiley & Sons Ltd.

Quick, sensitive serial NMR experiments with Radon transform.

Science.gov (United States)

Dass, Rupashree; Kasprzak, Paweł; Kazimierczuk, Krzysztof

2017-09-01

The Radon transform is a potentially powerful tool for processing the data from serial spectroscopic experiments. It makes it possible to decode the rate at which frequencies of spectral peaks shift under the effect of changing conditions, such as temperature, pH, or solvent. In this paper we show how it also improves speed and sensitivity, especially in multidimensional experiments. This is particularly important in the case of low-sensitivity techniques, such as NMR spectroscopy. As an example, we demonstrate how Radon transform processing allows serial measurements of 15 N-HSQC spectra of unlabelled peptides that would otherwise be infeasible. Copyright © 2017 Elsevier Inc. All rights reserved.

Investigation towards link-enriched video: user information needs for environmental opinion-forming and decision-making

NARCIS (Netherlands)

A.C. Palumbo

2012-01-01

htmlabstractLink-enriched video can support users in processes of environmental opinion-forming and decision-making. For this, audiovisual content must be represented and annotated to enable automatic link generation and computer manipulation. Given the time and budget constraints of

Compliant Aerial Manipulators

DEFF Research Database (Denmark)

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

2016-01-01

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

Serial analysis of gene expression (SAGE)

NARCIS (Netherlands)

van Ruissen, Fred; Baas, Frank

2007-01-01

In 1995, serial analysis of gene expression (SAGE) was developed as a versatile tool for gene expression studies. SAGE technology does not require pre-existing knowledge of the genome that is being examined and therefore SAGE can be applied to many different model systems. In this chapter, the SAGE

Auditory distraction and serial memory: The avoidable and the ineluctable

Directory of Open Access Journals (Sweden)

Dylan M Jones

2010-01-01

Full Text Available One mental activity that is very vulnerable to auditory distraction is serial recall. This review of the contemporary findings relating to serial recall charts the key determinants of distraction. It is evident that there is one form of distraction that is a joint product of the cognitive characteristics of the task and of the obligatory cognitive processing of the sound. For sequences of sound, distraction appears to be an ineluctable product of similarity-of-process, specifically, the serial order processing of the visually presented items and the serial order coding that is the by-product of the streaming of the sound. However, recently emerging work shows that the distraction from a single sound (one deviating from a prevailing sequence results in attentional capture and is qualitatively distinct from that of a sequence in being restricted in its action to encoding, not to rehearsal of list members. Capture is also sensitive to the sensory task load, suggesting that it is subject to top-down control and therefore avoidable. These two forms of distraction-conflict of process and attentional capture-may be two consequences of auditory perceptual organization processes that serve to strike the optimal balance between attentional selectivity and distractability.

Piezoelectric micromotor based on the structure of serial bending arms.

Science.gov (United States)

Tong, Jianhua; Cui, Tianhong; Shao, Peige; Wang, Liding

2003-09-01

This paper presents a new piezoelectric micromotor based on the structure of serial bending arms. Serial bending arms are composed of two piezoelectric bimorphs with one end fixed and the other end free, driven by two signals of a biased square wave with a phase difference of pi/2. The free end of a cantilever arm will move along an elliptic orbit so that the cantilever is used to drive a cylinder rotor. The rotor's end surface contacts the free end of the cantilever, resulting in the rotor's rotation. There are six serial bending arms anchored on the base. The driving mechanism of the micromotor is proposed and analyzed. A new micromotor prototype, 5 mm in diameter, has been fabricated and characterized. The maximum rotational speed reaches 325 rpm, and the output torque is about 36.5 microNm.

Serial position learning in honeybees.

Directory of Open Access Journals (Sweden)

Randolf Menzel

Full Text Available Learning of stimulus sequences is considered as a characteristic feature of episodic memory since it contains not only a particular item but also the experience of preceding and following events. In sensorimotor tasks resembling navigational performance, the serial order of objects is intimately connected with spatial order. Mammals and birds develop episodic(-like memory in serial spatio-temporal tasks, and the honeybee learns spatio-temporal order when navigating between the nest and a food source. Here I examine the structure of the bees' memory for a combined spatio-temporal task. I ask whether discrimination and generalization are based solely on simple forms of stimulus-reward learning or whether they require sequential configurations. Animals were trained to fly either left or right in a continuous T-maze. The correct choice was signaled by the sequence of colors (blue, yellow at four positions in the access arm. If only one of the possible 4 signals is shown (either blue or yellow, the rank order of position salience is 1, 2 and 3 (numbered from T-junction. No learning is found if the signal appears at position 4. If two signals are shown, differences at positions 1 and 2 are learned best, those at position 3 at a low level, and those at position 4 not at all. If three or more signals are shown these results are corroborated. This salience rank order again appeared in transfer tests, but additional configural phenomena emerged. Most of the results can be explained with a simple model based on the assumption that the four positions are equipped with different salience scores and that these add up independently. However, deviations from the model are interpreted by assuming stimulus configuration of sequential patterns. It is concluded that, under the conditions chosen, bees rely most strongly on memories developed during simple forms of associative reward learning, but memories of configural serial patterns contribute, too.

Understanding pharmaceutical research manipulation in the context of accounting manipulation.

Science.gov (United States)

Brown, Abigail

2013-01-01

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

An evolutionary resolution of manipulation conflict.

Science.gov (United States)

González-Forero, Mauricio

2014-07-01

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

A variable geometry truss manipulator for positioning large payloads

International Nuclear Information System (INIS)

Stoughton, R.S.; Tucker, J.C.; Horner, C.G.

1995-02-01

A major thrust within the Department of Energy's (DOE) Decontamination and Dismantling (D ampersand D) Robotics program is the development of a Selective Equipment Removal System (SERS). SERS will consist of a mobile vehicle, a Dual-Arm Work Module (DAWM), and a deployment manipulator capable of extending the DAWM up to 6.096m (20) from the vehicle. The DAWM, built by RedZone Robotics, includes two Schilling Titan II manipulators, a unique five degree-of-freedom (DOF) module for positioning/orienting the two Schilling arms, and a massive steel backplane to maintain structural rigidity. Together with its payload, the DAWM weighs about 975 kg (2150 pounds). In order to accurately position the DAWM, the Pacific Northwest Laboratory (PNL) together with the National Aeronautics and Space Administration's Langley Research Center (NASA LARC) are developing a deployment manipulator, which includes two double-octahedral Variable Geometry Truss (VGT) modules connected with a static truss section. The entire SERS system (Figure 1) will include the mobile vehicle, a 2-DOF base actuation system (waist rotate and pitch) with an output link approximately 2.134m (7) in length, the VGT system and the DAWM. The VGT system (Figure 2) consists of a 1.067m (42) diameter (∼1.346m (53) long) base VGT, which mounts to the end of the output link of the base actuation system, a 1.524m (60) long static truss section which tapers from 1.067m (42) diameter at its base to 0.8128m (32) diameter at the end, and a 0.8128m (32) diameter (∼1.0922m (43) long) tip VGT to which the DAWM is mounted. The stiffness of the VGT system is such that with the base VGT mounted to a rigid base and the VGT system oriented horizontally (worst case), the static deflection of the DAWM together with full payload will be less than 0.0254m

Advances in Serials Management. Volume 6.

Science.gov (United States)

Hepfer, Cindy, Ed.; Gammon, Julia, Ed.; Malinowski, Teresa, Ed.

In order to further discussion and support constructive change, this volume presents the following eight papers on various dimensions of serials management: (1) "CD-ROMs, Surveys, and Sales: The OSA [Optical Society of America] Experience" (Frank E. Harris and Alan Tourtlotte); (2) "Management and Integration of Electronic Journals into the…

Impact of Serials Management, Access and Use on Publication Output of Lecturers in Nigerian Universities

Science.gov (United States)

Akinbode, Rahmon O. Onaolapo; Nwalo, Kenneth Ivo Ngozi

2017-01-01

This study investigates serials management in university libraries, determines the extent to which serials are accessed and used and appraises the influence of availability, accessibility and use of serials on publications output of lecturers in federal universities in Nigeria. Questionnaire administration method was adopted to accumulate data for…

A novel magnetorheological damper based parallel planar manipulator design

International Nuclear Information System (INIS)

Hoyle, A; Arzanpour, S; Shen, Y

2010-01-01

This paper presents a novel parallel planar robot design which is low cost and simple in structure. The design addresses some of the problems, such as concentration of excessive load on the links and joints, due to wrong commanding signals being given by the controller. In this application two of the conventional actuators are replaced by magnetorheological (MR) dampers, and only one actuator is used to generate motion. The design paradigm is based on the concept that a moving object 'intuitively' follows the path with minimum resistance to its motion. This implies that virtual adoptable constraints can be used effectively to define motion trajectories. In fact, motion generation and adaptive constraints are two elements essential to implementing this strategy. In this paper, MR dampers are used to provide adjustable constraints and to guide the platform that is moved by the linear motor. The model of the MR dampers is derived using the Bouc–Wen model. This model is then used for manipulator simulation and controller design. Two controllers are developed for this manipulator: (1) a closed loop on/off one and (2) a proportional–derivative controller. Also, three different trajectories are defined and used for both the simulations and experiments. The results indicate a good agreement between the simulations and experiments. The experimental results also demonstrate the capability of the manipulator for following sophisticated trajectories

Fungal myositis in children: serial ultrasonographic findings

Energy Technology Data Exchange (ETDEWEB)

Kwon, Jung Hwa; Lee, Hee Jung; Choi, Jin Soo [Keimyung University School of Medicine, Daegu (Korea, Republic of)

2003-08-01

To evaluate serial ultrasonographic findings of fungal myositis in children. Eleven lesions caused by fungal myositis and occurring in six children were included in this study. Eight lesions in five children were histopathologically proven and the other three were clinically diagnosed. Serial ultrasonographic findings were retrospectively evaluated in terms of size, location, margin, internal echotexture and adjacent cortical change occurring during the follow-up period ranging from five days to two months. Three patients (50%) had multiple lesions. The sites of involvment were the thigh (n=4), calf (n=3), chest wall (n=2), abdominal wall (n=1) and forearm (n=1). Initially, diffuse muscular swelling was revealed, with ill-defined hypoechoic lesions confined to the muscle layer (n=8). Follow-up examination of eight lesions over a period of 5-10 days showed that round central echogenic lesions were surrounded by previous slightly echogenic lesions (n=6, 75%). Long-term follow-up of five lesions over a two-month period revealed periosteal thickening in one case (20%), and the peristence of echogenic solid nodules in four (80%). Pathologic examination showed that the central lesions correlated with a fungus ball and the peripheral slightly echogenic lesions corresponded to hematoma and necrosis. Serial ultrasonographic findings of fungal myositis in children revealed relatively constant features in each case. In particular, the findings of muscular necrosis and a fungus ball over a period of 5-14 days were thought to be characteristic.

Fungal myositis in children: serial ultrasonographic findings

International Nuclear Information System (INIS)

Kwon, Jung Hwa; Lee, Hee Jung; Choi, Jin Soo

2003-01-01

To evaluate serial ultrasonographic findings of fungal myositis in children. Eleven lesions caused by fungal myositis and occurring in six children were included in this study. Eight lesions in five children were histopathologically proven and the other three were clinically diagnosed. Serial ultrasonographic findings were retrospectively evaluated in terms of size, location, margin, internal echotexture and adjacent cortical change occurring during the follow-up period ranging from five days to two months. Three patients (50%) had multiple lesions. The sites of involvment were the thigh (n=4), calf (n=3), chest wall (n=2), abdominal wall (n=1) and forearm (n=1). Initially, diffuse muscular swelling was revealed, with ill-defined hypoechoic lesions confined to the muscle layer (n=8). Follow-up examination of eight lesions over a period of 5-10 days showed that round central echogenic lesions were surrounded by previous slightly echogenic lesions (n=6, 75%). Long-term follow-up of five lesions over a two-month period revealed periosteal thickening in one case (20%), and the peristence of echogenic solid nodules in four (80%). Pathologic examination showed that the central lesions correlated with a fungus ball and the peripheral slightly echogenic lesions corresponded to hematoma and necrosis. Serial ultrasonographic findings of fungal myositis in children revealed relatively constant features in each case. In particular, the findings of muscular necrosis and a fungus ball over a period of 5-14 days were thought to be characteristic

Manipulation, salience, and nudges.

Science.gov (United States)

Noggle, Robert

2018-03-01

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

Race as Seriality: A Response to David Benatar and Zimitri Erasmus

Science.gov (United States)

Gouws, A.

2010-01-01

In this article I draw on the Sarte's notion of "seriality" as theorized in his book "Dialectic of Reason" and as interpreted by Iris Marion Young. I argue that seriality can be used to escape the false essentialism and identity politics of race as a category for admissions to universities. A series is a social collective whose members are unified…

A high speed serializer ASIC for ATLAS Liquid Argon calorimeter upgrade

CERN Document Server

Liu, T; The ATLAS collaboration

2014-01-01

We have been developing a serializer application-specific integrated circuit (ASIC) based on a commercial 0.25-μm silicon-on-sapphire (SOS) CMOS technology for the ATLAS liquid argon calorimeter front-end electronics upgrade. The first prototype, a 5 Gbps 16:1 serializer has been designed, fabricated, and tested in lab environment and in 200 MeV proton beam. The test results indicate that the first prototype meets the design goals. The second prototype, a double-lane, 8 Gbps per lane serializer is under development. The post layout simulation indicates that 8 Gbps is achievable. In this paper we present the design and the test results of the first prototype and the design and status of the second prototype.

Facial rejuvenation: Serial fat graft transfer

African Journals Online (AJOL)

Saad Mohamed Saad Ibrahiem

2016-02-01

Feb 1, 2016 ... This a clinical study carried out to test the aesthetic outcome of serial injection of the cryo-preserved fat cells for both aesthetic and reconstructive purposes. Methods: Clinical ..... ucts, devices, or drugs mentioned in this manuscript that might create a ... Adipose stem cells and regenerative medicine. 7th ed.

Cell manipulation in microfluidics

International Nuclear Information System (INIS)

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

2013-01-01

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

Manipulator comparative testing program

International Nuclear Information System (INIS)

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

1986-01-01

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

A SiGe Quadrature Pulse Modulator for Superconducting Qubit State Manipulation

Science.gov (United States)

Kwende, Randy; Bardin, Joseph

Manipulation of the quantum states of microwave superconducting qubits typically requires the generation of coherent modulated microwave pulses. While many off-the-shelf instruments are capable of generating such pulses, a more integrated approach is likely required if fault-tolerant quantum computing architectures are to be implemented. In this work, we present progress towards a pulse generator specifically designed to drive superconducing qubits. The device is implemented in a commercial silicon process and has been designed with energy-efficiency and scalability in mind. Pulse generation is carried out using a unique approach in which modulation is applied directly to the in-phase and quadrature components of a carrier signal in the 1-10 GHz frequency range through a unique digital-analog conversion process designed specifically for this application. The prototype pulse generator can be digitally programmed and supports sequencing of pulses with independent amplitude and phase waveforms. These amplitude and phase waveforms can be digitally programmed through a serial programming interface. Detailed performance of the pulse generator at room temperature and 4 K will be presented.

Smart grid serialization comparison: Comparision of serialization for distributed control in the context of the Internet of Things

DEFF Research Database (Denmark)

Petersen, Bo Søborg; Bindner, Henrik W.; You, Shi

2017-01-01

within a given timeframe, especially in the context of the Internet of Things, using low-bandwidth data connections and constrained devices. The paper shows that there are better alternatives than XML & JAXB and gives guidance in choosing the most appropriate serialization format and library depending...

Analysis of aging in lager brewing yeast during serial repitching.

Science.gov (United States)

Bühligen, Franziska; Lindner, Patrick; Fetzer, Ingo; Stahl, Frank; Scheper, Thomas; Harms, Hauke; Müller, Susann

2014-10-10

Serial repitching of brewing yeast inoculates is an important economic factor in the brewing industry, as their propagation is time and resource intensive. Here, we investigated whether replicative aging and/or the population distribution status changed during serial repitching in three different breweries with the same brewing yeast strain but different abiotic backgrounds and repitching regimes with varying numbers of reuses. Next to bud scar numbers the DNA content of the Saccharomyces pastorianus HEBRU cells was analyzed. Gene expression patterns were investigated using low-density microarrays with genes for aging, stress, storage compound metabolism and cell cycle. Two breweries showed a stable rejuvenation rate during serial repitching. In a third brewery the fraction of virgin cells varied, which could be explained with differing wort aeration rates. Furthermore, the number of bud scars per cell and cell size correlated in all 3 breweries throughout all runs. Transcriptome analyses revealed that from the 6th run on, mainly for the cells positive gene expression could be seen, for example up-regulation of trehalose and glycogen metabolism genes. Additionally, the cells' settling in the cone was dependent on cell size, with the lowest and the uppermost cone layers showing the highest amount of dead cells. In general, cells do not progressively age during extended serial repitching. Copyright © 2014 Elsevier B.V. All rights reserved.

Native sulfur/chlorine SAD phasing for serial femtosecond crystallography

International Nuclear Information System (INIS)

Nakane, Takanori; Song, Changyong; Suzuki, Mamoru; Nango, Eriko; Kobayashi, Jun; Masuda, Tetsuya; Inoue, Shigeyuki; Mizohata, Eiichi; Nakatsu, Toru; Tanaka, Tomoyuki; Tanaka, Rie; Shimamura, Tatsuro; Tono, Kensuke; Joti, Yasumasa; Kameshima, Takashi; Hatsui, Takaki; Yabashi, Makina; Nureki, Osamu; Iwata, So; Sugahara, Michihiro

2015-01-01

Sulfur SAD phasing facilitates the structure determination of diverse native proteins using femtosecond X-rays from free-electron lasers via serial femtosecond crystallography. Serial femtosecond crystallography (SFX) allows structures to be determined with minimal radiation damage. However, phasing native crystals in SFX is not very common. Here, the structure determination of native lysozyme from single-wavelength anomalous diffraction (SAD) by utilizing the anomalous signal of sulfur and chlorine at a wavelength of 1.77 Å is successfully demonstrated. This sulfur SAD method can be applied to a wide range of proteins, which will improve the determination of native crystal structures

On the Performance of the Python Programming Language for Serial and Parallel Scientific Computations

Directory of Open Access Journals (Sweden)

Xing Cai

2005-01-01

Full Text Available This article addresses the performance of scientific applications that use the Python programming language. First, we investigate several techniques for improving the computational efficiency of serial Python codes. Then, we discuss the basic programming techniques in Python for parallelizing serial scientific applications. It is shown that an efficient implementation of the array-related operations is essential for achieving good parallel performance, as for the serial case. Once the array-related operations are efficiently implemented, probably using a mixed-language implementation, good serial and parallel performance become achievable. This is confirmed by a set of numerical experiments. Python is also shown to be well suited for writing high-level parallel programs.

Spinal Tissue Loading Created by Different Methods of Spinal Manipulative Therapy Application.

Science.gov (United States)

Funabashi, Martha; Nougarou, François; Descarreaux, Martin; Prasad, Narasimha; Kawchuk, Gregory N

2017-05-01

Comparative study using robotic replication of spinal manipulative therapy (SMT) vertebral kinematics together with serial dissection. The aim of this study was to quantify loads created in cadaveric spinal tissues arising from three different forms of SMT application. There exist many distinct methods by which to apply SMT. It is not known presently whether different forms of SMT application have different effects on spinal tissues. Should the method of SMT application modulate spinal tissue loading, quantifying this relation may help explain the varied outcomes of SMT in terms of effect and safety. SMT was applied to the third lumbar vertebra in 12 porcine cadavers using three SMT techniques: a clinical device that applies forces through a hand-held instrument (INST), a manual technique of applying SMT clinically (MAN) and a research device that applies parameters of manual SMT through a servo-controlled linear actuator motor (SERVO). The resulting kinematics from each SMT application were tracked optically via indwelling bone pins. The L3/L4 segment was then removed, mounted in a parallel robot and the resulting kinematics from SMT replayed for each SMT application technique. Serial dissection of spinal structures was conducted to quantify loading characteristics of discrete spinal tissues. In terms of load magnitude, SMT application with MAN and SERVO created greater forces than INST in all conditions (P < 0.05). Additionally, MAN and SERVO created comparable posterior forces in the intact specimen, but MAN created greater posterior forces on IVD structures compared to SERVO (P < 0.05). Specific methods of SMT application create unique vertebral loading characteristics, which may help explain the varied outcomes of SMT in terms of effect and safety. N/A.

Self-Structured Organizing Single-Input CMAC Control for Robot Manipulator

Directory of Open Access Journals (Sweden)

ThanhQuyen Ngo

2011-09-01

Full Text Available This paper represents a self-structured organizing single-input control system based on differentiable cerebellar model articulation controller (CMAC for an n-link robot manipulator to achieve the high-precision position tracking. In the proposed scheme, the single-input CMAC controller is solely used to control the plant, so the input space dimension of CMAC can be simplified and no conventional controller is needed. The structure of single-input CMAC will also be self-organized; that is, the layers of single-input CMAC will grow or prune systematically and their receptive functions can be automatically adjusted. The online tuning laws of single-input CMAC parameters are derived in gradient-descent learning method and the discrete-type Lyapunov function is applied to determine the learning rates of proposed control system so that the stability of the system can be guaranteed. The simulation results of robot manipulator are provided to verify the effectiveness of the proposed control methodology.

Impaired Processing of Serial Order Determines Working Memory Impairments in Alzheimer's Disease.

Science.gov (United States)

De Belder, Maya; Santens, Patrick; Sieben, Anne; Fias, Wim

2017-01-01

Working memory (WM) problems are commonly observed in Alzheimer's disease (AD), but the affected mechanisms leading to impaired WM are still insufficiently understood. The ability to efficiently process serial order in WM has been demonstrated to be fundamental to fluent daily life functioning. The decreased capability to mentally process serial position in WM has been put forward as the underlying explanation for generally compromised WM performance. Determine which mechanisms, such as order processing, are responsible for deficient WM functioning in AD. A group of AD patients (n = 32) and their partners (n = 25), assigned to the control group, were submitted to an extensive battery of neuropsychological and experimental tasks, assessing general cognitive state and functioning of several aspects related to serial order WM. The results revealed an impaired ability to bind item information to serial position within WM in AD patients compared to controls. It was additionally observed that AD patients experienced specific difficulties with directing spatial attention when searching for item information stored in WM. The processing of serial order and the allocation of attentional resources are both disrupted, explaining the generally reduced WM functioning in AD patients. Further studies should now clarify whether this observation could explain disease-related problems for other cognitive functions such as verbal expression, auditory comprehension, or planning.

Master-slave manipulator

International Nuclear Information System (INIS)

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

1981-01-01

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

Serial Analysis of Gene Expression: Applications in Human Studies

Directory of Open Access Journals (Sweden)

Tuteja Renu

2004-01-01

Full Text Available Serial analysis of gene expression (SAGE is a powerful tool, which provides quantitative and comprehensive expression profile of genes in a given cell population. It works by isolating short fragments of genetic information from the expressed genes that are present in the cell being studied. These short sequences, called SAGE tags, are linked together for efficient sequencing. The frequency of each SAGE tag in the cloned multimers directly reflects the transcript abundance. Therefore, SAGE results in an accurate picture of gene expression at both the qualitative and the quantitative levels. It does not require a hybridization probe for each transcript and allows new genes to be discovered. This technique has been applied widely in human studies and various SAGE tags/SAGE libraries have been generated from different cells/tissues such as dendritic cells, lung fibroblast cells, oocytes, thyroid tissue, B-cell lymphoma, cultured keratinocytes, muscles, brain tissues, sciatic nerve, cultured Schwann cells, cord blood-derived mast cells, retina, macula, retinal pigment epithelial cells, skin cells, and so forth. In this review we present the updated information on the applications of SAGE technology mainly to human studies.

Leadership Manipulation and Ethics in Storytelling

OpenAIRE

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

2013-01-01

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

Serializing off-the-shelf MOSFETs by Magnetically Coupling Their Gate Electrodes

DEFF Research Database (Denmark)

Dimopoulos, Emmanouil; Munk-Nielsen, Stig

2013-01-01

While the semiconductor industry struggles with the inherent trade-offs of solid-state devices, serialization of power switches, like the Metal-Oxide-Semiconductor Field Effect Transistor (MOSFET) or the Insulated Gate Bipolar Transistor (IGBT), has been proven to be an advantageous alternative...... to acquire a high-efficient, high-voltage, fast-switching device. More than twenty years of research, on the serialization of solid-state devices, have resulted into several different stacking concepts. Among the prevailing ones, the gate balancing core technique, which has demonstrated very good performance...... in strings of high-power IGBT modules. In this paper, the limitations of the gate balancing core technique, when employed to serialize low or medium power off-the-shelf switches, are identified via experimental results. A new design specification for the interwinding capacitance of the employed transformer...

Recalling visual serial order for verbal sequences

NARCIS (Netherlands)

Logie, R.H.; Saito, S.; Morita, A.; Varma, S.; Norris, D.

2016-01-01

We report three experiments in which participants performed written serial recall of visually presented verbal sequences with items varying in visual similarity. In Experiments 1 and 2 native speakers of Japanese recalled visually presented Japanese Kanji characters. In Experiment 3, native speakers

A matter of emphasis: Linguistic stress habits modulate serial recall.

Science.gov (United States)

Taylor, John C; Macken, Bill; Jones, Dylan M

2015-04-01

Models of short-term memory for sequential information rely on item-level, feature-based descriptions to account for errors in serial recall. Transposition errors within alternating similar/dissimilar letter sequences derive from interactions between overlapping features. However, in two experiments, we demonstrated that the characteristics of the sequence are what determine the fates of items, rather than the properties ascribed to the items themselves. Performance in alternating sequences is determined by the way that the sequences themselves induce particular prosodic rehearsal patterns, and not by the nature of the items per se. In a serial recall task, the shapes of the canonical "saw-tooth" serial position curves and transposition error probabilities at successive input-output distances were modulated by subvocal rehearsal strategies, despite all item-based parameters being held constant. We replicated this finding using nonalternating lists, thus demonstrating that transpositions are substantially influenced by prosodic features-such as stress-that emerge during subvocal rehearsal.

Serial consolidation of orientation information into visual short-term memory.

Science.gov (United States)

Liu, Taosheng; Becker, Mark W

2013-06-01

Previous research suggests that there is a limit to the rate at which items can be consolidated in visual short-term memory (VSTM). This limit could be due to either a serial or a limited-capacity parallel process. Historically, it has proven difficult to distinguish between these two types of processes. In the present experiment, we took a novel approach that allowed us to do so. Participants viewed two oriented gratings either sequentially or simultaneously and reported one of the gratings' orientation via method of adjustment. Performance was worse for the simultaneous than for the sequential condition. We fit the data with a mixture model that assumes performance is limited by a noisy memory representation plus random guessing. Critically, the serial and limited-capacity parallel processes made distinct predictions regarding the model's guessing and memory-precision parameters. We found strong support for a serial process, which implies that one can consolidate only a single orientation into VSTM at a time.

[Some criminological and psychopathologic reflexions about serial crimes].

Science.gov (United States)

Romi, Juan Carlos

2011-01-01

This article reviews the concept of serial crime, including murder as well as any action for the purpose of inflicting bodily harm upon any person. It characterizes three types of multi-murderers: serial killers, mass murderers, and spree killers. These offenders often have a specific (ritual) behavior that is idiosyncratic and repeated on each crime, which allows the psychological profiling of the murderer. Examples, a psychopathological background, and a description of both their criminal behavior and dynamics are provided for each of these criminals. They are further classified according to their different motivations: psychotic, prophetic or enlightened, pleasure, secondary or pecuniary profits, power or control. Finally, the author shares his personal experience over 20 years in the assessment of sexual offenders.

Serial SPECT in children with partial epilepsy

International Nuclear Information System (INIS)

Hosoya, Machiko; Ushiku, Hideo

1995-01-01

We performed serial single-photon emission CT (SPECT) with N-isopropyl-p-( 123 I)-Iodoamphetamine to measure the regional cerebral blood flow (rCBF) in 15 children with partial epilepsy. SPECT showed focal changes in 14 cases. Ten cases had abnormalities in the initial SPECT and another four cases in the second test. The cases with normal rCBF in initial SPECT had been tested in an early phase after the onset, and then decreased rCBF were observed in the second SPECT. The cases with both abnormal rCBF in the initial SPECT and improved rCBF in the second SPECT showed good prognosis in clinico-electrophysiological evolutions. In cases with abnormal changes of rCBF in the second SPECT, clinical prognosis was found to be not so good. These findings suggest that serial SPECT may be used to follow the course of epilepsy. (author)

Adaptive control of robotic manipulators

Science.gov (United States)

Seraji, H.

1987-01-01

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

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

Directory of Open Access Journals (Sweden)

Moharam Habibnejad Korayem

2012-10-01

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

Using Manipulatives in Math Instruction.

Science.gov (United States)

Marzola, Eileen S.

1987-01-01

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

Woody Allen, serial schlemiel ?

Directory of Open Access Journals (Sweden)

Frédérique Brisset

2011-04-01

Full Text Available Woody Allen a développé au fil des années une persona cinématographique de schlemiel new-yorkais aisément reconnaissable par le spectateur. Elle marque nombre de ses films, qu’il y apparaisse en tant qu’acteur ou y dirige des substituts comédiens comme déclinaisons de lui-même. Si cette figure prototypique est le fondement de la sérialité dans sa filmographie, il est des traits stylistiques qui en portent trace tout au long de son œuvre : la récurrence annuelle de ses réalisations, la signature formelle symbolisée par ses génériques à la typographie singulière, le rythme de ses dialogues ponctués d’interjections et l’usage de l’autocitation sont autant de procédés qui marquent son cinéma d’un sceau très personnel. Ils fonctionnent comme des clins d’œil au spectateur qui reçoit dès lors LE Woody Allen millésimé comme une invitation à retrouver son microcosme. Ainsi la sérialité se pose comme à la fois initiale et conséquentielle de son système filmique, processus de création unique dans le cinéma américain.Woody Allen has long constructed a cinematographic persona of schlemiel New- Yorker that the audience can easily identify. It impacts most of his films, whether he stars in them or directs “substitute” actors to impersonate his character. If this prototypical figure is the basis of seriality in his cinematography, serial stylistic features can also be found all along his career: the annual recurrence of his productions, the formal signature symbolised by the typography of his singular credit titles, his rhythmical interjection-punctuated dialogues and the use of self-quotation imprint a very personal seal upon his movies. They all work as a recognition signals for the audience who thus receive THE Woody Allen vintage as an invitation to re-enter his microcosm. Seriality is then both initial and consequential to his cinematographic system, a unique creative process in American film history.

Juvenility and serial vegetative propagation of Norway spruce clones (Picea abies Karst.).

Science.gov (United States)

J.B. St. Clair; J. Kleinschmit; J. Svolba

1985-01-01

Effects associated with progressive maturation of clones are of greatest concern in clonal tree improvement programs. Serial propagation has been in use at the Lower Saxony Forest Research Institute since 1968 to arrest maturation in Norway spruce clones. By 1980 cuttings were established in the nursery that had been serially propagated from one to five cycles. This...

Balanced articulated manipulator

International Nuclear Information System (INIS)

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

1976-01-01

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

Serials Management In Polytechnic Libraries in Nigeria: A ...

African Journals Online (AJOL)

Serials Management In Polytechnic Libraries in Nigeria: A Comparative Study of Kaduna Polytechnic And Yaba College of Technology Libraries. ... Samaru Journal of Information Studies. Journal Home · ABOUT THIS JOURNAL · Advanced ...

The Functional Determinants of Short-Term Memory: Evidence from Perceptual-Motor Interference in Verbal Serial Recall

Science.gov (United States)

Hughes, Robert W.; Marsh, John E.

2017-01-01

A functional, perceptual-motor, account of serial short-term memory (STM) is examined by investigating the way in which an irrelevant spoken sequence interferes with verbal serial recall. Even with visual list-presentation, verbal serial recall is particularly susceptible to disruption by irrelevant spoken stimuli that have the same identity…

Direct Manipulation in Virtual Reality

Science.gov (United States)

Bryson, Steve

2003-01-01

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

Effect of parental family history of Alzheimer's disease on serial position profiles.

Science.gov (United States)

La Rue, Asenath; Hermann, Bruce; Jones, Jana E; Johnson, Sterling; Asthana, Sanjay; Sager, Mark A

2008-07-01

An exaggerated recency effect (ie, disproportionate recall of last-presented items) has been consistently observed in the word list learning of patients with Alzheimer's disease (AD). Our study sought to determine whether there were similar alterations in serial position learning among asymptomatic persons at risk for AD as a result of parental family history. Subjects included 623 asymptomatic middle-aged children of patients with AD (median, 53 years) and 157 control participants whose parents survived to at least age 70 without AD or other memory disorders. All participants were administered the Rey Auditory Verbal Learning Test, which requires learning and recall of 15 unrelated nouns. There was no significant difference in total words recalled between the AD children and control groups. However, compared with controls, AD children exhibited a significantly greater tendency to recall words from the end (recency) versus beginning (primacy) of the list. Serial position effects were unrelated to apolipoprotein allele epsilon 4 or depressive symptoms. Asymptomatic persons at risk for AD by virtue of family history do not show a difference in total words recalled compared with controls, but they exhibit a distinctly different serial position curve, suggesting greater reliance on immediate as opposed to episodic memory. This is the same serial position pattern observed in mild AD, seen here in reduced severity. Longitudinal follow-up is planned to determine whether changes in serial position patterns are a meaningful marker for preclinical detection of AD.

Neurodevelopmental and psychosocial risk factors in serial killers and mass murderers

OpenAIRE

Allely, Clare S.; Minnis, Helen; Thompson, Lucy; Wilson, Philip; Gillberg, Christopher

2014-01-01

Multiple and serial murders are rare events that have a very profound societal impact. We have conducted a systematic review, following PRISMA guidelines, of both the peer reviewed literature and of journalistic and legal sources regarding mass and serial killings. Our findings tentatively indicate that these extreme forms of violence may be a result of a highly complex interaction of biological, psychological and sociological factors and that, potentially, a significant proportion of mass or...

Malingering, coaching, and the serial position effect.

Science.gov (United States)

Suhr, Julie A

2002-01-01

The normal pattern of performance on list-learning tasks is to recall more words from the beginning (primacy) and end (recency) of the list. This pattern is also seen in patients with closed head injury, but malingerers tend to recall less words from the beginning of word lists, leading to a suppressed primacy effect. The present study examined this pattern on both learning trials and delayed recall of the Auditory Verbal Learning Test (AVLT) in 34 persons performing with normal effort, 38 naive malingerers, 33 warned malingerers, and 29 head-injured patients. Both malingering groups had lower scores on the primacy portion of the list during learning trials, while normals and head-injured patients had normal serial position curves. During delayed recall, normals and head-injured patients did better than the two malingering groups on middle and recency portions of the list. Findings suggest that the serial position effect during learning trials may be a useful pattern of performance to watch for when suspicious of malingering.

Geometric control of manipulators

International Nuclear Information System (INIS)

Thiruarooran, C.

1996-01-01

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

Fault tolerance based on serial communication of FPGA

International Nuclear Information System (INIS)

Peng Jing; Fang Zongliang; Xu Quanzhou; Hu Jiewei; Ma Guizhen

2012-01-01

There maybe appear mistake in serial communication. This paper was described the intellectual detector of γ dose ratemeter communication with FPGA. The software of FPGA designed the code about fault tolerance, prevented mistake effectively. (authors)

Ranking serials in oceanography: An analysis based on the Indian contributions and their citations

Digital Repository Service at National Institute of Oceanography (India)

Tapaswi, M.P.; Maheswarappa, B.S.

An analysis of serials preferred and cited in various communications by the Indian oceanographers during 1963 to 1992 is presented. A shift in preference of serials from general sciences to oceanography (interdisciplinary) and to core subject...

Serial measurements of serum human placental lactogen (hPL) and serial ultrasound examinations in the evaluation of fetal growth

DEFF Research Database (Denmark)

Sørensen, Steen; von Tabouillot, D; Schioler, V

2000-01-01

Serial serum hPL measurements and serial ultrasound fetometry were compared in the evaluation of fetal growth by relating these two parameters to size at birth and to clinical factors known to influence size at birth. The data were from a prospective study of 1000 consecutive pregnant women...... considered to be at risk for fetal growth retardation with retrospective analysis. Serum hPL was measured by radioimmunoassay and fetal weight estimated by ultrasound every 3 weeks during the last trimester. hPL values were expressed as multiples of the median (MoM) and linear regression analysis of the h......PL MoM values was carried out for each pregnancy to find the slope of the line (hPL-slope); at least 3 serum hPL values were required. The estimated fetal weight and weight-for-age at birth was expressed in Z-scores. The individual intrauterine growth velocity was calculated by regression analysis...

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

CSIR Research Space (South Africa)

Dube, C

2011-11-01

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

A serial founder effect model for human settlement out of Africa

OpenAIRE

Deshpande, Omkar; Batzoglou, Serafim; Feldman, Marcus W.; Luca Cavalli-Sforza, L.

2008-01-01

The increasing abundance of human genetic data has shown that the geographical patterns of worldwide genetic diversity are best explained by human expansion out of Africa. This expansion is modelled well by prolonged migration from a single origin in Africa with multiple subsequent serial founding events. We discuss a new simulation model for the serial founder effect out of Africa and compare it with results from previous studies. Unlike previous models, we distinguish colonization events fr...

Improved Inverse Kinematics Algorithm Using Screw Theory for a Six-DOF Robot Manipulator

Directory of Open Access Journals (Sweden)

Qingcheng Chen

2015-10-01

Full Text Available Based on screw theory, a novel improved inverse-kinematics approach for a type of six-DOF serial robot, “Qianjiang I”, is proposed in this paper. The common kinematics model of the robot is based on the Denavit-Hartenberg (D-H notation method while its inverse kinematics has inefficient calculation and complicated solution, which cannot meet the demands of online real-time application. To solve this problem, this paper presents a new method to improve the efficiency of the inverse kinematics solution by introducing the screw theory. Unlike other methods, the proposed method only establishes two coordinates, namely the inertial coordinate and the tool coordinate; the screw motion of each link is carried out based on the inertial coordinate, ensuring definite geometric meaning. Furthermore, we adopt a new inverse kinematics algorithm, developing an improved sub-problem method along with Paden-Kahan sub-problems. This method has high efficiency and can be applied in real-time industrial operation. It is convenient to select the desired solutions directly from among multiple solutions by examining clear geometric meaning. Finally, the effectiveness and reliability performance of the new algorithm are analysed and verified in comparative experiments carried out on the six-DOF serial robot “Qianjiang I”.

Evaluation of Serial Casting for Boys with Duchenne Muscular Dystrophy: A Case Report.

Science.gov (United States)

Carroll, Kate; de Valle, Katy; Kornberg, Andrew; Ryan, Monique; Kennedy, Rachel

2018-02-01

To report the effects of below-knee serial casting in two boys with Duchenne muscular dystrophy who presented with well-preserved strength and calf shortening. Bilateral below-knee serial casts were applied over two weeks with follow-up of daily stretching and wearing of customized night splints. Outcome measures were performed at baseline, 1, 3, 6, and 12 months post-casting. These included measures of calf length, leg strength, motor function, endurance, and spatio-temporal gait parameters. Both boys completed serial casting with gains in muscle length. No adverse effects on strength or motor function were observed over a 12-month follow-up period.

Accurate nonlinear modeling for flexible manipulators using mixed finite element formulation in order to obtain maximum allowable load

Energy Technology Data Exchange (ETDEWEB)

Esfandiar, Habib; KoraYem, Moharam Habibnejad [Islamic Azad University, Tehran (Iran, Islamic Republic of)

2015-09-15

In this study, the researchers try to examine nonlinear dynamic analysis and determine Dynamic load carrying capacity (DLCC) in flexible manipulators. Manipulator modeling is based on Timoshenko beam theory (TBT) considering the effects of shear and rotational inertia. To get rid of the risk of shear locking, a new procedure is presented based on mixed finite element formulation. In the method proposed, shear deformation is free from the risk of shear locking and independent of the number of integration points along the element axis. Dynamic modeling of manipulators will be done by taking into account small and large deformation models and using extended Hamilton method. System motion equations are obtained by using nonlinear relationship between displacements-strain and 2nd PiolaKirchoff stress tensor. In addition, a comprehensive formulation will be developed to calculate DLCC of the flexible manipulators during the path determined considering the constraints end effector accuracy, maximum torque in motors and maximum stress in manipulators. Simulation studies are conducted to evaluate the efficiency of the method proposed taking two-link flexible and fixed base manipulators for linear and circular paths into consideration. Experimental results are also provided to validate the theoretical model. The findings represent the efficiency and appropriate performance of the method proposed.

Accurate nonlinear modeling for flexible manipulators using mixed finite element formulation in order to obtain maximum allowable load

International Nuclear Information System (INIS)

Esfandiar, Habib; KoraYem, Moharam Habibnejad

2015-01-01

In this study, the researchers try to examine nonlinear dynamic analysis and determine Dynamic load carrying capacity (DLCC) in flexible manipulators. Manipulator modeling is based on Timoshenko beam theory (TBT) considering the effects of shear and rotational inertia. To get rid of the risk of shear locking, a new procedure is presented based on mixed finite element formulation. In the method proposed, shear deformation is free from the risk of shear locking and independent of the number of integration points along the element axis. Dynamic modeling of manipulators will be done by taking into account small and large deformation models and using extended Hamilton method. System motion equations are obtained by using nonlinear relationship between displacements-strain and 2nd PiolaKirchoff stress tensor. In addition, a comprehensive formulation will be developed to calculate DLCC of the flexible manipulators during the path determined considering the constraints end effector accuracy, maximum torque in motors and maximum stress in manipulators. Simulation studies are conducted to evaluate the efficiency of the method proposed taking two-link flexible and fixed base manipulators for linear and circular paths into consideration. Experimental results are also provided to validate the theoretical model. The findings represent the efficiency and appropriate performance of the method proposed.

Serial network simplifies the design of multiple microcomputer systems

Energy Technology Data Exchange (ETDEWEB)

Folkes, D.

1981-01-01

Recently there has been a lot of interest in developing network communication schemes for carrying digital data between locally distributed computing stations. Many of these schemes have focused on distributed networking techniques for data processing applications. These applications suggest the use of a serial, multipoint bus, where a number of remote intelligent units act as slaves to a central or host computer. Each slave would be serially addressable from the host and would perform required operations upon being addressed by the host. Based on an MK3873 single-chip microcomputer, the SCU 20 is designed to be such a remote slave device. The capabilities of the SCU 20 and its use in systems applications are examined.

Serial murder in America: case studies of seven offenders.

Science.gov (United States)

Beasley, James O

2004-01-01

This article summarizes and compares information on seven interviewed serial killers in an ongoing project designed to study similarities and differences among these individuals. The aim of this article is to increase our collective knowledge of the dynamics of serial murder by examining the perpetrators' backgrounds, as well as the unique ways in which they view themselves and the world around them. Although qualitative interview research alone is not sufficient to fully understand such behavior, it is useful in many ways. Some of the information discussed based on the seven offenders interviewed is compared with broader epidemiological studies, and the strengths and limitations of each type of research are discussed. Published in 2004 by John Wiley & Sons, Ltd.

Selectively starving cancer cells through dietary manipulation: methods and clinical implications.

Science.gov (United States)

Simone, Brittany A; Champ, Colin E; Rosenberg, Anne L; Berger, Adam C; Monti, Daniel A; Dicker, Adam P; Simone, Nicole L

2013-07-01

As the link between obesity and metabolic syndrome and cancer becomes clearer, the need to determine the optimal way to incorporate dietary manipulation in the treatment of cancer patients becomes increasingly important. Metabolic-based therapies, such as caloric restriction, intermittent fasting and a ketogenic diet, have the ability to decrease the incidence of spontaneous tumors and slow the growth of primary tumors, and may have an effect on distant metastases in animal models. Despite the abundance of preclinical data demonstrating the benefit of dietary modification for cancer, to date there are few clinical trials targeting diet as an intervention for cancer patients. We hypothesize that this may be due, in part, to the fact that several different types of diet modification exist with no clear recommendations regarding the optimal method. This article will delineate three commonly used methods of dietary manipulation to assess the potential of each as a regimen for cancer therapy.

The impact of an implicit manipulation of self-esteem on body dissatisfaction.

Science.gov (United States)

Svaldi, J; Zimmermann, S; Naumann, E

2012-03-01

Given the theoretically postulated causal pathway from low self-esteem on body dissatisfaction, the aim of the present study was to experimentally test this linkage before and after a mirror exposure in body dissatisfied females. Thirty-six women with high body dissatisfaction (HBD) and 39 women with low body dissatisfaction (LBD) received either a positive or a negative implicit manipulation of self-esteem and participants' actual body dissatisfaction and negative emotions were assessed (T1). Following that, they underwent a one minute mirror exposure and actual body dissatisfaction and emotions were assessed once more (T2). In the HBD group no effects of the self-esteem manipulation were found prior to the mirror exposure. However, the negative manipulation of self-esteem led to a significant increase of body dissatisfaction over the course of the mirror exposure. The positive manipulation of self-esteem did not decrease body dissatisfaction over the course of the mirror exposure. No effects of self-esteem on body dissatisfaction were found in the LBD group. Formal eating disorder diagnosis in study participants was not established. Therefore, the extension of the results to an eating disordered population is recommended. The results yield evidence of a close linkage between negative self-esteem and body dissatisfaction in individuals high on body dissatisfaction. Consistent with cognitive theories, this link is only apparent when shape and weight schemas are activated, e.g. by the confrontation with one's own body. Copyright © 2011 Elsevier Ltd. All rights reserved.

Cognitive, emotional and social markers of serial murdering.

Science.gov (United States)

Angrilli, Alessandro; Sartori, Giuseppe; Donzella, Giovanna

2013-01-01

Although criminal psychopathy is starting to be relatively well described, our knowledge of the characteristics and scientific markers of serial murdering is still very poor. A serial killer who murdered more than five people, KT, was administered a battery of standardized tests aimed at measuring neuropsychological impairment and social/emotional cognition deficits. KT exhibited a striking dissociation between a high level of emotional detachment and a low score on the antisocial behavior scale on the Psychopathy Checklist-Revised (PCL-R). The Minnesota Multiphasic Personality Inventory-2 showed a normal pattern with the psychotic triad at borderline level. KT had a high intelligence score and showed almost no impairment in cognitive tests sensitive to frontal lobe dysfunction (Wisconsin Card Sorting Test, Theory of Mind, Tower of London, this latter evidenced a mild impairment in planning performance). In the tests on moral, emotional and social cognition, his patterns of response differed from matched controls and from past reports on criminal psychopaths as, unlike these individuals, KT exhibited normal recognition of fear and a relatively intact knowledge of moral rules but he was impaired in the recognition of anger, embarrassment and conventional social rules. The overall picture of KT suggests that serial killing may be closer to normality than psychopathy defined according to either the DSM IV or the PCL-R, and it would be characterized by a relatively spared moral cognition and selective deficits in social and emotional cognition domains.

Evidence for spontaneous serial refreshing in verbal working memory?

Science.gov (United States)

Vergauwe, Evie; Langerock, Naomi; Cowan, Nelson

2018-04-01

Working memory (WM) keeps information temporarily accessible for ongoing cognition. One proposed mechanism to keep information active in WM is refreshing. This mechanism is assumed to operate by bringing memory items into the focus of attention, thereby serially refreshing the content of WM. We report two experiments in which we examine evidence for the spontaneous occurrence of serial refreshing in verbal WM. Participants had to remember series of red letters, while black probe letters were presented between these memory items, with each probe to be judged present in or absent from the list presented so far, as quickly as possible (i.e., the probe-span task). Response times to the probes were used to infer the status of the representations in WM and, in particular, to examine whether the content of the focus of attention changed over time, as would be expected if serial refreshing occurs spontaneously during inter-item pauses. In sharp contrast with this hypothesis, our results indicate that the last-presented memory item remained in the focus of attention during the inter-item pauses of the probe-span task. We discuss how these findings help to define the boundary conditions of spontaneous refreshing of verbal material in WM, and discuss implications for verbal WM maintenance and forgetting.

In Praise of Manipulation

NARCIS (Netherlands)

Dowding, Keith; Van Hees, Martin

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

Powered manipulator control arm

International Nuclear Information System (INIS)

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

1975-01-01

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

The direct manipulation shell

International Nuclear Information System (INIS)

Allen, M.E.; Christiansen, M.

1992-01-01

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

Image manipulation as research misconduct.

Science.gov (United States)

Parrish, Debra; Noonan, Bridget

2009-06-01

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

Long-reach manipulators for decommissioning

International Nuclear Information System (INIS)

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

1993-01-01

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

The Manipulative Discourse of Gandalf

Directory of Open Access Journals (Sweden)

Farid Mohammadi

2014-07-01

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

Cross-domain interference costs during concurrent verbal and spatial serial memory tasks are asymmetric

NARCIS (Netherlands)

Morey, Candice C.; Mall, Jonathan T.

2012-01-01

Some evidence suggests that memory for serial order is domain-general. Evidence also points to asymmetries in interference between verbal and visual-spatial tasks. We confirm that concurrently remembering verbal and spatial serial lists provokes substantial interference compared with remembering a

Phonological similarity and orthographic similarity affect probed serial recall of Chinese characters.

Science.gov (United States)

Lin, Yi-Chen; Chen, Hsiang-Yu; Lai, Yvonne C; Wu, Denise H

2015-04-01

The previous literature on working memory (WM) has indicated that verbal materials are dominantly retained in phonological representations, whereas other linguistic information (e.g., orthography, semantics) only contributes to verbal WM minimally, if not negligibly. Although accumulating evidence has suggested that multiple linguistic components jointly support verbal WM, the visual/orthographic contribution has rarely been addressed in alphabetic languages, possibly due to the difficulty of dissociating the effects of word forms from the effects of their pronunciations in relatively shallow orthography. In the present study, we examined whether the orthographic representations of Chinese characters support the retention of verbal materials in this language of deep orthography. In Experiments 1a and 2, we independently manipulated the phonological and orthographic similarity of horizontal and vertical characters, respectively, and found that participants' accuracy of probed serial recall was reduced by both similar pronunciations and shared phonetic radicals in the to-be-remembered stimuli. Moreover, Experiment 1b showed that only the effect of phonological, but not that of orthographic, similarity was affected by concurrent articulatory suppression. Taken together, the present results indicate the indispensable contribution of orthographic representations to verbal WM of Chinese characters, and suggest that the linguistic characteristics of a specific language not only determine long-term linguistic-processing mechanisms, but also delineate the organization of verbal WM for that language.

Hydraulic manipulator

International Nuclear Information System (INIS)

Sinha, A.K.; Srikrishnamurty, G.

1990-01-01

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

Nanoflow electrospinning serial femtosecond crystallography

Science.gov (United States)

Sierra, Raymond G.; Laksmono, Hartawan; Kern, Jan; Tran, Rosalie; Hattne, Johan; Alonso-Mori, Roberto; Lassalle-Kaiser, Benedikt; Glöckner, Carina; Hellmich, Julia; Schafer, Donald W.; Echols, Nathaniel; Gildea, Richard J.; Grosse-Kunstleve, Ralf W.; Sellberg, Jonas; McQueen, Trevor A.; Fry, Alan R.; Messerschmidt, Marc M.; Miahnahri, Alan; Seibert, M. Marvin; Hampton, Christina Y.; Starodub, Dmitri; Loh, N. Duane; Sokaras, Dimosthenis; Weng, Tsu-Chien; Zwart, Petrus H.; Glatzel, Pieter; Milathianaki, Despina; White, William E.; Adams, Paul D.; Williams, Garth J.; Boutet, Sébastien; Zouni, Athina; Messinger, Johannes; Sauter, Nicholas K.; Bergmann, Uwe; Yano, Junko; Yachandra, Vittal K.; Bogan, Michael J.

2012-01-01

An electrospun liquid microjet has been developed that delivers protein microcrystal suspensions at flow rates of 0.14–3.1 µl min−1 to perform serial femtosecond crystallography (SFX) studies with X-ray lasers. Thermolysin microcrystals flowed at 0.17 µl min−1 and diffracted to beyond 4 Å resolution, producing 14 000 indexable diffraction patterns, or four per second, from 140 µg of protein. Nanoflow electrospinning extends SFX to biological samples that necessitate minimal sample consumption. PMID:23090408

Serial CT scans and Menkes' kinky hair disease

International Nuclear Information System (INIS)

Nakada, Eizo; Kameyama, Junji; Yoshimitsu, Hajime; Mori, Mikio; Tanaka, Mutsuo; Yoshimitsu, Kazunori.

1988-01-01

Menkes' kinky hair disease is a sex-linked recessive disorder of copper metabolism, characterized by progressive psychomotor deterioration, seizures, and peculiar hair structure. We examined serial CT scans of patients with this disease. A 2,210-g male infant was delivered after an uneventful gestation of 36 weeks. His one-minute Apgar score was 9. His uncle had died at 1 year of age. His first cousin was also diagnosed as having Menkes' kinky hair disease when our patient was 2 years old. Shortly after birth he had mild respiratory distress. At 5 days of age, he developed setting-sun signs. The first CT scan, at 10 days of age, revealed mild posterior fossa hemorrhages. At 3 months of age, myoclonic seizures began, and the CT scan revealed subdural effusion and mild brain atrophy. The seizures were controllable by using phenobarbital, valproic acid, and nitrazepam. He did not follow light or a fixate, but the fundi were normal. He was diffusely hypotonic. At 9 months of age, the seizures became uncontrollable. The CT scans at 15 and 31 months of age showed subdural hemorrhage and/or brain atrophy. At 15 months of age, the serum copper level was 42 μ g/dl, while the serum ceruloplasmin level was 3.2 mg/dl. He exhibited severe developmental failure. At 4 years of age, he died. (author)

Identification of Bodies by Unique Serial Numbers on Implanted Medical Devices.

Science.gov (United States)

Blessing, Melissa M; Lin, Peter T

2018-05-01

Visual identification is the most common identification method used by medical examiners but is not always possible. Alternative methods include X-ray, fingerprint, or DNA comparison, but these methods require additional resources. Comparison of serial numbers on implanted medical devices is a rapid and definitive method of identification. To assess the practicality of using this method, we reviewed 608 consecutive forensic autopsies performed at a regional medical examiner office. Of these, 56 cases required an alternative method of identification due to decomposition (n = 35), gunshot wound (n = 9), blunt trauma (n = 6), or charring (n = 6). Of these 56 cases, eight (14.3%) were known to have an implanted medical device. Of these eight cases, five (63%) could be positively identified by comparing serial numbers. If an implanted medical device is known to be present, and medical records are available, identification by medical device serial number should be a first-line method. © 2017 American Academy of Forensic Sciences.

Serial casting for elbow flexion contractures in neonatal brachial plexus palsy.

Science.gov (United States)

Duijnisveld, B J; Steenbeek, D; Nelissen, R G H H

2016-09-02

The objective of this study was to evaluate the effectiveness of serial casting of elbow flexion contractures in neonatal brachial plexus palsy. A prospective consecutive cohort study was performed with a median follow-up of 5 years. Forty-one patients with elbow flexion contractures ≥ 30° were treated with serial casting until the contracture was ≤ 10°, for a maximum of 8 weeks. Range of motion, number of recurrences and patient satisfaction were recorded and analyzed using Wilcoxon signed-rank and Cox regression tests. Passive extension increased from a median of -40° (IQR -50 to -30) to -15° (IQR -10 to -20, p casting had to be prematurely replaced by night splinting due to complaints. Serial casting improved elbow flexion contractures, although recurrences were frequent. The severity of elbow flexion contracture is a predictor of recurrence. We recommend more research on muscle degeneration and determinants involved in elbow flexion contractures to improve treatment strategies and prevent side-effects.

CLIMAN - a mobile manipulator concept

International Nuclear Information System (INIS)

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

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

Interpersonal relationship manipulation at a personal level

Directory of Open Access Journals (Sweden)

Andreja Hribernik

2010-12-01

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

A Velocity-Level Bi-Criteria Optimization Scheme for Coordinated Path Tracking of Dual Robot Manipulators Using Recurrent Neural Network.

Science.gov (United States)

Xiao, Lin; Zhang, Yongsheng; Liao, Bolin; Zhang, Zhijun; Ding, Lei; Jin, Long

2017-01-01

A dual-robot system is a robotic device composed of two robot arms. To eliminate the joint-angle drift and prevent the occurrence of high joint velocity, a velocity-level bi-criteria optimization scheme, which includes two criteria (i.e., the minimum velocity norm and the repetitive motion), is proposed and investigated for coordinated path tracking of dual robot manipulators. Specifically, to realize the coordinated path tracking of dual robot manipulators, two subschemes are first presented for the left and right robot manipulators. After that, such two subschemes are reformulated as two general quadratic programs (QPs), which can be formulated as one unified QP. A recurrent neural network (RNN) is thus presented to solve effectively the unified QP problem. At last, computer simulation results based on a dual three-link planar manipulator further validate the feasibility and the efficacy of the velocity-level optimization scheme for coordinated path tracking using the recurrent neural network.

LabVIEW Serial Driver Software for an Electronic Load

Science.gov (United States)

Scullin, Vincent; Garcia, Christopher

2003-01-01

A LabVIEW-language computer program enables monitoring and control of a Transistor Devices, Inc., Dynaload WCL232 (or equivalent) electronic load via an RS-232 serial communication link between the electronic load and a remote personal computer. (The electronic load can operate at constant voltage, current, power consumption, or resistance.) The program generates a graphical user interface (GUI) at the computer that looks and acts like the front panel of the electronic load. Once the electronic load has been placed in remote-control mode, this program first queries the electronic load for the present values of all its operational and limit settings, and then drops into a cycle in which it reports the instantaneous voltage, current, and power values in displays that resemble those on the electronic load while monitoring the GUI images of pushbuttons for control actions by the user. By means of the pushbutton images and associated prompts, the user can perform such operations as changing limit values, the operating mode, or the set point. The benefit of this software is that it relieves the user of the need to learn one method for operating the electronic load locally and another method for operating it remotely via a personal computer.

Different-Level Simultaneous Minimization Scheme for Fault Tolerance of Redundant Manipulator Aided with Discrete-Time Recurrent Neural Network.

Science.gov (United States)

Jin, Long; Liao, Bolin; Liu, Mei; Xiao, Lin; Guo, Dongsheng; Yan, Xiaogang

2017-01-01

By incorporating the physical constraints in joint space, a different-level simultaneous minimization scheme, which takes both the robot kinematics and robot dynamics into account, is presented and investigated for fault-tolerant motion planning of redundant manipulator in this paper. The scheme is reformulated as a quadratic program (QP) with equality and bound constraints, which is then solved by a discrete-time recurrent neural network. Simulative verifications based on a six-link planar redundant robot manipulator substantiate the efficacy and accuracy of the presented acceleration fault-tolerant scheme, the resultant QP and the corresponding discrete-time recurrent neural network.

Peripheral hepatic arterial embolization with cross-linked collagen fibers

International Nuclear Information System (INIS)

Daniels, J.R.; Kerlan, R.K. Jr.; Dodds, L.; McLaughlin, P.; La Berge, J.M.; Harrington, D.; Daniels, A.M.; Ring, E.J.

1986-01-01

Hepatic artery embolization with a nonimmunogenic, cross-linked collagen preparation (Angiostat, collagen for embolization, Target Therapeutics) was studied in mongrel dogs. Flow-directed technique was used to achieve complete distal arterial occlusion. Serial liver function evaluation demonstrated marked alterations at 48 to 72 hours, partial correction at 1 week, and resolution of abnormalities by 1 month. Restoration of large-vessel blood flow was angiographically demonstrable at 1 week. Recanalization, achieved by migration of endothelial cells around the collagen, resulted in complete restoration of normal hepatic vascular and tissue anatomy at 1 month. Repeated embolization at biweekly intervals was well tolerated

Rapid-Sequence Serial Sexual Homicides.

Science.gov (United States)

Schlesinger, Louis B; Ramirez, Stephanie; Tusa, Brittany; Jarvis, John P; Erdberg, Philip

2017-03-01

Serial sexual murderers have been described as committing homicides in a methodical manner, taking substantial time between offenses to elude the authorities. The results of our study of the temporal patterns (i.e., the length of time between homicides) of a nonrandom national sample of 44 serial sexual murderers and their 201 victims indicate that this representation may not always be accurate. Although 25 offenders (56.8%) killed with longer than a 14-day period between homicides, a sizeable subgroup was identified: 19 offenders (43.2%) who committed homicides in rapid-sequence fashion, with fewer than 14 days between all or some of the murders. Six offenders (13.6%) killed all their victims in one rapid-sequence, spree-like episode, with homicides just days apart or sometimes two murders in the same day. Thirteen offenders (29.5%) killed in one or two rapid-sequence clusters (i.e., more than one murder within a 14-day period, as well as additional homicides with greater than 14 days between each). The purpose of our study was to describe this subgroup of rapid-sequence offenders who have not been identified until now. These findings argue for accelerated forensic assessments of dangerousness and public safety when a sexual murder is detected. Psychiatric disorders with rapidly occurring symptom patterns, or even atypical mania or mood dysregulation, may serve as exemplars for understanding this extraordinary group of offenders. © 2017 American Academy of Psychiatry and the Law.

Smart grid communication comparison: Distributed control middleware and serialization comparison for the Internet of Things

DEFF Research Database (Denmark)

Petersen, Bo Søborg; Bindner, Henrik W.; Poulsen, Bjarne

2017-01-01

To solve the problems caused by intermittent renewable energy production, communication between Distributed Energy Resources (DERs) and system operators is necessary. The communication middleware and serialization used for communication are essential to ensure delivery of the messages within...... communication middleware and serialization format/library, aided by the authors' earlier work, which investigates the performance and characteristics of communication middleware and serialization independently. Given the performance criteria of the paper, ZeroMQ, YAMI4, and ICE are the middleware that performs...

Test amnioinfusion to determine suitability for serial therapeutic amnioinfusion in midtrimester premature rupture of membranes.

Science.gov (United States)

Tan, L-K; Kumar, S; Jolly, M; Gleeson, C; Johnson, P; Fisk, N M

2003-01-01

To evaluate whether a test amnioinfusion procedure is useful in selecting cases of midtrimester preterm premature rupture of membranes (PPROM) which may benefit from serial amnioinfusions if the initial fluid is retained. The Centre for Fetal Care database between 1992 and 2000 was reviewed for women with PPROM amnioinfusion. Amniotic fluid index (AFI) was assessed before and after a test amnioinfusion procedure. Those who retained fluid > or =48 h underwent serial AFI assessment with a view to serial amnioinfusion when oligohydramnios recurred. Eighty-five amnioinfusion procedures were performed in 60 women with oligohydramnios. Nineteen of these women presented with confirmed PPROM at a median gestation of 19 (range 15-22) weeks and severe olighohydramnios (median AFI 1, range 0-3 cm), in whom 20 test amnioinfusions were carried out. Two amnioinfusions were abandoned during the procedure because of fetal bradycardia and both mothers opted for termination of pregnancy. Only 4 women retained fluid during the test amnioinfusion, 1 of whom miscarried at 19 weeks before serial amnioinfusion could be started. The remaining 3 underwent a median of 4 (range 1-6) serial amnioinfusion procedures; none had evidence of pulmonary hypoplasia. Thirteen (68%) leaked fluid within 48 h; within this group there was 1 subsequent miscarriage and 9 pregnancy terminations. The remaining 3 pregnancies resulted in livebirths 2 of which had pulmonary hypoplasia with 1 early neonatal death. Overall survival was poor (4/19), largely attributed to the high incidence of terminations in the presence of persistent severe oligohydramnios. In continuing pregnancies reaching viability survival was 67% (4 of 6). Three quarters of women with mid-trimester PPROM lose fluid at test amnioinfusion and therefore would not be suitable candidates for serial amnioinfusion. However, if infused fluid is retained, this allows subsequent serial amnioinfusion and prolongation of pregnancy in about 75%, with an

The motivation behind serial sexual homicide: is it sex, power, and control, or anger?

Science.gov (United States)

Myers, Wade C; Husted, David S; Safarik, Mark E; O'Toole, Mary Ellen

2006-07-01

Controversy exists in the literature and society regarding what motivates serial sexual killers to commit their crimes. Hypotheses range from the seeking of sexual gratification to the achievement of power and control to the expression of anger. The authors provide theoretical, empirical, evolutionary, and physiological support for the argument that serial sexual murderers above all commit their crimes in pursuit of sadistic pleasure. The seeking of power and control over victims is believed to serve the two secondary purposes of heightening sexual arousal and ensuring victim presence for the crime. Anger is not considered a key component of these offenders' motivation due to its inhibitory physiological effect on sexual functioning. On the contrary, criminal investigations into serial sexual killings consistently reveal erotically charged crimes, with sexual motivation expressed either overtly or symbolically. Although anger may be correlated with serial sexual homicide offenders, as it is with criminal offenders in general, it is not causative. The authors further believe serial sexual murderers should be considered sex offenders. A significant proportion of them appear to have paraphilic disorders within the spectrum of sexual sadism. "sexual sadism, homicidal type" is proposed as a diagnostic subtype of sexual sadism applicable to many of these offenders, and a suggested modification of DSM criteria is presented.

A six degrees of freedom mems manipulator

NARCIS (Netherlands)

de Jong, B.R.

2006-01-01

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

A control method for manipulators with redundancy

International Nuclear Information System (INIS)

Furusho, Junji; Usui, Hiroyuki

1989-01-01

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

Raster-scanning serial protein crystallography using micro- and nano-focused synchrotron beams

Energy Technology Data Exchange (ETDEWEB)

Coquelle, Nicolas [Université Grenoble Alpes, IBS, 38044 Grenoble (France); CNRS, IBS, 38044 Grenoble (France); CEA, IBS, 38044 Grenoble (France); Brewster, Aaron S. [Lawrence Berkeley National Laboratory, Berkeley, CA 94720 (United States); Kapp, Ulrike; Shilova, Anastasya; Weinhausen, Britta [European Synchrotron Radiation Facility, BP 220, 38043 Grenoble (France); Burghammer, Manfred, E-mail: burgham@esrf.fr [European Synchrotron Radiation Facility, BP 220, 38043 Grenoble (France); Ghent University, Ghent B-9000 (Belgium); Colletier, Jacques-Philippe, E-mail: burgham@esrf.fr [Université Grenoble Alpes, IBS, 38044 Grenoble (France); CNRS, IBS, 38044 Grenoble (France); CEA, IBS, 38044 Grenoble (France)

2015-05-01

A raster scanning serial protein crystallography approach is presented, that consumes as low ∼200–700 nl of sedimented crystals. New serial data pre-analysis software, NanoPeakCell, is introduced. High-resolution structural information was obtained from lysozyme microcrystals (20 µm in the largest dimension) using raster-scanning serial protein crystallography on micro- and nano-focused beamlines at the ESRF. Data were collected at room temperature (RT) from crystals sandwiched between two silicon nitride wafers, thereby preventing their drying, while limiting background scattering and sample consumption. In order to identify crystal hits, new multi-processing and GUI-driven Python-based pre-analysis software was developed, named NanoPeakCell, that was able to read data from a variety of crystallographic image formats. Further data processing was carried out using CrystFEL, and the resultant structures were refined to 1.7 Å resolution. The data demonstrate the feasibility of RT raster-scanning serial micro- and nano-protein crystallography at synchrotrons and validate it as an alternative approach for the collection of high-resolution structural data from micro-sized crystals. Advantages of the proposed approach are its thriftiness, its handling-free nature, the reduced amount of sample required, the adjustable hit rate, the high indexing rate and the minimization of background scattering.

Emotional prosody of task-irrelevant speech interferes with the retention of serial order.

Science.gov (United States)

Kattner, Florian; Ellermeier, Wolfgang

2018-04-09

Task-irrelevant speech and other temporally changing sounds are known to interfere with the short-term memorization of ordered verbal materials, as compared to silence or stationary sounds. It has been argued that this disruption of short-term memory (STM) may be due to (a) interference of automatically encoded acoustical fluctuations with the process of serial rehearsal or (b) attentional capture by salient task-irrelevant information. To disentangle the contributions of these 2 processes, the authors investigated whether the disruption of serial recall is due to the semantic or acoustical properties of task-irrelevant speech (Experiment 1). They found that performance was affected by the prosody (emotional intonation), but not by the semantics (word meaning), of irrelevant speech, suggesting that the disruption of serial recall is due to interference of precategorically encoded changing-state sound (with higher fluctuation strength of emotionally intonated speech). The authors further demonstrated a functional distinction between this form of distraction and attentional capture by contrasting the effect of (a) speech prosody and (b) sudden prosody deviations on both serial and nonserial STM tasks (Experiment 2). Although serial recall was again sensitive to the emotional prosody of irrelevant speech, performance on a nonserial missing-item task was unaffected by the presence of neutral or emotionally intonated speech sounds. In contrast, sudden prosody changes tended to impair performance on both tasks, suggesting an independent effect of attentional capture. (PsycINFO Database Record (c) 2018 APA, all rights reserved).

Dynamic Control of Kinematically Redundant Robotic Manipulators

Directory of Open Access Journals (Sweden)

Erling Lunde

1987-07-01

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

Serial position curves in free recall.

Science.gov (United States)

Laming, Donald

2010-01-01

The scenario for free recall set out in Laming (2009) is developed to provide models for the serial position curves from 5 selected sets of data, for final free recall, and for multitrial free recall. The 5 sets of data reflect the effects of rate of presentation, length of list, delay of recall, and suppression of rehearsal. Each model accommodates the serial position curve for first recalls (where those data are available) as well as that for total recalls. Both curves are fit with the same parameter values, as also (with 1 exception) are all of the conditions compared within each experiment. The distributions of numbers of recalls are also examined and shown to have variances increased above what would be expected if successive recalls were independent. This is taken to signify that, in those experiments in which rehearsals were not recorded, the retrieval of words for possible recall follows the same pattern that is observed following overt rehearsal, namely, that retrieval consists of runs of consecutive elements from memory. Finally, 2 sets of data are examined that the present approach cannot accommodate. It is argued that the problem with these data derives from an interaction between the patterns of (covert) rehearsal and the parameters of list presentation.

Learning Area and Perimeter with Virtual Manipulatives

Science.gov (United States)

Bouck, Emily; Flanagan, Sara; Bouck, Mary

2015-01-01

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

New approaches to manipulating the epigenome.

Science.gov (United States)

Day, Jeremy J

2014-09-01

Cellular processes that control transcription of genetic information are critical for cellular function, and are often implicated in psychiatric and neurological disease states. Among the most critical of these processes are epigenetic mechanisms, which serve to link the cellular environment with genomic material. Until recently our understanding of epigenetic mechanisms has been limited by the lack of tools that can selectively manipulate the epigenome with genetic, cellular, and temporal precision, which in turn diminishes the potential impact of epigenetic processes as therapeutic targets. This review highlights an emerging suite of tools that enable robust yet selective interrogation of the epigenome. In addition to allowing site-specific epigenetic editing, these tools can be paired with optogenetic approaches to provide temporal control over epigenetic processes, allowing unparalleled insight into the function of these mechanisms. This improved control promises to revolutionize our understanding of epigenetic modifications in human health and disease states.

Serial MRI studies using gadolinium DTPA in active multiple sclerosis

International Nuclear Information System (INIS)

Miller, D.H.; Johnson, G.; Barnes, D.; Rudge, P.; McDonald, W.I.

1988-01-01

It has been suggested that blood brain barrier (BBB) impairment is a necessary early event in the pathogenesis of the multiple sclerosis (MS) lesions. To evaluate such an hypothesis in vivo would require: (1) serial imaging studies using a modality with high sensitivity for detecting plaques; (2) a contrast enhancing agent which demonstrates BBB impairment. A serial magnetic resonance imaging (MRI) study was undertaken of a group of MS patients using the contrast agent gadolinium-DTPA. As it has been suggested that T 1 and T 2 relaxation times are longer in acute than chronic MS lesions, these were also measured. 3 refs.; 1 figure

Development of parallel/serial program analyzing tool

International Nuclear Information System (INIS)

Watanabe, Hiroshi; Nagao, Saichi; Takigawa, Yoshio; Kumakura, Toshimasa

1999-03-01

Japan Atomic Energy Research Institute has been developing 'KMtool', a parallel/serial program analyzing tool, in order to promote the parallelization of the science and engineering computation program. KMtool analyzes the performance of program written by FORTRAN77 and MPI, and it reduces the effort for parallelization. This paper describes development purpose, design, utilization and evaluation of KMtool. (author)

ADAMS-MATLAB Co-Simulation of A Serial Manipulator

Directory of Open Access Journals (Sweden)

Parthasarathy Tejaswin

2017-01-01

Full Text Available This paper presents the dynamic modelling and simulation of a now redundant robot, Mitsubishi RM-501, and proposes a general algorithm for experimental simulation in kinematics, dynamics and control analysis to any such robot. Through reverse engineering, a model as accurate as the real robot was developed in SolidWorks.The simulations of the same were performed in ADAMS (dynamicmodeling software offered by MSC Software Corpalong with MATLAB for motion studies and control dynamics. Finally, with a user-input path the accuracy and precision of the simulator was verified.

Long-Term Resolution of Severe Ankle Contractures Using Botulinum Toxin, Serial Casting, Splinting, and Motor Retraining.

Science.gov (United States)

Leung, Joan; Stroud, Katarina

2018-01-01

Purpose: Serial casting for ankle contractures is traditionally performed in prone, a position that patients may not easily tolerate. Also, although serial casting is effective in correcting contracture, its effect dissipates quickly. This case report describes a procedure for performing casting for ankle contractures in a supine or sitting position. It also describes a process that enables the effect of serial casting to be maintained long term. Client Description: The client was an adult who had suffered traumatic brain injury and severe bilateral ankle contractures. Intervention: He received botulinum toxin and serial casting for his bilateral ankle contractures, one ankle at 8 months and the other at 13 months after the injury. He then underwent a programme of splinting and motor training. Measures and Outcome: The client gained more than 40° dorsiflexion for both ankles after receiving botulinum toxin injections and serial casting. The improvement in ankle range enabled him to progress to walking practice. Ankle splinting was gradually reduced. On discharge at 25 months post-injury, the ankle joint range was maintained. Implications: The use of botulinum toxin and serial casting, followed by an intensive programme of splinting and motor training, may be an option to consider for effective long-term resolution of severe contractures after acquired brain injury.

Serial Killers: Academic Libraries Respond to Soaring Costs.

Science.gov (United States)

McCarthy, Paul

1994-01-01

Discusses ways in which academic libraries are responding to rising costs of serials. Topics addressed include pricing by publishers; the effect of journal cancellations on research activities; interlibrary loans and document delivery services; coordinated cancelling; electronic journals; and experiences at the University of Arizona. (LRW)

Bioprinting Living Biofilms through Optogenetic Manipulation.

Science.gov (United States)

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

2018-04-18

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

Characteristics of voltage regulators with serial NPN transistor in the fields of medium and high energy photons

International Nuclear Information System (INIS)

Vukic, V.; Osmokrovic, P.

2007-01-01

Variation of collector - emitter dropout voltage on serial transistors of voltage regulators LM2990T-5 and LT1086CT5 were used as the parameter for detection of examined devices' radiation hardness in X and ? radiation fields. Biased voltage regulators with serial super-β transistor in the medium dose rate X radiation field had significantly different response from devices with conventional serial NPN transistor. Although unbiased components suffered greater damage in most cases, complete device failure happened only among the biased components with serial super-β transistor in Bremsstrahlung field. Mechanisms of transistors degradation in ionizing radiation fields were analysed [sr

Designing a Fuzzy Adaptive Controller for a Rigid joint Two Link Non-Linear Manipulator with Uncertainty

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Maryam Montazeri

2013-01-01

Full Text Available This paper presents a control approach to the fuzzy-adaptive control scheme for rigid manipulators with unknown parameters. Lagrange’s method is employed for computing robot motion dynamics. Stability analysis guaranteed through Lyapunov’s theory using some suitable adaptive rules that make sure all signals in the closed-loop system are bounded and tracking error ones asymptotically reaches to zero. Compared with other controllers, there are some numerical simulations that verify effectiveness of the proposed method. Also, simulation results verify that the proposed controller can deal with uncertainties in the system.

Memory for serial order across domains: An overview of the literature and directions for future research.

Science.gov (United States)

Hurlstone, Mark J; Hitch, Graham J; Baddeley, Alan D

2014-03-01

From vocabulary learning to imitating sequences of motor actions, the ability to plan, represent, and recall a novel sequence of items in the correct order is fundamental for many verbal and nonverbal higher level cognitive activities. Here we review phenomena of serial order documented across the verbal, visual, and spatial short-term memory domains and interpret them with reference to the principles of serial order and ancillary assumptions instantiated in contemporary computational theories of memory for serial order. We propose that functional similarities across domains buttress the notion that verbal, visual, and spatial sequences are planned and controlled by a competitive queuing (CQ) mechanism in which items are simultaneously active in parallel and the strongest item is chosen for output. Within the verbal short-term memory CQ system, evidence suggests that serial order is represented via a primacy gradient, position marking, response suppression, and cumulative matching. Evidence further indicates that output interference operates during recall and that item similarity effects manifest during both serial order encoding and retrieval. By contrast, the principles underlying the representation of serial order in the visual and spatial CQ systems are unclear, largely because the relevant studies have yet to be performed. In the spatial domain, there is some evidence for a primacy gradient and position marking, whereas in the visual domain there is no direct evidence for either of the principles of serial order. We conclude by proposing some directions for future research designed to bridge this and other theoretical gaps in the literature.

Cryogenic digital data links for the liquid argon time projection chamber

International Nuclear Information System (INIS)

Liu, T; Gong, D; Liu, C; Xiang, A C; Ye, J; Hou, S; Su, D-S; Teng, P-K

2012-01-01

In this paper we present the cryogenic functionality of the components of data links for the Liquid Argon Time Projection Chamber (LArTPC), a potential far site detector technology of the Long-Baseline Neutrino Experiment (LBNE). We have confirmed that an LVDS driver can drive a 20-meter CAT5E twisted pair up to 1 gigabit per second at the liquid nitrogen temperature (77 K). We have verified that a commercial-off-the-shelf (COTS) serializer, a laser diode driver, laser diodes, optical fibers and connectors, and field-programming gate arrays (FPGA's) continue to function at 77 K. A variety of COTS resistors and capacitors have been tested at 77 K. All tests we have conducted show that the cryogenic digital data links for the liquid argon time projection chamber are promising.

Master-slave-manipulator 'EMSM I'

International Nuclear Information System (INIS)

Koehler, G.W.; Salaske, M.

1976-01-01

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

Master-slave-manipulator EMSM I

International Nuclear Information System (INIS)

Koehler, G.W.; Salaske, M.

1976-01-01

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

E-serials cataloging access to continuing and integrating resources via the catalog and the web

CERN Document Server

Cole, Jim

2014-01-01

This comprehensive guide examines the state of electronic serials cataloging with special attention paid to online capacities. E-Serials Cataloging: Access to Continuing and Integrating Resources via the Catalog and the Web presents a review of the e-serials cataloging methods of the 1990s and discusses the international standards (ISSN, ISBD[ER], AACR2) that are applicable. It puts the concept of online accessibility into historical perspective and offers a look at current applications to consider. Practicing librarians, catalogers and administrators of technical services, cataloging and serv

Dynamic Modeling and Fuzzy Self-Tuning Disturbance Decoupling Control for a 3-DOF Serial-Parallel Hybrid Humanoid Arm

Directory of Open Access Journals (Sweden)

Yueling Wang

2013-01-01

Full Text Available A unique fuzzy self-tuning disturbance decoupling controller (FSDDC is designed for a serial-parallel hybrid humanoid arm (HHA to implement the throwing trajectory-tracking mission. Firstly, the dynamic model of the HHA is established and the input signal of the throwing process is obtained by studying the throwing process of human's arm. Secondly, the FSDDC, incorporating the disturbance decoupling controller (DDC and the fuzzy logic controller (FLC, is designed to ensure trajectory tracking of the HHA in the presence of uncertainties and disturbances. With the FSDDC method, the HHA system can be decoupled by actively estimating and rejecting the effects of both the internal plant dynamics and external disturbances. The self-tuning parameters are adapted online to improve the performance of the FSDDC; thus, it does not require detailed system parameters of the presented FSDDC. Finally, the controller introduced is compared with a PD controller which is commonly used for the robot manipulators control in industry. The effectiveness of the designed FSDDC is illustrated by simulations.

Using Manipulatives to Teach Elementary Mathematics

Science.gov (United States)

Boggan, Matthew; Harper, Sallie; Whitmire, Anna

2010-01-01

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

Manipulating objects by discrete excitable media coupled with contact-less actuator array: Open-loop case

International Nuclear Information System (INIS)

Skachek, Sergey; Adamatzky, Andrew; Melhuish, Chris

2005-01-01

A two-dimensional cellular automaton (CA) model of an excitable medium is coupled with an array of micro-actuators in the form of abstract air-jets. Each cell of the CA is linked to a unique air-jet. A cell state determines the orientation and intensity of the airflow generated by the air-jet corresponding to the cell. We explore the phenomenology of an open-loop configuration in which CA cells do not sense the presence of the object being moved. Excitation waves generated in the initial stimulation of the medium, travel on the lattice and cause waves of actuation in the air-jets, resulting in changing airflow patterns. Thus, the waves of actuation move and rotate the manipulated object. We study the manipulation of three convex shapes by excitable CA, and provide the classification of various types of object motion from straight to sinuous and oscillatory trajectories. The relation between the excitation dynamic and resulting trajectories of the object will be used in future designs of hardware prototypes of massive-parallel manipulators controlled by non-linear media

Using identification in entertainment-education drama serials to ...

African Journals Online (AJOL)

The study used two entertainment-education drama serials which were designed using Albert Bandura's theoretical framework to communicate positive messages of women's rights to real life audiences in select communities. The study sought to find out if there was any significant relationship i.e. identification between TV ...

Working memory capacity and controlled serial memory search.

Science.gov (United States)

Mızrak, Eda; Öztekin, Ilke

2016-08-01

The speed-accuracy trade-off (SAT) procedure was used to investigate the relationship between working memory capacity (WMC) and the dynamics of temporal order memory retrieval. High- and low-span participants (HSs, LSs) studied sequentially presented five-item lists, followed by two probes from the study list. Participants indicated the more recent probe. Overall, accuracy was higher for HSs compared to LSs. Crucially, in contrast to previous investigations that observed no impact of WMC on speed of access to item information in memory (e.g., Öztekin & McElree, 2010), recovery of temporal order memory was slower for LSs. While accessing an item's representation in memory can be direct, recovery of relational information such as temporal order information requires a more controlled serial memory search. Collectively, these data indicate that WMC effects are particularly prominent during high demands of cognitive control, such as serial search operations necessary to access temporal order information from memory. Copyright © 2016 Elsevier B.V. All rights reserved.

Serial MR findings of metaphyseal cyst in Legg-Calve-Perthes disease: a case report

International Nuclear Information System (INIS)

Shim, Chang Min; Na, Jae Boem; Moon, Haeng Jin

2001-01-01

Metaphyseal cysts are common findings in Lee-Calve-Perthes(LCP) disease, though usually disappear within 6-12 months several studies have described the MR imaging findings of these cysts, though serial MRI findings have not been documented. In this report, therefore, we report the serial MRI results of metaphyseal cyst in LCP patients

Short-term Memory in Childhood Dyslexia: Deficient Serial Order in Multiple Modalities.

Science.gov (United States)

Cowan, Nelson; Hogan, Tiffany P; Alt, Mary; Green, Samuel; Cabbage, Kathryn L; Brinkley, Shara; Gray, Shelley

2017-08-01

In children with dyslexia, deficits in working memory have not been well-specified. We assessed second-grade children with dyslexia, with and without concomitant specific language impairment, and children with typical development. Immediate serial recall of lists of phonological (non-word), lexical (digit), spatial (location) and visual (shape) items were included. For the latter three modalities, we used not only standard span but also running span tasks, in which the list length was unpredictable to limit mnemonic strategies. Non-word repetition tests indicated a phonological memory deficit in children with dyslexia alone compared with those with typical development, but this difference vanished when these groups were matched for non-verbal intelligence and language. Theoretically important deficits in serial order memory in dyslexic children, however, persisted relative to matched typically developing children. The deficits were in recall of (1) spoken digits in both standard and running span tasks and (2) spatial locations, in running span only. Children with dyslexia with versus without language impairment, when matched on non-verbal intelligence, had comparable serial order memory, but differed in phonology. Because serial orderings of verbal and spatial elements occur in reading, the careful examination of order memory may allow a deeper understanding of dyslexia and its relation to language impairment. Copyright © 2017 John Wiley & Sons, Ltd. Copyright © 2017 John Wiley & Sons, Ltd.

Karl Ove Knausgård’s My Struggle and the Serial Self

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Inge van de Ven

2016-06-01

Full Text Available This article analyzes Karl Ove Knausgård’s six-volume autobiography My Struggle in the frame of an emerging cross-medial aesthetics of the ‘serial self’. This aesthetics is informed by the technological potentialities of digital media, and by social media practices like taking a selfie or posting a blog every single day and accumulating these self-representations, without selection. The serial self is marked by continuity, real-time effects, open-endedness, rhythm, repetition, and a thematic attention to the mundane. It can be discerned in the daily comic strip, the daily selfie, and time-lapse cinema. The article embeds My Struggle in this larger, intermedial framework. Moreover, it refers to the work of psychologist Galen Strawson to argue that the self-representations in Knausgård’s work should be understood as episodic rather than diachronic in nature. This results in a sequential and paratactic, rather than causal and hierarchical, presentation of memorial material. It is claimed that serial self-representations of this type are increasingly central to our current media ecology. They offer a valuable medium for investigating, materializing, and mapping on the page the traces left by the passage of time, as serialization lends itself to performative and cumulative representations of a ‘self’ in flux, that dramatize and perform the struggles of the episodic personality in search for continuity.

Development of Direct Kinematics and Workspace Representation for Smokie Robot Manipulator & the Barret WAM

OpenAIRE

Abdolmalaki, Reza Yazdanpanah

2017-01-01

This paper discusses modelling two 6 DOF arm robots. The first step of modelling a robot is establishing its Denavit-Hartenberg parameters. It requires assigning proper coordinates for each link and finding their exact dimensions. In this project we will develop the direct kinematics and workspace representations for two manipulators: the Smokie Robot and the Barrett WAM. After finding the D-H parameters and creating Transformation Matrices,MATLAB programming is used to represent their worksp...

Nano-manipulation of single DNA molecules

International Nuclear Information System (INIS)

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

2004-01-01

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

Intermedia: A System for Linking Multimedia Documents. IRIS Technical Report 86-2.

Science.gov (United States)

Yankelovich, Nicole

"Intermedia" is a hypermedia system which was developed for use in university research and teaching. It provides a framework for object-oriented, direct manipulation editors and applications, and the capability to link together materials created with those applications. Instructors are able to construct exploratory environments for their…

Identification of serial number on bank card using recurrent neural network

Science.gov (United States)

Liu, Li; Huang, Linlin; Xue, Jian

2018-04-01

Identification of serial number on bank card has many applications. Due to the different number printing mode, complex background, distortion in shape, etc., it is quite challenging to achieve high identification accuracy. In this paper, we propose a method using Normalization-Cooperated Gradient Feature (NCGF) and Recurrent Neural Network (RNN) based on Long Short-Term Memory (LSTM) for serial number identification. The NCGF maps the gradient direction elements of original image to direction planes such that the RNN with direction planes as input can recognize numbers more accurately. Taking the advantages of NCGF and RNN, we get 90%digit string recognition accuracy.

Taking serial correlation into account in tests of the mean

International Nuclear Information System (INIS)

Zwiers, F.W.; Storch, H. von

1993-01-01

The comparison of means derived from samples of noisy data is a standard part of climatology. When the data are not serially correlated the appropriate statistical tool for this task is usually the conventional Student's t-test. However, data frequently are serially correlated in climatological applications with the result that the t-tests in its standard form is not applicable. The usual solution to this problem is to scale the t-statistic by a factor which depends upon the equivalent sample size n e . We show, by means of simulations, that the revised t-test is often conservative (the actual significance level is smaller than the specified significance level) when the equivalent sample size is known. However, in most practical cases the equivalent sample size is not known. Then the test becomes liberal (the actual significance level is greater than the specified significance level). This systematic error becomes small when the true equivalent sample size is large (greater than approximately 30). We re-examine the difficulties inherent in difference of means tests when there is serial dependence. We provide guidelines for the application of the 'usual' t-test and propose two alternative tests which substantially improve upon the 'usual' t-test when samples are small. (orig.)

Simple measuring rod method for the coaxiality of serial holes

Science.gov (United States)

Wang, Lei; Yang, Tongyu; Wang, Zhong; Ji, Yuchen; Liu, Changjie; Fu, Luhua

2017-11-01

Aiming at the rapid coaxiality measurement of serial hole part with a small diameter, a coaxiality measuring rod for each layer hole with a single LDS (laser displacement sensor) is proposed. This method does not require the rotation angle information of the rod, and the coaxiality of serial holes can be calculated from the measured values of LDSs after randomly rotating the measuring rod several times. With the mathematical model of the coaxiality measuring rod, each factor affecting the accuracy of coaxiality measurement is analyzed by simulation, and the installation accuracy requirements of the measuring rod and LDSs are presented. In the tolerance of a certain installation error of the measuring rod, the relative center of the hole is calculated by setting the over-determined nonlinear equations of the fitting circles of the multi-layer holes. In experiment, coaxiality measurement accuracy is realized by a 16 μm precision LDS, and the validity of the measurement method is verified. The manufacture and measurement requirements of the coaxiality measuring rod are low, by changing the position of LDSs in the measuring rod, the serial holes with different sizes and numbers can be measured. The rapid coaxiality measurement of parts can be easily implemented in industrial sites.

Galileo - The Serial-Production AIT Challenge

Science.gov (United States)

Ragnit, Ulrike; Brunner, Otto

2008-01-01

The Galileo Project is one of the most demanding projects of ESA, being Europe's autarkic navigation system and a constellation composed of 30 satellites. This presentation points out the different phases of the project up to the full operational capability and the corresponding launch options with respect to launch vehicles as well as launch configurations. One of the biggest challenges is to set up a small serial 'production line' for the overall integration and test campaign of satellites. This production line demands an optimization of all relevant tasks, taking into account also backup and recovery actions. A comprehensive AIT concept is required, reflecting a tightly merged facility layout and work flow design. In addition a common data management system is needed to handle all spacecraft related documentation and to have a direct input-out flow for all activities, phases and positions at the same time. Process optimization is a well known field of engineering in all small high tech production lines, nevertheless serial production of satellites are still not the daily task in space business and therefore new concepts have to be put in place. Therefore, and in order to meet the satellites overall system optimization, a thorough interface between unit/subsystem manufacturing and satellite AIT must be realized to ensure a smooth flow and to avoid any process interruption, which would directly lead to a schedule impact.

Collision Detection for Underwater ROV Manipulator Systems

Directory of Open Access Journals (Sweden)

Satja Sivčev

2018-04-01

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

Multi-gigabit low-power radiation-tolerant data links and improved data motion in trackers

International Nuclear Information System (INIS)

Miller, M; Brewer, F; Wang, D; Magazzu, G

2014-01-01

We present a set of links based on data-transmission IP in 130nm designed for rapid integration into ASIC designs. These links are designed for use in very high radiation environments as occur in high energy physics experiments. The designs are additionally low power and small area, easing integration with other electronic systems. These links are well suited to use in tracking detectors. Trackers, due to their close proximity to the collision, are subject to very high levels of radiation, and hence require such radiation hardened electronics. The portfolio of radiation hardened data transmission blocks consists of a 1Gbps serializer/deserializer with a very low power consumption ∼ 1mW for each. A differential transmitter and differential receiver rated at 3GHz, both designed to be much faster than needed, as insurance against radiation damage. Finally, the impact of a prototype low-latency, low-power ( < 60mW total link power) 5Gbps link is considered. Case analysis of the impacts of using lower powered, higher speed blocks in hypothetical trackers is studied, showing power improvements relative to alternative technologies

SVM-Based Control System for a Robot Manipulator

Directory of Open Access Journals (Sweden)

Foudil Abdessemed

2012-12-01

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

Lipidic cubic phase serial millisecond crystallography using synchrotron radiation

Directory of Open Access Journals (Sweden)

Przemyslaw Nogly

2015-03-01

Full Text Available Lipidic cubic phases (LCPs have emerged as successful matrixes for the crystallization of membrane proteins. Moreover, the viscous LCP also provides a highly effective delivery medium for serial femtosecond crystallography (SFX at X-ray free-electron lasers (XFELs. Here, the adaptation of this technology to perform serial millisecond crystallography (SMX at more widely available synchrotron microfocus beamlines is described. Compared with conventional microcrystallography, LCP-SMX eliminates the need for difficult handling of individual crystals and allows for data collection at room temperature. The technology is demonstrated by solving a structure of the light-driven proton-pump bacteriorhodopsin (bR at a resolution of 2.4 Å. The room-temperature structure of bR is very similar to previous cryogenic structures but shows small yet distinct differences in the retinal ligand and proton-transfer pathway.

Serials Management by Microcomputer: The Potential of DBMS.

Science.gov (United States)

Vogel, J. Thomas; Burns, Lynn W.

1984-01-01

Describes serials management at Philadelphia College of Textiles and Science library via a microcomputer, a file manager called PFS, and a relational database management system called dBase II. Check-in procedures, programing with dBase II, "static" and "active" databases, and claim procedures are discussed. Check-in forms are…

Support for maternal manipulation of developmental nutrition in a facultatively eusocial bee, Megalopta genalis (Halictidae)